2020-12-13T19:55:38.878Z,1607889338.878 [Supervisor](DEBUG): Initializing supervisor.
2020-12-13T19:55:38.882Z,1607889338.882 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-12-13T19:55:38.883Z,1607889338.883 [SyncHandler](INFO): Protected caller Thread ID is 826
2020-12-13T19:55:38.883Z,1607889338.883 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-12-13T19:55:38.884Z,1607889338.884 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-12-13T19:55:38.884Z,1607889338.884 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 827
2020-12-13T19:55:38.889Z,1607889338.889 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-12-13T19:55:38.907Z,1607889338.907 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-12-13T19:55:38.908Z,1607889338.908 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-12-13T19:55:38.909Z,1607889338.909 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 828
2020-12-13T19:55:38.911Z,1607889338.911 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-12-13T19:55:38.912Z,1607889338.912 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-12-13T19:55:38.912Z,1607889338.912 [logger ThreadHandler](INFO): Protected caller Thread ID is 829
2020-12-13T19:55:38.916Z,1607889338.916 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-12-13T19:55:38.916Z,1607889338.916 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-12-13T19:55:38.921Z,1607889338.921 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-12-13T19:55:39.314Z,1607889339.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-12-13T19:55:39.316Z,1607889339.316 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-12-13T19:55:39.396Z,1607889339.396 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-12-13T19:55:39.702Z,1607889339.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-12-13T19:55:39.703Z,1607889339.703 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-12-13T19:55:39.804Z,1607889339.804 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-12-13T19:55:39.806Z,1607889339.806 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-12-13T19:55:39.994Z,1607889339.994 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-12-13T19:55:39.996Z,1607889339.996 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-12-13T19:55:40.483Z,1607889340.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-12-13T19:55:40.484Z,1607889340.484 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-12-13T19:55:40.712Z,1607889340.712 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-12-13T19:55:40.714Z,1607889340.714 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-12-13T19:55:40.858Z,1607889340.858 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-12-13T19:55:40.859Z,1607889340.859 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-12-13T19:55:41.038Z,1607889341.038 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-12-13T19:55:41.040Z,1607889341.040 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-12-13T19:55:41.135Z,1607889341.135 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-12-13T19:55:41.136Z,1607889341.136 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2020-12-13T19:55:41.346Z,1607889341.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2020-12-13T19:55:41.347Z,1607889341.347 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-12-13T19:55:41.640Z,1607889341.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-12-13T19:55:41.641Z,1607889341.641 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-12-13T19:55:41.722Z,1607889341.722 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-12-13T19:55:41.846Z,1607889341.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-12-13T19:55:41.848Z,1607889341.848 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-12-13T19:55:42.475Z,1607889342.475 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-12-13T19:55:42.619Z,1607889342.619 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-12-13T19:55:43.141Z,1607889343.141 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-12-13T19:55:43.142Z,1607889343.142 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-12-13T19:55:43.145Z,1607889343.145 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-12-13T19:55:43.334Z,1607889343.334 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-12-13T19:55:43.432Z,1607889343.432 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-12-13T19:55:43.528Z,1607889343.528 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-12-13T19:55:43.782Z,1607889343.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-12-13T19:55:43.783Z,1607889343.783 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-12-13T19:55:43.869Z,1607889343.869 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-12-13T19:55:43.966Z,1607889343.966 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-12-13T19:55:44.078Z,1607889344.078 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-12-13T19:55:44.163Z,1607889344.163 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Dock.cfg
2020-12-13T19:55:44.249Z,1607889344.249 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-12-13T19:55:44.357Z,1607889344.357 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-12-13T19:55:44.455Z,1607889344.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-12-13T19:55:44.634Z,1607889344.634 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-12-13T19:55:44.766Z,1607889344.766 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-12-13T19:55:44.783Z,1607889344.783 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-12-13T19:55:45.507Z,1607889345.507 [AHRS_M2] Loaded
2020-12-13T19:55:45.508Z,1607889345.508 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-12-13T19:55:46.251Z,1607889346.251 [BPC1] Loaded
2020-12-13T19:55:46.251Z,1607889346.251 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-12-13T19:55:46.394Z,1607889346.394 [DataOverHttps] Loaded
2020-12-13T19:55:46.394Z,1607889346.394 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-12-13T19:55:46.395Z,1607889346.395 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407924E0
2020-12-13T19:55:46.395Z,1607889346.395 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 918
2020-12-13T19:55:46.416Z,1607889346.416 [DDM] Loaded
2020-12-13T19:55:46.417Z,1607889346.417 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2020-12-13T19:55:46.435Z,1607889346.435 [Depth_Keller] Loaded
2020-12-13T19:55:46.435Z,1607889346.435 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-12-13T19:55:46.439Z,1607889346.439 [DropWeight] Loaded
2020-12-13T19:55:46.440Z,1607889346.440 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-12-13T19:55:46.481Z,1607889346.481 [DUSBL_Hydroid] Loaded
2020-12-13T19:55:46.482Z,1607889346.482 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-12-13T19:55:46.516Z,1607889346.516 [Micromodem] Loaded
2020-12-13T19:55:46.517Z,1607889346.517 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-12-13T19:55:46.574Z,1607889346.574 [NAL9602] Loaded
2020-12-13T19:55:46.574Z,1607889346.574 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-12-13T19:55:46.601Z,1607889346.601 [Onboard] Loaded
2020-12-13T19:55:46.601Z,1607889346.601 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2020-12-13T19:55:46.602Z,1607889346.602 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407C24E0
2020-12-13T19:55:46.603Z,1607889346.603 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 919
2020-12-13T19:55:46.608Z,1607889346.608 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2020-12-13T19:55:46.618Z,1607889346.618 [PowerOnly] Loaded
2020-12-13T19:55:46.619Z,1607889346.619 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-12-13T19:55:46.632Z,1607889346.632 [Radio_Surface] Loaded
2020-12-13T19:55:46.632Z,1607889346.632 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-12-13T19:55:46.633Z,1607889346.633 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407F24E0
2020-12-13T19:55:46.633Z,1607889346.633 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 920
2020-12-13T19:55:46.662Z,1607889346.662 [RDI_Pathfinder] Loaded
2020-12-13T19:55:46.663Z,1607889346.663 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-12-13T19:55:46.688Z,1607889346.688 [RDI_PathfinderUp] Loaded
2020-12-13T19:55:46.688Z,1607889346.688 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2020-12-13T19:55:46.689Z,1607889346.689 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-12-13T19:55:46.689Z,1607889346.689 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-12-13T19:55:46.705Z,1607889346.705 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-12-13T19:55:46.706Z,1607889346.706 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-12-13T19:55:46.801Z,1607889346.801 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-12-13T19:55:46.801Z,1607889346.801 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-12-13T19:55:46.814Z,1607889346.814 [NavChart] Loaded
2020-12-13T19:55:46.814Z,1607889346.814 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-12-13T19:55:46.819Z,1607889346.819 [UniversalFixResidualReporter] Loaded
2020-12-13T19:55:46.820Z,1607889346.820 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-12-13T19:55:46.830Z,1607889346.830 [WorkSite] Loaded
2020-12-13T19:55:46.830Z,1607889346.830 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2020-12-13T19:55:46.831Z,1607889346.831 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-12-13T19:55:46.831Z,1607889346.831 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2020-12-13T19:55:46.936Z,1607889346.936 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2020-12-13T19:55:46.937Z,1607889346.937 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-12-13T19:55:47.079Z,1607889347.079 [BuoyancyServo] Loaded
2020-12-13T19:55:47.079Z,1607889347.079 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-12-13T19:55:47.099Z,1607889347.099 [ElevatorServo] Loaded
2020-12-13T19:55:47.100Z,1607889347.100 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-12-13T19:55:47.119Z,1607889347.119 [MassServo] Loaded
2020-12-13T19:55:47.120Z,1607889347.120 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-12-13T19:55:47.139Z,1607889347.139 [RudderServo] Loaded
2020-12-13T19:55:47.139Z,1607889347.139 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-12-13T19:55:47.157Z,1607889347.157 [ThrusterServo] Loaded
2020-12-13T19:55:47.158Z,1607889347.158 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-12-13T19:55:47.158Z,1607889347.158 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-12-13T19:55:47.159Z,1607889347.159 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-12-13T19:55:47.373Z,1607889347.373 [CTD_Seabird] Loaded
2020-12-13T19:55:47.374Z,1607889347.374 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2020-12-13T19:55:47.375Z,1607889347.375 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409154E0
2020-12-13T19:55:47.375Z,1607889347.375 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 921
2020-12-13T19:55:47.394Z,1607889347.394 [PAR_Licor] Loaded
2020-12-13T19:55:47.394Z,1607889347.394 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-12-13T19:55:47.426Z,1607889347.426 [WetLabsSeaOWL_UV_A] Loaded
2020-12-13T19:55:47.426Z,1607889347.426 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-12-13T19:55:47.427Z,1607889347.427 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409454E0
2020-12-13T19:55:47.427Z,1607889347.427 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 922
2020-12-13T19:55:47.428Z,1607889347.428 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-12-13T19:55:47.429Z,1607889347.429 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-12-13T19:55:47.788Z,1607889347.788 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-12-13T19:55:47.788Z,1607889347.788 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-12-13T19:55:47.973Z,1607889347.973 [DepthRateCalculator] Loaded
2020-12-13T19:55:47.974Z,1607889347.974 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-12-13T19:55:47.979Z,1607889347.979 [PitchRateCalculator] Loaded
2020-12-13T19:55:47.979Z,1607889347.979 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-12-13T19:55:48.003Z,1607889348.003 [SpeedCalculator] Loaded
2020-12-13T19:55:48.003Z,1607889348.003 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-12-13T19:55:48.016Z,1607889348.016 [TempGradientCalculator] Loaded
2020-12-13T19:55:48.017Z,1607889348.017 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-12-13T19:55:48.021Z,1607889348.021 [YawRateCalculator] Loaded
2020-12-13T19:55:48.021Z,1607889348.021 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-12-13T19:55:48.042Z,1607889348.042 [ElevatorOffsetCalculator] Loaded
2020-12-13T19:55:48.043Z,1607889348.043 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-12-13T19:55:48.043Z,1607889348.043 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-12-13T19:55:48.044Z,1607889348.044 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-12-13T19:55:48.472Z,1607889348.472 [SBIT](DEBUG): Construct Startup Built In Test.
2020-12-13T19:55:48.484Z,1607889348.484 [SBIT] Loaded
2020-12-13T19:55:48.484Z,1607889348.484 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-12-13T19:55:48.487Z,1607889348.487 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-12-13T19:55:48.500Z,1607889348.500 [IBIT] Loaded
2020-12-13T19:55:48.500Z,1607889348.500 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-12-13T19:55:48.505Z,1607889348.505 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-12-13T19:55:48.604Z,1607889348.604 [CBIT] Loaded
2020-12-13T19:55:48.605Z,1607889348.605 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-12-13T19:55:48.605Z,1607889348.605 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-12-13T19:55:48.606Z,1607889348.606 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-12-13T19:55:48.682Z,1607889348.682 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-12-13T19:55:48.683Z,1607889348.683 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-12-13T19:55:48.812Z,1607889348.812 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-12-13T19:55:48.814Z,1607889348.814 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-12-13T19:55:48.881Z,1607889348.881 [VerticalControl](DEBUG): Construct VerticalControl.
2020-12-13T19:55:48.932Z,1607889348.932 [VerticalControl] Loaded
2020-12-13T19:55:48.933Z,1607889348.933 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-12-13T19:55:48.935Z,1607889348.935 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-12-13T19:55:48.971Z,1607889348.971 [HorizontalControl] Loaded
2020-12-13T19:55:48.971Z,1607889348.971 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-12-13T19:55:48.974Z,1607889348.974 [SpeedControl](DEBUG): Construct SpeedControl.
2020-12-13T19:55:48.976Z,1607889348.976 [SpeedControl] Loaded
2020-12-13T19:55:48.976Z,1607889348.976 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-12-13T19:55:48.979Z,1607889348.979 [LoopControl](DEBUG): Construct LoopControl.
2020-12-13T19:55:48.979Z,1607889348.979 [LoopControl] Loaded
2020-12-13T19:55:48.980Z,1607889348.980 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-12-13T19:55:48.980Z,1607889348.980 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-12-13T19:55:48.982Z,1607889348.982 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-12-13T19:55:49.023Z,1607889349.023 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-12-13T19:55:49.029Z,1607889349.029 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-12-13T19:55:49.032Z,1607889349.032 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-12-13T19:55:49.042Z,1607889349.042 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-12-13T19:55:49.043Z,1607889349.043 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AED4E0
2020-12-13T19:55:49.044Z,1607889349.044 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 923
2020-12-13T19:55:49.048Z,1607889349.048 [Supervisor](INFO): Main Thread ID is 822
2020-12-13T19:55:49.049Z,1607889349.049 [Supervisor](DEBUG): Running supervisor.
2020-12-13T19:55:49.049Z,1607889349.049 [CommandLine ThreadHandler](INFO): Handler Thread ID is 924
2020-12-13T19:55:49.051Z,1607889349.051 [controlThread ThreadHandler](INFO): Handler Thread ID is 925
2020-12-13T19:55:49.052Z,1607889349.052 [controlThread](DEBUG): Initializing ControlThread
2020-12-13T19:55:49.060Z,1607889349.060 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-12-13T19:55:49.060Z,1607889349.060 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-12-13T19:55:49.060Z,1607889349.060 [WorkSite](DEBUG): Initializing WorkSite component.
2020-12-13T19:55:49.065Z,1607889349.065 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-12-13T19:55:49.065Z,1607889349.065 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-12-13T19:55:49.066Z,1607889349.066 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-12-13T19:55:49.066Z,1607889349.066 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-12-13T19:55:49.067Z,1607889349.067 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-12-13T19:55:49.067Z,1607889349.067 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-12-13T19:55:49.068Z,1607889349.068 [SBIT](INFO): Initialize SBIT Component.
2020-12-13T19:55:49.068Z,1607889349.068 [SBIT](IMPORTANT): git: 2020-12-13
2020-12-13T19:55:49.068Z,1607889349.068 [SBIT](INFO): git hash: 1d82ba4121471c1bb5e011a2e6a181d1862b6d9e
2020-12-13T19:55:49.069Z,1607889349.069 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-12-13T19:55:49.070Z,1607889349.070 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2020-12-13T19:55:49.071Z,1607889349.071 [SBIT](INFO): Beginning SBIT in 21.000000 seconds.
2020-12-13T19:55:49.072Z,1607889349.072 [IBIT](INFO): Initialize IBIT Component.
2020-12-13T19:55:49.073Z,1607889349.073 [CBIT](DEBUG): Initialize CBIT Component.
2020-12-13T19:55:49.074Z,1607889349.074 [logger ThreadHandler](INFO): Handler Thread ID is 926
2020-12-13T19:55:49.085Z,1607889349.085 [CBIT](DEBUG): Initialized mux pins.
2020-12-13T19:55:49.085Z,1607889349.085 [CBIT](DEBUG): Initializing the watchdog timer.
2020-12-13T19:55:49.093Z,1607889349.093 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 927
2020-12-13T19:55:49.094Z,1607889349.094 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2020-12-13T19:55:49.105Z,1607889349.105 [Onboard ThreadHandler](INFO): Handler Thread ID is 928
2020-12-13T19:55:49.109Z,1607889349.109 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-12-13T19:55:49.109Z,1607889349.109 [CBIT](DEBUG): Initializing heartbeat.
2020-12-13T19:55:49.123Z,1607889349.123 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 929
2020-12-13T19:55:49.145Z,1607889349.145 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 930
2020-12-13T19:55:49.146Z,1607889349.146 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2020-12-13T19:55:49.150Z,1607889349.150 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 932
2020-12-13T19:55:49.151Z,1607889349.151 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-13T19:55:49.161Z,1607889349.161 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 933
2020-12-13T19:55:49.170Z,1607889349.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-12-13T19:55:49.170Z,1607889349.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-12-13T19:55:49.170Z,1607889349.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-12-13T19:55:49.170Z,1607889349.170 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-12-13T19:55:49.170Z,1607889349.170 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-12-13T19:55:49.171Z,1607889349.171 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-12-13T19:55:49.172Z,1607889349.172 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-12-13T19:55:49.172Z,1607889349.172 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-12-13T19:55:49.172Z,1607889349.172 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-12-13T19:55:49.172Z,1607889349.172 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-12-13T19:55:49.181Z,1607889349.181 [CBIT](DEBUG): Deactivating GF circuits.
2020-12-13T19:55:49.181Z,1607889349.181 [CBIT](DEBUG): Deactivating emergency mode.
2020-12-13T19:55:49.217Z,1607889349.217 [CBIT](DEBUG): Backplane powered.
2020-12-13T19:55:49.217Z,1607889349.217 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-12-13T19:55:49.219Z,1607889349.219 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-12-13T19:55:49.220Z,1607889349.220 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-12-13T19:55:49.220Z,1607889349.220 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-12-13T19:55:49.221Z,1607889349.221 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-12-13T19:55:49.264Z,1607889349.264 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T19:55:49.292Z,1607889349.292 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       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/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2020-12-13T19:55:49.293Z,1607889349.293 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2020-12-13T19:55:49.474Z,1607889349.474 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2020-12-13T19:55:49.486Z,1607889349.486 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2020-12-13T19:55:49.490Z,1607889349.490 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2020-12-13T19:55:49.522Z,1607889349.522 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2020-12-13T19:55:49.525Z,1607889349.525 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2020-12-13T19:55:49.529Z,1607889349.529 [Radio_Surface](INFO): Powering up
2020-12-13T19:55:49.546Z,1607889349.546 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2020-12-13T19:55:49.548Z,1607889349.548 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2020-12-13T19:55:49.695Z,1607889349.695 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2020-12-13T19:55:49.695Z,1607889349.695 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T19:55:49.734Z,1607889349.734 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T19:55:49.766Z,1607889349.766 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-12-13T19:55:49.785Z,1607889349.785 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-12-13T19:55:49.790Z,1607889349.790 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2020-12-13T19:55:49.812Z,1607889349.812 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.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="DefaultWithUndock">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time duration for the vehicle to detach form the dock.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Dock transponder address.
    </Description><Dock:Dock.transponderCode/></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        Time duration between acoustic range queries while the
        mission is detaching from the dock.
    </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="DetachModeDDM"><Description>
        DDM DETACH mode enumeration (whiskers retracted, latch open).
    </Description><Units:count/><Value>2</Value></DefineArg>
        
    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
    </Guidance:Wait>

    <Aggregate Id="LeaveDock">
        <Sequence/>

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

        <!-- Acoustic tracking directives -->
        <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>

        <!-- Leave the dock -->
        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>


    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

            <While>
                <Universal:depth/>
                <Gt><Control:VerticalControl.surfaceThreshold/></Gt>
            </While>

            <!-- Power the DDM -->
            <ReadData>
                <Sensor:DDM.DDMMode/>
            </ReadData>

            <!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->
            <Assign><Parallel/><Sensor:DDM.DDMModeCmd/><Arg Name="DetachModeDDM"/></Assign>

        </Aggregate>

        <!-- This mission assumes open water so from here on it's the same old default that's always used -->
        <Guidance:GoToSurface>
            <Progression/>
        </Guidance:GoToSurface>

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P5M"/>
                <Universal:time_fix/>
            </ReadDatum>

            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications/>
            </ReadDatum>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
            </Guidance:Wait>

            <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

            <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

        </Aggregate>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2020-12-13T19:55:49.817Z,1607889349.817 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,RDI_Pathfinder,RDI_PathfinderUp,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-12-13T19:55:49.829Z,1607889349.829 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-12-13T19:55:49.945Z,1607889349.945 [DDM](INFO): Powering up
2020-12-13T19:55:49.946Z,1607889349.946 [DDM](DEBUG): Initializing DDM.
2020-12-13T19:55:50.005Z,1607889350.005 [DUSBL_Hydroid](INFO): Powering up
2020-12-13T19:55:50.005Z,1607889350.005 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-12-13T19:55:50.087Z,1607889350.087 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:55:50.093Z,1607889350.093 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-12-13T19:55:50.094Z,1607889350.094 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:55:50.101Z,1607889350.101 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-12-13T19:55:50.102Z,1607889350.102 [MassServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:55:50.109Z,1607889350.109 [MassServo](DEBUG): Initializing MassServo.
2020-12-13T19:55:50.110Z,1607889350.110 [RudderServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:55:50.117Z,1607889350.117 [RudderServo](DEBUG): Initializing RudderServo.
2020-12-13T19:55:50.118Z,1607889350.118 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:55:50.125Z,1607889350.125 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-13T19:55:50.245Z,1607889350.245 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2020-12-13T19:55:50.248Z,1607889350.248 [Micromodem](INFO): Powering up
2020-12-13T19:55:50.248Z,1607889350.248 [Micromodem](DEBUG): Initializing Micromodem.
2020-12-13T19:55:50.965Z,1607889350.965 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-12-13T19:55:50.965Z,1607889350.965 [RudderServo](FAULT): Rudder failed to initialize
2020-12-13T19:55:50.965Z,1607889350.965 [RudderServo] Communications Fault, FailCount= 1
2020-12-13T19:55:50.965Z,1607889350.965 [RudderServo](ERROR): Communications Fault
2020-12-13T19:55:51.065Z,1607889351.065 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-12-13T19:55:51.266Z,1607889351.266 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-12-13T19:55:51.266Z,1607889351.266 [RudderServo](INFO): Powering down
2020-12-13T19:55:51.901Z,1607889351.901 [RudderServo](DEBUG): Initializing EZServoServo.
2020-12-13T19:55:52.022Z,1607889352.022 [RudderServo](DEBUG): Initializing RudderServo.
2020-12-13T19:55:52.026Z,1607889352.026 [CBIT](INFO): Clearing failed state for component RudderServo
2020-12-13T19:55:52.026Z,1607889352.026 [RudderServo] No Fault, FailCount= 1
2020-12-13T19:55:55.157Z,1607889355.157 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-12-13T19:55:55.560Z,1607889355.560 [Micromodem](INFO): Nmea in: $CATMG,2020-12-13T19:55:55.323557Z,RTC,RTC*5C

2020-12-13T19:55:55.560Z,1607889355.560 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-12-13T19:55:55.323557Z,RTC,RTC*5C

2020-12-13T19:55:55.963Z,1607889355.963 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-12-13T19:55:55.963Z,1607889355.963 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-12-13T19:55:56.367Z,1607889356.367 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-12-13T19:55:56.367Z,1607889356.367 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-12-13T19:55:56.767Z,1607889356.767 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-12-13T19:55:56.768Z,1607889356.768 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-12-13T19:55:57.175Z,1607889357.175 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-12-13T19:55:57.175Z,1607889357.175 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-12-13T19:55:57.579Z,1607889357.579 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-12-13T19:55:57.579Z,1607889357.579 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2020-12-13T19:55:57.979Z,1607889357.979 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2020-12-13T19:55:57.979Z,1607889357.979 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-12-13T19:55:58.367Z,1607889358.367 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-12-13T19:55:58.367Z,1607889358.367 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-12-13T19:55:58.763Z,1607889358.763 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-12-13T19:55:58.763Z,1607889358.763 [Micromodem](INFO): Nmea out: $CCCLK,2020,12,13,19,55,59*41

2020-12-13T19:55:59.163Z,1607889359.163 [Micromodem](INFO): Nmea in: $CACLK,2020,12,13,19,55,59*43

2020-12-13T19:55:59.165Z,1607889359.165 [Micromodem](INFO): Nmea in: $CATMS,0,2020-12-13T19:56:00Z*7C

2020-12-13T19:55:59.166Z,1607889359.166 [Micromodem](INFO): Nmea in: $CATMG,2020-12-13T19:56:00.027828Z,USER_CMD,RTC*1C

2020-12-13T19:56:05.617Z,1607889365.617 [DDM](INFO): Dynamic Docking Module:
2020-12-13T19:56:08.046Z,1607889368.046 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-12-13T19:56:10.547Z,1607889370.547 [SBIT](IMPORTANT): Beginning Startup BIT
2020-12-13T19:56:10.563Z,1607889370.563 [CBIT](IMPORTANT): Beginning ground fault scan
2020-12-13T19:56:16.935Z,1607889376.935 [NAL9602](INFO): Powering up NAL9602
2020-12-13T19:56:21.501Z,1607889381.501 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.105916
CHAN A1 (24V): 0.171156
CHAN A2 (12V): 0.075124
CHAN A3 (5V): 0.013616
CHAN B0 (3.3V): 0.003251
CHAN B1 (3.15aV): 0.002068
CHAN B2 (3.15bV): 0.003464
CHAN B3 (GND): -0.023781
OPEN: 0.007418
Full Scale Calc: 4.765 mA, -1.589 mA
2020-12-13T19:56:27.847Z,1607889387.847 [NAL9602](INFO): NAL9602 initialized
2020-12-13T19:56:42.397Z,1607889402.397 [NAL9602](INFO): SBD MO Status=0, MOMSN=12854, MT Status=0, MTMSN=0
2020-12-13T19:56:42.397Z,1607889402.397 [NAL9602](INFO): No messages in MT queue
2020-12-13T19:57:04.661Z,1607889424.661 [SBIT](IMPORTANT): SBIT PASSED
2020-12-13T19:57:04.662Z,1607889424.662 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-12-13T19:57:04.662Z,1607889424.662 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): Express none CurrentEstimator.current_direction_navigation_frame;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): Express none CurrentEstimator.current_direction_vehicle_frame;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): Express none CurrentEstimator.current_speed_navigation_frame;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): Express none CurrentEstimator.current_speed_vehicle_frame;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): Micromodem.destinationAddress=9 enum;

2020-12-13T19:57:04.663Z,1607889424.663 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2020-12-13T19:57:04.664Z,1607889424.664 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=114.655585 cubic_centimeter;

2020-12-13T19:57:04.664Z,1607889424.664 [SBIT](IMPORTANT): VerticalControl.massDefault=-0.364238 millimeter;

2020-12-13T19:57:05.039Z,1607889425.039 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2020-12-13T19:57:05.048Z,1607889425.048 [WorkSite](IMPORTANT): WorkSite fix at 20201213T195338: (41.558377, -70.702656)
2020-12-13T19:57:05.050Z,1607889425.050 [MissionManager](IMPORTANT): Started mission Startup
2020-12-13T19:57:05.050Z,1607889425.050 [Startup] Running Loop=1
2020-12-13T19:57:05.050Z,1607889425.050 [Startup](DEBUG): Aggregate::initialize Startup
2020-12-13T19:57:05.050Z,1607889425.050 [Startup:A.GoToSurface] Running Loop=1
2020-12-13T19:57:05.050Z,1607889425.050 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T19:57:05.051Z,1607889425.051 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T19:57:05.051Z,1607889425.051 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T19:57:05.051Z,1607889425.051 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T19:57:05.052Z,1607889425.052 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T19:57:05.052Z,1607889425.052 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T19:57:05.054Z,1607889425.054 [Startup:StartupSatComms] Running Loop=1
2020-12-13T19:57:05.054Z,1607889425.054 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-12-13T19:57:05.054Z,1607889425.054 [Startup:StartupSatComms:A] Running Loop=1
2020-12-13T19:57:05.470Z,1607889425.470 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-12-13T19:58:05.279Z,1607889485.279 [Startup:StartupSatComms:A](INFO): Timed out from 2020-12-13T19:57:05.1Z
2020-12-13T19:58:05.279Z,1607889485.279 [Startup:StartupSatComms:A] Stopped
2020-12-13T19:58:05.280Z,1607889485.280 [Startup:StartupSatComms:B] Running Loop=1
2020-12-13T19:58:05.699Z,1607889485.699 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T19:58:18.712Z,1607889498.712 [NAL9602](INFO): SBD MO Status=1, MOMSN=12855, MT Status=0, MTMSN=0
2020-12-13T19:58:18.785Z,1607889498.785 [NAL9602](INFO): Sent 15 bytes from file Logs/20201213T194207/Courier0007.lzma
2020-12-13T19:58:18.785Z,1607889498.785 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:58:31.424Z,1607889511.424 [NAL9602](INFO): SBD MO Status=1, MOMSN=12856, MT Status=0, MTMSN=0
2020-12-13T19:58:31.521Z,1607889511.521 [NAL9602](INFO): Sent 18 bytes from file Logs/20201213T194207/Courier0010.lzma
2020-12-13T19:58:31.521Z,1607889511.521 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:58:38.660Z,1607889518.660 [NAL9602](INFO): SBD MO Status=1, MOMSN=12857, MT Status=0, MTMSN=0
2020-12-13T19:58:38.709Z,1607889518.709 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Courier0000.lzma
2020-12-13T19:58:38.709Z,1607889518.709 [NAL9602](INFO): Packets left to send: 1
2020-12-13T19:58:46.824Z,1607889526.824 [NAL9602](INFO): SBD MO Status=1, MOMSN=12858, MT Status=0, MTMSN=0
2020-12-13T19:58:46.875Z,1607889526.875 [NAL9602](INFO): Sent 79 bytes from file Logs/20201213T195538/Courier0000.lzma
2020-12-13T19:58:46.875Z,1607889526.875 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:58:54.419Z,1607889534.419 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:58:54.423Z,1607889534.423 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:58:55.224Z,1607889535.224 [NAL9602](INFO): SBD MO Status=1, MOMSN=12859, MT Status=0, MTMSN=0
2020-12-13T19:58:55.275Z,1607889535.275 [NAL9602](INFO): Sent 169 bytes from file Logs/20201213T194207/Express0008.lzma
2020-12-13T19:58:55.275Z,1607889535.275 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:58:59.393Z,1607889539.393 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:59:05.453Z,1607889545.453 [Startup:StartupSatComms:B](INFO): Timed out from 2020-12-13T19:58:05.3Z
2020-12-13T19:59:05.453Z,1607889545.453 [Startup:StartupSatComms:B] Stopped
2020-12-13T19:59:05.453Z,1607889545.453 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-12-13T19:59:05.453Z,1607889545.453 [Startup:StartupSatComms] Stopped
2020-12-13T19:59:05.454Z,1607889545.454 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-12-13T19:59:05.454Z,1607889545.454 [Startup](INFO): Completed Startup
2020-12-13T19:59:05.454Z,1607889545.454 [MissionManager](INFO): Startup is completed.
2020-12-13T19:59:05.455Z,1607889545.455 [MissionManager](INFO): Uninitializing Mission Startup
2020-12-13T19:59:05.455Z,1607889545.455 [Startup] Stopped
2020-12-13T19:59:05.455Z,1607889545.455 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-12-13T19:59:05.455Z,1607889545.455 [Startup:A.GoToSurface] Stopped
2020-12-13T19:59:05.455Z,1607889545.455 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T19:59:05.844Z,1607889545.844 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-13T19:59:05.844Z,1607889545.844 [DefaultWithUndock] Running Loop=1
2020-12-13T19:59:05.844Z,1607889545.844 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-13T19:59:05.844Z,1607889545.844 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-13T19:59:05.844Z,1607889545.844 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-13T19:59:14.353Z,1607889554.353 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:59:14.361Z,1607889554.361 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T19:59:19.560Z,1607889559.560 [NAL9602](INFO): SBD MO Status=1, MOMSN=12860, MT Status=0, MTMSN=0
2020-12-13T19:59:19.609Z,1607889559.609 [NAL9602](INFO): Sent 18 bytes from file Logs/20201213T194207/Express0011.lzma
2020-12-13T19:59:19.609Z,1607889559.609 [NAL9602](INFO): Packets left to send: 0
2020-12-13T19:59:19.947Z,1607889559.947 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004337
2020-12-13T19:59:24.479Z,1607889564.479 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:59:29.676Z,1607889569.676 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:59:29.753Z,1607889569.753 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-13T19:59:29.753Z,1607889569.753 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-13T19:59:29.753Z,1607889569.753 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-13T19:59:29.789Z,1607889569.789 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-13T19:59:30.137Z,1607889570.137 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T19:59:30.939Z,1607889570.939 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-13T19:59:30.939Z,1607889570.939 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-13T19:59:36.145Z,1607889576.145 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-13T19:59:36.145Z,1607889576.145 [DefaultWithUndock:A.Wait] Stopped
2020-12-13T19:59:36.145Z,1607889576.145 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T19:59:36.145Z,1607889576.145 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-13T19:59:36.146Z,1607889576.146 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-13T19:59:36.146Z,1607889576.146 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T19:59:36.146Z,1607889576.146 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-13T19:59:36.146Z,1607889576.146 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-13T19:59:36.146Z,1607889576.146 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-13T19:59:36.146Z,1607889576.146 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T19:59:36.564Z,1607889576.564 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T19:59:36.931Z,1607889576.931 [PowerOnly](INFO): Powering up loadControl
2020-12-13T19:59:38.721Z,1607889578.721 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:59:39.404Z,1607889579.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:59:39.461Z,1607889579.461 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T19:59:39.809Z,1607889579.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:59:40.233Z,1607889580.233 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-13T19:59:40.613Z,1607889580.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195940.60*58

2020-12-13T19:59:40.674Z,1607889580.674 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T19:59:44.247Z,1607889584.247 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:59:45.039Z,1607889585.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:59:45.445Z,1607889585.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:59:46.279Z,1607889586.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195946.23*59

2020-12-13T19:59:49.910Z,1607889589.910 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:59:50.319Z,1607889590.319 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T19:59:50.699Z,1607889590.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:59:51.173Z,1607889591.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:59:51.994Z,1607889591.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195951.89*5F

2020-12-13T19:59:54.418Z,1607889594.418 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-13T19:59:54.418Z,1607889594.418 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-13T19:59:54.418Z,1607889594.418 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-13T19:59:54.517Z,1607889594.517 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-13T19:59:54.825Z,1607889594.825 [RDI_Pathfinder](INFO): Powering down
2020-12-13T19:59:55.563Z,1607889595.563 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T19:59:55.623Z,1607889595.623 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-13T19:59:55.623Z,1607889595.623 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-13T19:59:56.347Z,1607889596.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T19:59:56.764Z,1607889596.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T19:59:57.587Z,1607889597.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195957.54*59

2020-12-13T20:00:00.829Z,1607889600.829 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 921.60 m. Transitioning DDM to standby.
2020-12-13T20:00:01.223Z,1607889601.223 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T20:00:02.015Z,1607889602.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:00:02.417Z,1607889602.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:00:03.231Z,1607889603.231 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200003.21*5C

2020-12-13T20:00:04.065Z,1607889604.065 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-13T20:00:04.065Z,1607889604.065 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T20:00:04.521Z,1607889604.521 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T20:00:04.521Z,1607889604.521 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:LeaveDock] Stopped
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-13T20:00:04.522Z,1607889604.522 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T20:00:04.523Z,1607889604.523 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-13T20:00:04.523Z,1607889604.523 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-13T20:00:04.523Z,1607889604.523 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-13T20:00:04.523Z,1607889604.523 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T20:00:04.523Z,1607889604.523 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T20:00:04.523Z,1607889604.523 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T20:00:04.524Z,1607889604.524 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T20:00:04.524Z,1607889604.524 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T20:00:04.524Z,1607889604.524 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T20:00:04.852Z,1607889604.852 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-13T20:00:04.852Z,1607889604.852 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T20:00:04.852Z,1607889604.852 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T20:00:04.852Z,1607889604.852 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-13T20:00:04.857Z,1607889604.857 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T20:00:04.857Z,1607889604.857 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-13T20:00:04.857Z,1607889604.857 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-13T20:00:05.354Z,1607889605.354 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-12-13T20:01:08.669Z,1607889668.669 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:01:17.171Z,1607889677.171 [NAL9602](INFO): SBD MO Status=2, MOMSN=12861, MT Status=2, MTMSN=0
2020-12-13T20:01:17.171Z,1607889677.171 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T20:01:44.636Z,1607889704.636 [NAL9602](INFO): SBD MO Status=2, MOMSN=12861, MT Status=2, MTMSN=0
2020-12-13T20:01:44.641Z,1607889704.641 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T20:02:12.916Z,1607889732.916 [NAL9602](INFO): SBD MO Status=0, MOMSN=12861, MT Status=0, MTMSN=0
2020-12-13T20:02:12.916Z,1607889732.916 [NAL9602](INFO): No messages in MT queue
2020-12-13T20:04:01.131Z,1607889841.131 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T200401
2020-12-13T20:04:05.155Z,1607889845.155 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 2 count;set lineCaptureDepth.MinAltitude 3 meter" i7qe 1 2
2020-12-13T20:04:05.222Z,1607889845.222 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 2 count;set lineCaptureDepth.MinAltitude 3 meter" i7qe 1 2.000000
2020-12-13T20:04:05.222Z,1607889845.222 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=i7qe
2020-12-13T20:04:05.223Z,1607889845.223 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='i7qe'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 2 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP
2020-12-13T20:04:06.150Z,1607889846.150 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T200406
2020-12-13T20:04:10.165Z,1607889850.165 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" i7qe 2 2
2020-12-13T20:04:10.262Z,1607889850.262 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" i7qe 2 2.000000
2020-12-13T20:04:10.262Z,1607889850.262 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=i7qe
2020-12-13T20:04:10.263Z,1607889850.263 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='i7qe'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2020-12-13T20:04:10.379Z,1607889850.379 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T20:04:10.379Z,1607889850.379 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T20:04:10.451Z,1607889850.451 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2020-12-13T20:04:10.454Z,1607889850.454 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2020-12-13T20:04:10.457Z,1607889850.457 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2020-12-13T20:04:10.460Z,1607889850.460 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2020-12-13T20:04:10.533Z,1607889850.533 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2020-12-13T20:04:10.536Z,1607889850.536 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2020-12-13T20:04:10.543Z,1607889850.543 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2020-12-13T20:04:10.550Z,1607889850.550 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2020-12-13T20:04:10.565Z,1607889850.565 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2020-12-13T20:04:10.568Z,1607889850.568 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2020-12-13T20:04:10.583Z,1607889850.583 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2020-12-13T20:04:10.590Z,1607889850.590 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2020-12-13T20:04:10.591Z,1607889850.591 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-13T20:04:10.935Z,1607889850.935 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2020-12-13T20:04:10.943Z,1607889850.943 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2020-12-13T20:04:10.957Z,1607889850.957 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2020-12-13T20:04:10.960Z,1607889850.960 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2020-12-13T20:04:10.967Z,1607889850.967 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2020-12-13T20:04:10.978Z,1607889850.978 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-13T20:04:10.989Z,1607889850.989 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-13T20:04:10.992Z,1607889850.992 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2020-12-13T20:04:11.005Z,1607889851.005 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2020-12-13T20:04:11.007Z,1607889851.007 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2020-12-13T20:04:11.010Z,1607889851.010 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-13T20:04:11.022Z,1607889851.022 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-13T20:04:11.027Z,1607889851.027 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2020-12-13T20:04:11.039Z,1607889851.039 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2020-12-13T20:04:11.053Z,1607889851.053 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-12-13T20:04:11.061Z,1607889851.061 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-12-13T20:04:11.068Z,1607889851.068 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-13T20:04:11.071Z,1607889851.071 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2020-12-13T20:04:11.086Z,1607889851.086 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2020-12-13T20:04:11.097Z,1607889851.097 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2020-12-13T20:04:11.100Z,1607889851.100 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2020-12-13T20:04:11.107Z,1607889851.107 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2020-12-13T20:04:11.121Z,1607889851.121 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2020-12-13T20:04:11.129Z,1607889851.129 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2020-12-13T20:04:11.142Z,1607889851.142 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2020-12-13T20:04:11.156Z,1607889851.156 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2020-12-13T20:04:11.182Z,1607889851.182 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2020-12-13T20:04:11.187Z,1607889851.187 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2020-12-13T20:04:11.198Z,1607889851.198 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2020-12-13T20:04:11.205Z,1607889851.205 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2020-12-13T20:04:11.208Z,1607889851.208 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2020-12-13T20:04:11.215Z,1607889851.215 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2020-12-13T20:04:11.219Z,1607889851.219 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2020-12-13T20:04:11.230Z,1607889851.230 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2020-12-13T20:04:11.237Z,1607889851.237 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2020-12-13T20:04:11.243Z,1607889851.243 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2020-12-13T20:04:11.254Z,1607889851.254 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2020-12-13T20:04:11.261Z,1607889851.261 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2020-12-13T20:04:11.264Z,1607889851.264 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2020-12-13T20:04:11.304Z,1607889851.304 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2020-12-13T20:04:11.315Z,1607889851.315 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2020-12-13T20:04:11.326Z,1607889851.326 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2020-12-13T20:04:11.334Z,1607889851.334 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2020-12-13T20:04:11.349Z,1607889851.349 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2020-12-13T20:04:11.421Z,1607889851.421 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T20:04:11.439Z,1607889851.439 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-13T20:04:11.469Z,1607889851.469 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T20:04:11.495Z,1607889851.495 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T20:04:11.518Z,1607889851.518 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T20:04:11.540Z,1607889851.540 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T20:04:11.576Z,1607889851.576 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T20:04:11.583Z,1607889851.583 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T20:04:11.587Z,1607889851.587 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T20:04:11.588Z,1607889851.588 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T20:04:11.617Z,1607889851.617 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T20:04:11.630Z,1607889851.630 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T20:04:11.658Z,1607889851.658 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-13T20:04:11.788Z,1607889851.788 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2020-12-13T20:04:11.800Z,1607889851.800 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-13T20:04:11.807Z,1607889851.807 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-13T20:04:11.821Z,1607889851.821 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2020-12-13T20:04:11.837Z,1607889851.837 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-13T20:04:11.853Z,1607889851.853 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2020-12-13T20:04:11.861Z,1607889851.861 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2020-12-13T20:04:11.871Z,1607889851.871 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T20:04:11.912Z,1607889851.912 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2020-12-13T20:04:11.956Z,1607889851.956 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2020-12-13T20:04:11.963Z,1607889851.963 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2020-12-13T20:04:11.973Z,1607889851.973 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2020-12-13T20:04:12.001Z,1607889852.001 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-12-13T20:04:12.353Z,1607889852.353 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2020-12-13T20:04:12.361Z,1607889852.361 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2020-12-13T20:04:12.364Z,1607889852.364 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2020-12-13T20:04:12.371Z,1607889852.371 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2020-12-13T20:04:12.379Z,1607889852.379 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-12-13T20:04:12.387Z,1607889852.387 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2020-12-13T20:04:12.391Z,1607889852.391 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2020-12-13T20:04:12.402Z,1607889852.402 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2020-12-13T20:04:12.406Z,1607889852.406 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2020-12-13T20:04:12.417Z,1607889852.417 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2020-12-13T20:04:12.425Z,1607889852.425 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2020-12-13T20:04:12.427Z,1607889852.427 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2020-12-13T20:04:12.431Z,1607889852.431 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2020-12-13T20:04:12.442Z,1607889852.442 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-12-13T20:04:12.449Z,1607889852.449 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2020-12-13T20:04:12.452Z,1607889852.452 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2020-12-13T20:04:12.459Z,1607889852.459 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2020-12-13T20:04:12.463Z,1607889852.463 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2020-12-13T20:04:12.474Z,1607889852.474 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2020-12-13T20:04:12.498Z,1607889852.498 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2020-12-13T20:04:12.509Z,1607889852.509 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2020-12-13T20:04:12.512Z,1607889852.512 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2020-12-13T20:04:12.524Z,1607889852.524 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2020-12-13T20:04:12.535Z,1607889852.535 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2020-12-13T20:04:12.542Z,1607889852.542 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2020-12-13T20:04:12.557Z,1607889852.557 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2020-12-13T20:04:12.567Z,1607889852.567 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T20:04:12.629Z,1607889852.629 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T20:04:12.632Z,1607889852.632 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T20:04:12.643Z,1607889852.643 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T20:04:12.644Z,1607889852.644 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T20:04:12.664Z,1607889852.664 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T20:04:12.705Z,1607889852.705 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T20:04:12.785Z,1607889852.785 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2020-12-13T20:04:12.788Z,1607889852.788 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-13T20:04:12.809Z,1607889852.809 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-12-13T20:04:12.809Z,1607889852.809 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T20:04:12.897Z,1607889852.897 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2020-12-13T20:04:12.905Z,1607889852.905 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2020-12-13T20:04:12.917Z,1607889852.917 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-13T20:04:12.920Z,1607889852.920 [BPC1](INFO): Received data from all battery sticks.
2020-12-13T20:04:12.931Z,1607889852.931 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-12-13T20:04:12.965Z,1607889852.965 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-12-13T20:04:13.045Z,1607889853.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2020-12-13T20:04:13.071Z,1607889853.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2020-12-13T20:04:13.128Z,1607889853.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-13T20:04:13.137Z,1607889853.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T20:04:13.156Z,1607889853.156 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-12-13T20:04:13.178Z,1607889853.178 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-12-13T20:04:13.232Z,1607889853.232 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2020-12-13T20:04:13.249Z,1607889853.249 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2020-12-13T20:04:13.258Z,1607889853.258 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2020-12-13T20:04:13.263Z,1607889853.263 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-12-13T20:04:13.286Z,1607889853.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-12-13T20:04:13.351Z,1607889853.351 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2020-12-13T20:04:13.351Z,1607889853.351 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2020-12-13T20:04:13.387Z,1607889853.387 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2020-12-13T20:04:13.387Z,1607889853.387 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T20:04:13.460Z,1607889853.460 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureDepth">

    <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 (4) Dock: final approach using fixed heading.
    </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>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></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="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>

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

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description> 
    </Insert>

    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

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

    <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>

    <!-- Add LineCapture directives. -->

    <Insert Filename="Insert/LineCapture.xml"/>

    <Assign><Sequence/><Arg Name="LineCapture:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinAltitude"/><Arg Name="MinAltitude"/></Assign>
    
    <!-- Add SetNav directives. -->

    <Insert Filename="Insert/SetNavAcoustic.xml"/>

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

        <!-- Execute the LineCapture sequence. -->
        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Docked">
            <Sequence/>

            <Break>
                <Arg Name="Mode"/><Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked>
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">
                <Sequence/>

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2020-12-13T20:04:13.465Z,1607889853.465 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T20:04:24.953Z,1607889864.953 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 60.000000 minute
2020-12-13T20:04:24.954Z,1607889864.954 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2020-12-13T20:04:24.955Z,1607889864.955 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 2.000000 count
2020-12-13T20:04:24.955Z,1607889864.955 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2020-12-13T20:04:29.410Z,1607889869.410 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2020-12-13T20:04:29.411Z,1607889869.411 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2020-12-13T20:04:29.412Z,1607889869.412 [CommandLine](IMPORTANT): got command run
2020-12-13T20:04:29.415Z,1607889869.415 [CommandLine](IMPORTANT): Running 
2020-12-13T20:04:29.528Z,1607889869.528 [DefaultWithUndock] Stopped
2020-12-13T20:04:29.533Z,1607889869.533 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-13T20:04:29.535Z,1607889869.535 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-13T20:04:29.535Z,1607889869.535 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-13T20:04:29.536Z,1607889869.536 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-13T20:04:29.536Z,1607889869.536 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T20:04:29.536Z,1607889869.536 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T20:04:29.543Z,1607889869.543 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T20:04:29.543Z,1607889869.543 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T20:04:29.557Z,1607889869.557 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth] Running Loop=1
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth:Science] Running Loop=1
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth:Science:A] Running Loop=1
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-13T20:04:29.557Z,1607889869.557 [lineCaptureDepth:Science:D] Running Loop=1
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:E] Running Loop=1
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:F] Running Loop=1
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T20:04:29.558Z,1607889869.558 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T20:04:29.560Z,1607889869.560 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2020-12-13T20:04:29.560Z,1607889869.560 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-13T20:04:29.565Z,1607889869.565 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-12-13T20:04:29.565Z,1607889869.565 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-12-13T20:04:29.565Z,1607889869.565 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2020-12-13T20:04:29.565Z,1607889869.565 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-13T20:04:29.565Z,1607889869.565 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T20:04:29.566Z,1607889869.566 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T20:04:29.568Z,1607889869.568 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2020-12-13T20:04:29.568Z,1607889869.568 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2020-12-13T20:04:29.568Z,1607889869.568 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T20:04:29.568Z,1607889869.568 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T20:04:29.570Z,1607889869.570 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2020-12-13T20:04:29.570Z,1607889869.570 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-13T20:04:29.570Z,1607889869.570 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T20:04:29.570Z,1607889869.570 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T20:04:29.572Z,1607889869.572 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T20:04:29.581Z,1607889869.581 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:04:29.582Z,1607889869.582 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T20:04:29.583Z,1607889869.583 [lineCaptureDepth:J.] Running Loop=1
2020-12-13T20:04:29.583Z,1607889869.583 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2020-12-13T20:04:29.583Z,1607889869.583 [lineCaptureDepth:C] Running Loop=1
2020-12-13T20:04:29.584Z,1607889869.584 [lineCaptureDepth:J.] Running Loop=1
2020-12-13T20:04:29.589Z,1607889869.589 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:04:29.590Z,1607889869.590 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T20:04:29.590Z,1607889869.590 [lineCaptureDepth:C] Stopped
2020-12-13T20:04:29.590Z,1607889869.590 [lineCaptureDepth:D] Running Loop=1
2020-12-13T20:04:29.590Z,1607889869.590 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-13T20:04:29.590Z,1607889869.590 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T20:04:29.591Z,1607889869.591 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T20:04:29.592Z,1607889869.592 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T20:04:29.596Z,1607889869.596 [lineCaptureDepth:Science] Running Loop=1
2020-12-13T20:04:29.597Z,1607889869.597 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T20:04:29.598Z,1607889869.598 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T20:04:29.599Z,1607889869.599 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-13T20:04:29.605Z,1607889869.605 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-13T20:04:29.606Z,1607889869.606 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-12-13T20:04:29.606Z,1607889869.606 [lineCaptureDepth:Science:F] Stopped
2020-12-13T20:04:29.606Z,1607889869.606 [lineCaptureDepth:Science:E] Stopped
2020-12-13T20:04:29.606Z,1607889869.606 [lineCaptureDepth:Science:D] Stopped
2020-12-13T20:04:29.606Z,1607889869.606 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-13T20:04:29.607Z,1607889869.607 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-12-13T20:04:29.607Z,1607889869.607 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-12-13T20:04:29.607Z,1607889869.607 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-13T20:04:29.608Z,1607889869.608 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-12-13T20:04:29.609Z,1607889869.609 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-12-13T20:04:29.609Z,1607889869.609 [lineCaptureDepth:Science:A] Stopped
2020-12-13T20:04:29.677Z,1607889869.677 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-12-13T20:04:30.138Z,1607889870.138 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T20:04:30.139Z,1607889870.139 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T20:04:30.139Z,1607889870.139 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T20:04:30.139Z,1607889870.139 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:04:30.139Z,1607889870.139 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T20:04:30.139Z,1607889870.139 [lineCaptureDepth:D] Stopped
2020-12-13T20:04:30.139Z,1607889870.139 [lineCaptureDepth:E] Running Loop=1
2020-12-13T20:04:30.550Z,1607889870.550 [lineCaptureDepth:E] Stopped
2020-12-13T20:04:30.550Z,1607889870.550 [lineCaptureDepth:G] Running Loop=1
2020-12-13T20:04:30.919Z,1607889870.919 [lineCaptureDepth:G] Stopped
2020-12-13T20:04:30.920Z,1607889870.920 [lineCaptureDepth:H] Running Loop=1
2020-12-13T20:04:31.335Z,1607889871.335 [lineCaptureDepth:H] Stopped
2020-12-13T20:04:31.336Z,1607889871.336 [lineCaptureDepth:L] Running Loop=1
2020-12-13T20:04:31.730Z,1607889871.730 [lineCaptureDepth:L] Stopped
2020-12-13T20:04:31.730Z,1607889871.730 [lineCaptureDepth:M] Running Loop=1
2020-12-13T20:04:32.175Z,1607889872.175 [lineCaptureDepth:M] Stopped
2020-12-13T20:04:32.175Z,1607889872.175 [lineCaptureDepth:N] Running Loop=1
2020-12-13T20:04:32.175Z,1607889872.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:04:32.536Z,1607889872.536 [lineCaptureDepth:N] Stopped
2020-12-13T20:04:32.537Z,1607889872.537 [lineCaptureDepth:Lap] Running Loop=1
2020-12-13T20:04:32.537Z,1607889872.537 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2020-12-13T20:04:32.537Z,1607889872.537 [lineCaptureDepth:Lap:A] Running Loop=1
2020-12-13T20:04:32.917Z,1607889872.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:04:33.006Z,1607889873.006 [lineCaptureDepth:Lap:A] Stopped
2020-12-13T20:04:33.007Z,1607889873.007 [lineCaptureDepth:Lap:B] Running Loop=1
2020-12-13T20:04:33.007Z,1607889873.007 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2020-12-13T20:04:33.317Z,1607889873.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:04:33.367Z,1607889873.367 [lineCaptureDepth:LineCapture] Running Loop=1
2020-12-13T20:04:33.367Z,1607889873.367 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2020-12-13T20:04:33.367Z,1607889873.367 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-13T20:04:33.368Z,1607889873.368 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-13T20:04:33.368Z,1607889873.368 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T20:04:33.368Z,1607889873.368 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T20:04:33.368Z,1607889873.368 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T20:04:33.368Z,1607889873.368 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T20:04:33.369Z,1607889873.369 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T20:04:33.370Z,1607889873.370 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-13T20:04:33.370Z,1607889873.370 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T20:04:33.370Z,1607889873.370 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T20:04:33.370Z,1607889873.370 [lineCaptureDepth:LineCapture:A] Running Loop=1
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-13T20:04:33.371Z,1607889873.371 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-13T20:04:33.372Z,1607889873.372 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-13T20:04:33.372Z,1607889873.372 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-13T20:04:33.372Z,1607889873.372 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T20:04:33.373Z,1607889873.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T20:04:33.373Z,1607889873.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T20:04:33.374Z,1607889873.374 [lineCaptureDepth:LineCapture:A] Stopped
2020-12-13T20:04:33.374Z,1607889873.374 [lineCaptureDepth:LineCapture:B] Running Loop=1
2020-12-13T20:04:33.422Z,1607889873.422 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-12-13T20:04:33.731Z,1607889873.731 [lineCaptureDepth:LineCapture:B] Stopped
2020-12-13T20:04:33.731Z,1607889873.731 [lineCaptureDepth:LineCapture:D] Running Loop=1
2020-12-13T20:04:34.155Z,1607889874.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200434.11*5F

2020-12-13T20:04:34.205Z,1607889874.205 [lineCaptureDepth:LineCapture:D] Stopped
2020-12-13T20:04:34.205Z,1607889874.205 [lineCaptureDepth:LineCapture:E] Running Loop=1
2020-12-13T20:04:34.623Z,1607889874.623 [lineCaptureDepth:LineCapture:E] Stopped
2020-12-13T20:04:34.623Z,1607889874.623 [lineCaptureDepth:LineCapture:F] Running Loop=1
2020-12-13T20:04:34.985Z,1607889874.985 [lineCaptureDepth:LineCapture:F] Stopped
2020-12-13T20:04:34.985Z,1607889874.985 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2020-12-13T20:04:34.985Z,1607889874.985 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-13T20:04:34.985Z,1607889874.985 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-13T20:04:34.985Z,1607889874.985 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T20:04:34.986Z,1607889874.986 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-12-13T20:04:34.986Z,1607889874.986 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T20:04:34.986Z,1607889874.986 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-12-13T20:04:34.987Z,1607889874.987 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-12-13T20:04:34.987Z,1607889874.987 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T20:04:34.987Z,1607889874.987 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T20:04:34.987Z,1607889874.987 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T20:04:34.988Z,1607889874.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-13T20:04:34.988Z,1607889874.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T20:04:34.988Z,1607889874.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T20:04:34.988Z,1607889874.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-13T20:04:34.988Z,1607889874.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T20:04:34.992Z,1607889874.992 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-13T20:04:34.993Z,1607889874.993 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-13T20:04:34.993Z,1607889874.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T20:04:34.993Z,1607889874.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T20:04:34.993Z,1607889874.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-13T20:04:34.994Z,1607889874.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T20:04:34.994Z,1607889874.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T20:04:34.994Z,1607889874.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-13T20:04:34.994Z,1607889874.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T20:04:34.994Z,1607889874.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T20:04:34.994Z,1607889874.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-13T20:04:35.378Z,1607889875.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-13T20:04:35.379Z,1607889875.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-13T20:04:35.380Z,1607889875.380 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-13T20:04:35.380Z,1607889875.380 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-13T20:04:35.380Z,1607889875.380 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-13T20:04:35.756Z,1607889875.756 [PowerOnly](INFO): Powering up loadControl
2020-12-13T20:04:37.922Z,1607889877.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:04:38.595Z,1607889878.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:04:39.021Z,1607889879.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:04:39.075Z,1607889879.075 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-12-13T20:04:39.425Z,1607889879.425 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T20:04:39.853Z,1607889879.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200439.79*5C

2020-12-13T20:04:43.503Z,1607889883.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:04:44.253Z,1607889884.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:04:44.661Z,1607889884.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:04:45.483Z,1607889885.483 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200445.45*58

2020-12-13T20:04:49.125Z,1607889889.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:04:49.909Z,1607889889.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:04:50.315Z,1607889890.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:04:51.138Z,1607889891.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200451.16*5B

2020-12-13T20:04:54.779Z,1607889894.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:04:55.575Z,1607889895.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:04:55.971Z,1607889895.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:04:56.791Z,1607889896.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200456.77*5B

2020-12-13T20:04:59.675Z,1607889899.675 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 969.66 m. Transitioning DDM to standby.
2020-12-13T20:05:00.474Z,1607889900.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:01.239Z,1607889901.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:01.242Z,1607889901.242 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T20:05:01.626Z,1607889901.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:02.450Z,1607889902.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200502.43*5C

2020-12-13T20:05:02.890Z,1607889902.890 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2020-12-13T20:05:03.283Z,1607889903.283 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T20:05:03.283Z,1607889903.283 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-12-13T20:05:03.283Z,1607889903.283 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2020-12-13T20:05:03.670Z,1607889903.670 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2020-12-13T20:05:03.670Z,1607889903.670 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2020-12-13T20:05:03.670Z,1607889903.670 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2020-12-13T20:05:04.082Z,1607889904.082 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2020-12-13T20:05:04.082Z,1607889904.082 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T20:05:04.082Z,1607889904.082 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-12-13T20:05:04.082Z,1607889904.082 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T20:05:04.082Z,1607889904.082 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-13T20:05:04.468Z,1607889904.468 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T20:05:04.469Z,1607889904.469 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-13T20:05:04.469Z,1607889904.469 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-13T20:05:04.469Z,1607889904.469 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T20:05:04.469Z,1607889904.469 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T20:05:04.470Z,1607889904.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T20:05:04.471Z,1607889904.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2020-12-13T20:05:04.471Z,1607889904.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-13T20:05:04.471Z,1607889904.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2020-12-13T20:05:04.471Z,1607889904.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2020-12-13T20:05:04.913Z,1607889904.913 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T20:05:04.913Z,1607889904.913 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T20:05:04.913Z,1607889904.913 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T20:05:04.913Z,1607889904.913 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T20:05:04.913Z,1607889904.913 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-13T20:05:04.913Z,1607889904.913 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T20:05:04.914Z,1607889904.914 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T20:05:04.914Z,1607889904.914 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T20:05:04.914Z,1607889904.914 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T20:05:04.914Z,1607889904.914 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T20:05:04.914Z,1607889904.914 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T20:05:06.078Z,1607889906.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:06.862Z,1607889906.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:07.250Z,1607889907.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:08.087Z,1607889908.087 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200508.06*57

2020-12-13T20:05:11.716Z,1607889911.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:12.503Z,1607889912.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:12.919Z,1607889912.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:13.719Z,1607889913.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200513.70*5C

2020-12-13T20:05:17.387Z,1607889917.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:18.171Z,1607889918.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:18.571Z,1607889918.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:19.380Z,1607889919.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200519.37*55

2020-12-13T20:05:21.002Z,1607889921.002 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:05:23.037Z,1607889923.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:23.849Z,1607889923.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:24.233Z,1607889924.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:25.051Z,1607889925.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200525.04*5A

2020-12-13T20:05:28.703Z,1607889928.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:29.475Z,1607889929.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:29.885Z,1607889929.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:30.701Z,1607889930.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200530.67*5B

2020-12-13T20:05:31.210Z,1607889931.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:34.442Z,1607889934.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:35.182Z,1607889935.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:35.539Z,1607889935.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:36.369Z,1607889936.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200536.38*57

2020-12-13T20:05:40.045Z,1607889940.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:40.840Z,1607889940.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:41.212Z,1607889941.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:42.047Z,1607889942.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200542.03*5C

2020-12-13T20:05:42.567Z,1607889942.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:45.759Z,1607889945.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:46.551Z,1607889946.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:46.945Z,1607889946.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:47.789Z,1607889947.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200547.75*58

2020-12-13T20:05:48.273Z,1607889948.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:50.185Z,1607889950.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:05:51.031Z,1607889951.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:51.857Z,1607889951.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:52.217Z,1607889952.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:53.415Z,1607889953.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200553.05*5A

2020-12-13T20:05:53.907Z,1607889953.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:55.443Z,1607889955.443 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:05:56.669Z,1607889956.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:05:57.455Z,1607889957.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:05:57.873Z,1607889957.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:05:58.687Z,1607889958.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200558.65*57

2020-12-13T20:06:02.380Z,1607889962.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:03.119Z,1607889963.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:03.534Z,1607889963.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:04.331Z,1607889964.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200604.31*5C

2020-12-13T20:06:07.186Z,1607889967.186 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:06:07.988Z,1607889967.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:08.765Z,1607889968.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:09.185Z,1607889969.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:09.987Z,1607889969.987 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200609.96*5C

2020-12-13T20:06:13.655Z,1607889973.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:14.421Z,1607889974.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:14.863Z,1607889974.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:15.655Z,1607889975.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200615.62*5A

2020-12-13T20:06:19.307Z,1607889979.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:20.085Z,1607889980.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:20.483Z,1607889980.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:21.298Z,1607889981.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200621.28*53

2020-12-13T20:06:21.746Z,1607889981.746 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.283913
2020-12-13T20:06:24.984Z,1607889984.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:25.766Z,1607889985.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:26.179Z,1607889986.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:26.982Z,1607889986.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200626.96*51

2020-12-13T20:06:30.628Z,1607889990.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:31.421Z,1607889991.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:31.858Z,1607889991.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:32.643Z,1607889992.643 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200632.61*5C

2020-12-13T20:06:36.294Z,1607889996.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:37.092Z,1607889997.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:37.501Z,1607889997.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:38.311Z,1607889998.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200638.29*5A

2020-12-13T20:06:41.968Z,1607890001.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:42.735Z,1607890002.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:43.189Z,1607890003.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:43.973Z,1607890003.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200643.93*57

2020-12-13T20:06:47.624Z,1607890007.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:48.418Z,1607890008.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:48.858Z,1607890008.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:49.632Z,1607890009.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200649.61*50

2020-12-13T20:06:51.869Z,1607890011.869 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003178
2020-12-13T20:06:53.309Z,1607890013.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:54.093Z,1607890014.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:06:54.482Z,1607890014.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:06:55.300Z,1607890015.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200655.29*51

2020-12-13T20:06:58.952Z,1607890018.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:06:59.749Z,1607890019.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:00.166Z,1607890020.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:00.959Z,1607890020.959 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200700.94*56

2020-12-13T20:07:04.603Z,1607890024.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:05.433Z,1607890025.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:05.797Z,1607890025.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:06.616Z,1607890026.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200706.63*58

2020-12-13T20:07:10.283Z,1607890030.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:11.067Z,1607890031.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:11.468Z,1607890031.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:12.272Z,1607890032.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200712.26*5C

2020-12-13T20:07:15.922Z,1607890035.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:16.697Z,1607890036.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:17.121Z,1607890037.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:17.915Z,1607890037.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200717.89*5C

2020-12-13T20:07:21.250Z,1607890041.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:21.951Z,1607890041.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:22.361Z,1607890042.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:23.197Z,1607890043.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200723.15*5E

2020-12-13T20:07:26.867Z,1607890046.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:27.625Z,1607890047.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:28.025Z,1607890048.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:28.859Z,1607890048.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200728.82*5B

2020-12-13T20:07:29.649Z,1607890049.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:31.247Z,1607890051.247 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:07:32.506Z,1607890052.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:33.041Z,1607890053.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T20:07:33.267Z,1607890053.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:33.667Z,1607890053.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:34.481Z,1607890054.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200734.46*5E

2020-12-13T20:07:38.190Z,1607890058.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:38.925Z,1607890058.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:39.329Z,1607890059.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:40.159Z,1607890060.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200740.12*5C

2020-12-13T20:07:43.804Z,1607890063.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:44.579Z,1607890064.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:44.998Z,1607890064.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:45.829Z,1607890065.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200745.77*5A

2020-12-13T20:07:49.471Z,1607890069.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:50.231Z,1607890070.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:50.649Z,1607890070.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:51.467Z,1607890071.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200751.42*59

2020-12-13T20:07:52.117Z,1607890072.117 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251404
2020-12-13T20:07:55.190Z,1607890075.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:07:55.887Z,1607890075.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:07:56.297Z,1607890076.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:07:56.925Z,1607890076.925 [Radio_Surface](INFO): Powering down
2020-12-13T20:07:57.101Z,1607890077.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200757.08*51

2020-12-13T20:07:57.138Z,1607890077.138 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-13T20:07:59.538Z,1607890079.538 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:08:00.767Z,1607890080.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:01.561Z,1607890081.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:01.967Z,1607890081.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:02.774Z,1607890082.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200802.75*54

2020-12-13T20:08:06.447Z,1607890086.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:07.215Z,1607890087.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:07.622Z,1607890087.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:08.432Z,1607890088.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200808.41*59

2020-12-13T20:08:12.088Z,1607890092.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:12.863Z,1607890092.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:13.285Z,1607890093.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:14.079Z,1607890094.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200814.06*57

2020-12-13T20:08:17.730Z,1607890097.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:18.523Z,1607890098.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:18.929Z,1607890098.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:19.766Z,1607890099.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200819.72*59

2020-12-13T20:08:23.389Z,1607890103.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:24.197Z,1607890104.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:24.597Z,1607890104.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:25.418Z,1607890105.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200825.39*59

2020-12-13T20:08:29.064Z,1607890109.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:29.843Z,1607890109.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:30.235Z,1607890110.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:31.051Z,1607890111.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200831.04*52

2020-12-13T20:08:34.723Z,1607890114.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:35.488Z,1607890115.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:35.909Z,1607890115.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:36.720Z,1607890116.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200836.68*5F

2020-12-13T20:08:37.547Z,1607890117.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:39.132Z,1607890119.132 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:08:40.358Z,1607890120.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:41.177Z,1607890121.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:41.553Z,1607890121.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:42.384Z,1607890122.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200842.37*56

2020-12-13T20:08:46.045Z,1607890126.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:46.827Z,1607890126.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:47.205Z,1607890127.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:48.027Z,1607890128.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200848.02*5A

2020-12-13T20:08:51.678Z,1607890131.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:52.467Z,1607890132.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:52.877Z,1607890132.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:53.675Z,1607890133.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200853.66*52

2020-12-13T20:08:57.347Z,1607890137.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:08:58.115Z,1607890138.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:08:58.521Z,1607890138.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:08:59.344Z,1607890139.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200859.31*5A

2020-12-13T20:09:02.988Z,1607890142.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:03.771Z,1607890143.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:04.192Z,1607890144.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:04.988Z,1607890144.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200904.96*5E

2020-12-13T20:09:08.635Z,1607890148.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:09.432Z,1607890149.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:09.850Z,1607890149.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:10.658Z,1607890150.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200910.63*51

2020-12-13T20:09:14.307Z,1607890154.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:15.083Z,1607890155.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:15.097Z,1607890155.097 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:09:15.489Z,1607890155.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:16.303Z,1607890156.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200916.28*58

2020-12-13T20:09:19.964Z,1607890159.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:20.739Z,1607890160.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:21.162Z,1607890161.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:21.955Z,1607890161.955 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200921.93*5C

2020-12-13T20:09:25.606Z,1607890165.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:26.389Z,1607890166.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:26.825Z,1607890166.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:27.611Z,1607890167.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200927.58*5D

2020-12-13T20:09:30.057Z,1607890170.057 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:09:31.263Z,1607890171.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:32.073Z,1607890172.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:32.460Z,1607890172.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:33.277Z,1607890173.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200933.27*50

2020-12-13T20:09:34.893Z,1607890174.893 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:09:36.920Z,1607890176.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:37.701Z,1607890177.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:38.126Z,1607890178.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:38.919Z,1607890178.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200938.89*5F

2020-12-13T20:09:40.170Z,1607890180.170 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:09:42.571Z,1607890182.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:43.357Z,1607890183.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:43.786Z,1607890183.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:44.587Z,1607890184.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200944.55*55

2020-12-13T20:09:48.235Z,1607890188.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:49.015Z,1607890189.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:49.419Z,1607890189.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:50.238Z,1607890190.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200950.21*53

2020-12-13T20:09:53.896Z,1607890193.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:54.671Z,1607890194.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:09:55.081Z,1607890195.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:09:55.903Z,1607890195.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200955.86*5B

2020-12-13T20:09:59.259Z,1607890199.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:09:59.923Z,1607890199.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:00.345Z,1607890200.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:01.164Z,1607890201.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201001.12*5F

2020-12-13T20:10:04.858Z,1607890204.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:05.219Z,1607890205.219 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:10:05.583Z,1607890205.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:05.989Z,1607890205.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:06.817Z,1607890206.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201006.78*54

2020-12-13T20:10:10.482Z,1607890210.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:11.239Z,1607890211.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:11.653Z,1607890211.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:12.460Z,1607890212.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201012.43*59

2020-12-13T20:10:16.108Z,1607890216.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:16.889Z,1607890216.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:17.295Z,1607890217.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:18.111Z,1607890218.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201018.09*5D

2020-12-13T20:10:20.181Z,1607890220.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:10:21.758Z,1607890221.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:22.548Z,1607890222.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:22.953Z,1607890222.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:23.784Z,1607890223.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201023.74*5F

2020-12-13T20:10:27.020Z,1607890227.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:27.828Z,1607890227.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:28.209Z,1607890228.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:29.031Z,1607890229.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201029.02*54

2020-12-13T20:10:32.686Z,1607890232.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:33.466Z,1607890233.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:33.865Z,1607890233.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:34.675Z,1607890234.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201034.66*5A

2020-12-13T20:10:37.924Z,1607890237.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:38.711Z,1607890238.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:39.120Z,1607890239.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:39.933Z,1607890239.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201039.90*5E

2020-12-13T20:10:43.238Z,1607890243.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:43.963Z,1607890243.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:44.369Z,1607890244.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:45.207Z,1607890245.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201045.16*5B

2020-12-13T20:10:48.458Z,1607890248.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:49.211Z,1607890249.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:49.631Z,1607890249.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:50.430Z,1607890250.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201050.40*5C

2020-12-13T20:10:53.679Z,1607890253.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:54.479Z,1607890254.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:10:54.892Z,1607890254.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:10:55.687Z,1607890255.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201055.67*5C

2020-12-13T20:10:58.939Z,1607890258.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:10:59.719Z,1607890259.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:00.143Z,1607890260.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:00.941Z,1607890260.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201100.91*54

2020-12-13T20:11:04.220Z,1607890264.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:04.967Z,1607890264.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:05.377Z,1607890265.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:06.190Z,1607890266.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201106.16*5D

2020-12-13T20:11:09.462Z,1607890269.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:10.223Z,1607890270.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:10.631Z,1607890270.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:11.444Z,1607890271.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201111.42*5A

2020-12-13T20:11:14.677Z,1607890274.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:15.475Z,1607890275.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:15.875Z,1607890275.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:16.689Z,1607890276.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201116.67*5A

2020-12-13T20:11:19.948Z,1607890279.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:20.721Z,1607890280.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:21.133Z,1607890281.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:21.943Z,1607890281.943 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201121.91*57

2020-12-13T20:11:25.254Z,1607890285.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:25.975Z,1607890285.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:26.385Z,1607890286.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:27.199Z,1607890287.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201127.17*5F

2020-12-13T20:11:30.485Z,1607890290.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:31.239Z,1607890291.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:31.649Z,1607890291.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:32.461Z,1607890292.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201132.43*5A

2020-12-13T20:11:35.711Z,1607890295.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:36.495Z,1607890296.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:36.897Z,1607890296.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:37.717Z,1607890297.717 [Micromodem](INFO): Nmea in: $SNTTA,0.490468,,,,201137.69*4E

2020-12-13T20:11:40.965Z,1607890300.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:41.757Z,1607890301.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:42.176Z,1607890302.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:42.967Z,1607890302.967 [Micromodem](INFO): Nmea in: $SNTTA,0.488547,,,,201142.95*4A

2020-12-13T20:11:46.241Z,1607890306.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:46.999Z,1607890306.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:47.414Z,1607890307.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:48.213Z,1607890308.213 [Micromodem](INFO): Nmea in: $SNTTA,0.486367,,,,201148.19*4E

2020-12-13T20:11:49.051Z,1607890309.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:50.634Z,1607890310.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:11:51.867Z,1607890311.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:52.655Z,1607890312.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:53.073Z,1607890313.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:53.875Z,1607890313.875 [Micromodem](INFO): Nmea in: $SNTTA,0.483842,,,,201153.85*48

2020-12-13T20:11:57.135Z,1607890317.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:11:57.903Z,1607890317.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:11:58.327Z,1607890318.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:11:59.118Z,1607890319.118 [Micromodem](INFO): Nmea in: $SNTTA,0.481431,,,,201159.10*44

2020-12-13T20:12:02.388Z,1607890322.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:03.203Z,1607890323.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:03.563Z,1607890323.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:04.391Z,1607890324.391 [Micromodem](INFO): Nmea in: $SNTTA,0.479091,,,,201204.40*43

2020-12-13T20:12:07.631Z,1607890327.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:08.418Z,1607890328.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:08.835Z,1607890328.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:09.630Z,1607890329.630 [Micromodem](INFO): Nmea in: $SNTTA,0.476732,,,,201209.61*4C

2020-12-13T20:12:12.952Z,1607890332.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:13.675Z,1607890333.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:14.069Z,1607890334.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:14.903Z,1607890334.903 [Micromodem](INFO): Nmea in: $SNTTA,0.474133,,,,201214.87*4D

2020-12-13T20:12:18.164Z,1607890338.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:18.925Z,1607890338.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:19.321Z,1607890339.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:20.160Z,1607890340.160 [Micromodem](INFO): Nmea in: $SNTTA,0.471926,,,,201220.12*4F

2020-12-13T20:12:23.384Z,1607890343.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:24.187Z,1607890344.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:24.573Z,1607890344.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:25.391Z,1607890345.391 [Micromodem](INFO): Nmea in: $SNTTA,0.469470,,,,201225.38*45

2020-12-13T20:12:28.626Z,1607890348.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:29.415Z,1607890349.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:29.837Z,1607890349.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:30.632Z,1607890350.632 [Micromodem](INFO): Nmea in: $SNTTA,0.467385,,,,201230.61*4E

2020-12-13T20:12:33.888Z,1607890353.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:34.671Z,1607890354.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:35.077Z,1607890355.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:35.892Z,1607890355.892 [Micromodem](INFO): Nmea in: $SNTTA,0.464908,,,,201235.87*4F

2020-12-13T20:12:39.182Z,1607890359.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:39.923Z,1607890359.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:40.325Z,1607890360.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:41.161Z,1607890361.161 [Micromodem](INFO): Nmea in: $SNTTA,0.462413,,,,201241.12*41

2020-12-13T20:12:44.421Z,1607890364.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:45.190Z,1607890365.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:45.577Z,1607890365.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:46.398Z,1607890366.398 [Micromodem](INFO): Nmea in: $SNTTA,0.459886,,,,201246.38*46

2020-12-13T20:12:49.642Z,1607890369.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:50.424Z,1607890370.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:50.854Z,1607890370.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:51.642Z,1607890371.642 [Micromodem](INFO): Nmea in: $SNTTA,0.457336,,,,201251.62*41

2020-12-13T20:12:54.902Z,1607890374.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:12:55.679Z,1607890375.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:12:56.096Z,1607890376.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:12:56.894Z,1607890376.894 [Micromodem](INFO): Nmea in: $SNTTA,0.455299,,,,201256.87*4B

2020-12-13T20:13:00.198Z,1607890380.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:00.931Z,1607890380.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:01.339Z,1607890381.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:02.157Z,1607890382.157 [Micromodem](INFO): Nmea in: $SNTTA,0.452914,,,,201302.12*4E

2020-12-13T20:13:05.399Z,1607890385.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:06.212Z,1607890386.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:06.593Z,1607890386.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:07.411Z,1607890387.411 [Micromodem](INFO): Nmea in: $SNTTA,0.450491,,,,201307.40*4E

2020-12-13T20:13:10.652Z,1607890390.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:11.442Z,1607890391.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:11.848Z,1607890391.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:12.679Z,1607890392.679 [Micromodem](INFO): Nmea in: $SNTTA,0.448231,,,,201312.64*49

2020-12-13T20:13:15.908Z,1607890395.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:16.687Z,1607890396.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:17.087Z,1607890397.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:17.901Z,1607890397.901 [Micromodem](INFO): Nmea in: $SNTTA,0.446166,,,,201317.88*41

2020-12-13T20:13:21.206Z,1607890401.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:21.935Z,1607890401.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:22.339Z,1607890402.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:23.178Z,1607890403.178 [Micromodem](INFO): Nmea in: $SNTTA,0.444089,,,,201323.13*46

2020-12-13T20:13:26.403Z,1607890406.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:27.199Z,1607890407.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:27.597Z,1607890407.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:28.409Z,1607890408.409 [Micromodem](INFO): Nmea in: $SNTTA,0.441804,,,,201328.39*4D

2020-12-13T20:13:31.647Z,1607890411.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:32.444Z,1607890412.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:32.849Z,1607890412.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:33.657Z,1607890413.657 [Micromodem](INFO): Nmea in: $SNTTA,0.439334,,,,201333.64*48

2020-12-13T20:13:36.920Z,1607890416.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:37.691Z,1607890417.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:38.113Z,1607890418.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:38.915Z,1607890418.915 [Micromodem](INFO): Nmea in: $SNTTA,0.436757,,,,201338.89*4E

2020-12-13T20:13:42.214Z,1607890422.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:42.943Z,1607890422.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:43.353Z,1607890423.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:44.203Z,1607890424.203 [Micromodem](INFO): Nmea in: $SNTTA,0.434549,,,,201344.14*4E

2020-12-13T20:13:47.424Z,1607890427.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:48.213Z,1607890428.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:48.613Z,1607890428.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:49.444Z,1607890429.444 [Micromodem](INFO): Nmea in: $SNTTA,0.432434,,,,201349.41*4E

2020-12-13T20:13:50.676Z,1607890430.676 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2020-12-13T20:13:50.676Z,1607890430.676 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T20:13:50.676Z,1607890430.676 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2020-12-13T20:13:50.677Z,1607890430.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 648.419983 m 
2020-12-13T20:13:50.677Z,1607890430.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2020-12-13T20:13:50.677Z,1607890430.677 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2020-12-13T20:13:51.076Z,1607890431.076 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2020-12-13T20:13:51.076Z,1607890431.076 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T20:13:51.076Z,1607890431.076 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2020-12-13T20:13:51.076Z,1607890431.076 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-13T20:13:51.479Z,1607890431.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T20:13:51.480Z,1607890431.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T20:13:51.480Z,1607890431.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-13T20:13:51.480Z,1607890431.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T20:13:51.480Z,1607890431.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T20:13:51.480Z,1607890431.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T20:13:51.481Z,1607890431.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T20:13:51.481Z,1607890431.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2020-12-13T20:13:51.481Z,1607890431.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-13T20:13:51.481Z,1607890431.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2020-12-13T20:13:51.481Z,1607890431.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2020-12-13T20:13:51.481Z,1607890431.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-13T20:13:51.482Z,1607890431.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T20:13:51.482Z,1607890431.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-13T20:13:51.483Z,1607890431.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-13T20:13:51.484Z,1607890431.484 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2020-12-13T20:13:51.484Z,1607890431.484 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-12-13T20:13:51.879Z,1607890431.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 648.419983 m, bearing: 223.428902 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T20:13:51.880Z,1607890431.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 223.428902deg and heading rate command to 0 deg/s.
2020-12-13T20:13:52.775Z,1607890432.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:53.495Z,1607890433.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:53.897Z,1607890433.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:54.727Z,1607890434.727 [Micromodem](INFO): Nmea in: $SNTTA,0.430209,,,,201354.69*42

2020-12-13T20:13:55.557Z,1607890435.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 645.059998 m, bearing: 222.535445 deg, deltaT: 5.279116 s, approachRate: -0.636467 m/s, LOS rate: -0.169244 deg/s, posRepo size: 2
2020-12-13T20:13:55.557Z,1607890435.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.169244 deg/s. Setting heading cmd to target bearing of 222.535445deg and heading rate command to 0 deg/s.
2020-12-13T20:13:57.958Z,1607890437.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:13:58.743Z,1607890438.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:13:59.151Z,1607890439.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:13:59.979Z,1607890439.979 [Micromodem](INFO): Nmea in: $SNTTA,0.428132,,,,201359.94*4F

2020-12-13T20:14:00.838Z,1607890440.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 642.000000 m, bearing: 222.051991 deg, deltaT: 5.253919 s, approachRate: -0.582422 m/s, LOS rate: -0.092018 deg/s, posRepo size: 3
2020-12-13T20:14:00.840Z,1607890440.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 642.000000 m,
      bearing: 222.051991 deg,
      approachRate: -0.582422 m/s,
      LOS rate: -0.092018 deg/s,
      cmd update: -0.276054 deg/s,
      cmd heading: 222.535445 deg,
      new cmd heading: 222.535445 deg.

2020-12-13T20:14:03.249Z,1607890443.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:04.001Z,1607890444.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:04.405Z,1607890444.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:05.231Z,1607890445.231 [Micromodem](INFO): Nmea in: $SNTTA,0.426146,,,,201405.20*43

2020-12-13T20:14:06.051Z,1607890446.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 638.940002 m, bearing: 224.500286 deg, deltaT: 5.241194 s, approachRate: -0.583836 m/s, LOS rate: 0.467125 deg/s, posRepo size: 4
2020-12-13T20:14:06.053Z,1607890446.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 638.940002 m,
      bearing: 224.500286 deg,
      approachRate: -0.583836 m/s,
      LOS rate: 0.467125 deg/s,
      cmd update: 1.401376 deg/s,
      cmd heading: 221.088599 deg,
      new cmd heading: 220.974679 deg.

2020-12-13T20:14:08.479Z,1607890448.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:09.244Z,1607890449.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:09.654Z,1607890449.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:10.486Z,1607890450.486 [Micromodem](INFO): Nmea in: $SNTTA,0.423656,,,,201410.44*46

2020-12-13T20:14:11.298Z,1607890451.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 635.520020 m, bearing: 222.311265 deg, deltaT: 5.337313 s, approachRate: -0.640769 m/s, LOS rate: -0.410135 deg/s, posRepo size: 4
2020-12-13T20:14:11.299Z,1607890451.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 635.520020 m,
      bearing: 222.311265 deg,
      approachRate: -0.640769 m/s,
      LOS rate: -0.410135 deg/s,
      cmd update: -1.230406 deg/s,
      cmd heading: 228.562019 deg,
      new cmd heading: 229.019183 deg.

2020-12-13T20:14:13.718Z,1607890453.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:14.507Z,1607890454.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:14.901Z,1607890454.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:15.723Z,1607890455.723 [Micromodem](INFO): Nmea in: $SNTTA,0.421377,,,,201415.70*40

2020-12-13T20:14:16.555Z,1607890456.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 632.160034 m, bearing: 224.100378 deg, deltaT: 5.224852 s, approachRate: -0.643078 m/s, LOS rate: 0.342424 deg/s, posRepo size: 4
2020-12-13T20:14:16.557Z,1607890456.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 632.160034 m,
      bearing: 224.100378 deg,
      approachRate: -0.643078 m/s,
      LOS rate: 0.342424 deg/s,
      cmd update: 1.027271 deg/s,
      cmd heading: 222.127895 deg,
      new cmd heading: 221.691133 deg.

2020-12-13T20:14:18.973Z,1607890458.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:19.743Z,1607890459.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:20.185Z,1607890460.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:21.000Z,1607890461.000 [Micromodem](INFO): Nmea in: $SNTTA,0.419044,,,,201420.94*44

2020-12-13T20:14:21.836Z,1607890461.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 628.679993 m, bearing: 222.890437 deg, deltaT: 5.191490 s, approachRate: -0.670336 m/s, LOS rate: -0.233062 deg/s, posRepo size: 4
2020-12-13T20:14:21.838Z,1607890461.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 628.679993 m,
      bearing: 222.890437 deg,
      approachRate: -0.670336 m/s,
      LOS rate: -0.233062 deg/s,
      cmd update: -0.699187 deg/s,
      cmd heading: 227.460797 deg,
      new cmd heading: 227.917411 deg.

2020-12-13T20:14:24.265Z,1607890464.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:24.999Z,1607890464.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:25.401Z,1607890465.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:26.245Z,1607890466.245 [Micromodem](INFO): Nmea in: $SNTTA,0.416856,,,,201426.20*49

2020-12-13T20:14:27.067Z,1607890467.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 625.080017 m, bearing: 224.092373 deg, deltaT: 5.258724 s, approachRate: -0.684572 m/s, LOS rate: 0.228560 deg/s, posRepo size: 4
2020-12-13T20:14:27.069Z,1607890467.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 625.080017 m,
      bearing: 224.092373 deg,
      approachRate: -0.684572 m/s,
      LOS rate: 0.228560 deg/s,
      cmd update: 0.685681 deg/s,
      cmd heading: 223.786616 deg,
      new cmd heading: 223.492808 deg.

2020-12-13T20:14:29.514Z,1607890469.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:30.251Z,1607890470.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:30.658Z,1607890470.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:31.483Z,1607890471.483 [Micromodem](INFO): Nmea in: $SNTTA,0.414613,,,,201431.44*40

2020-12-13T20:14:32.302Z,1607890472.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 621.779968 m, bearing: 223.227193 deg, deltaT: 5.245826 s, approachRate: -0.629081 m/s, LOS rate: -0.164927 deg/s, posRepo size: 4
2020-12-13T20:14:32.304Z,1607890472.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 621.779968 m,
      bearing: 223.227193 deg,
      approachRate: -0.629081 m/s,
      LOS rate: -0.164927 deg/s,
      cmd update: -0.494782 deg/s,
      cmd heading: 227.386164 deg,
      new cmd heading: 227.664219 deg.

2020-12-13T20:14:34.707Z,1607890474.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:35.507Z,1607890475.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:35.909Z,1607890475.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:36.731Z,1607890476.731 [Micromodem](INFO): Nmea in: $SNTTA,0.411923,,,,201436.70*49

2020-12-13T20:14:37.560Z,1607890477.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 617.820007 m, bearing: 222.880862 deg, deltaT: 5.292430 s, approachRate: -0.748231 m/s, LOS rate: -0.065439 deg/s, posRepo size: 4
2020-12-13T20:14:37.562Z,1607890477.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 617.820007 m,
      bearing: 222.880862 deg,
      approachRate: -0.748231 m/s,
      LOS rate: -0.065439 deg/s,
      cmd update: -0.196317 deg/s,
      cmd heading: 224.769458 deg,
      new cmd heading: 224.583672 deg.

2020-12-13T20:14:39.996Z,1607890479.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:40.751Z,1607890480.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:41.201Z,1607890481.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:41.983Z,1607890481.983 [Micromodem](INFO): Nmea in: $SNTTA,0.409651,,,,201441.94*40

2020-12-13T20:14:42.833Z,1607890482.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 614.339966 m, bearing: 221.921329 deg, deltaT: 5.214912 s, approachRate: -0.667325 m/s, LOS rate: -0.183998 deg/s, posRepo size: 4
2020-12-13T20:14:42.835Z,1607890482.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 614.339966 m,
      bearing: 221.921329 deg,
      approachRate: -0.667325 m/s,
      LOS rate: -0.183998 deg/s,
      cmd update: -0.551993 deg/s,
      cmd heading: 223.744895 deg,
      new cmd heading: 223.660675 deg.

2020-12-13T20:14:45.262Z,1607890485.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:46.003Z,1607890486.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:46.427Z,1607890486.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:47.235Z,1607890487.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201447.20*58

2020-12-13T20:14:48.069Z,1607890488.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 610.919983 m, bearing: 222.893730 deg, deltaT: 5.230932 s, approachRate: -0.653800 m/s, LOS rate: 0.185894 deg/s, posRepo size: 4
2020-12-13T20:14:48.071Z,1607890488.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 610.919983 m,
      bearing: 222.893730 deg,
      approachRate: -0.653800 m/s,
      LOS rate: 0.185894 deg/s,
      cmd update: 0.557683 deg/s,
      cmd heading: 220.857449 deg,
      new cmd heading: 220.617633 deg.

2020-12-13T20:14:50.496Z,1607890490.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:51.263Z,1607890491.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:51.665Z,1607890491.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:52.495Z,1607890492.495 [Micromodem](INFO): Nmea in: $SNTTA,0.404980,,,,201452.46*43

2020-12-13T20:14:53.314Z,1607890493.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 607.320007 m, bearing: 223.148824 deg, deltaT: 5.274329 s, approachRate: -0.682547 m/s, LOS rate: 0.048365 deg/s, posRepo size: 4
2020-12-13T20:14:53.316Z,1607890493.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 607.320007 m,
      bearing: 223.148824 deg,
      approachRate: -0.682547 m/s,
      LOS rate: 0.048365 deg/s,
      cmd update: 0.145096 deg/s,
      cmd heading: 223.798842 deg,
      new cmd heading: 224.024977 deg.

2020-12-13T20:14:55.726Z,1607890495.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:14:56.515Z,1607890496.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:14:56.917Z,1607890496.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:14:57.747Z,1607890497.747 [Micromodem](INFO): Nmea in: $SNTTA,0.402575,,,,201457.71*42

2020-12-13T20:14:58.571Z,1607890498.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 603.720032 m, bearing: 223.552925 deg, deltaT: 5.311943 s, approachRate: -0.677714 m/s, LOS rate: 0.076074 deg/s, posRepo size: 4
2020-12-13T20:14:58.573Z,1607890498.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 603.720032 m,
      bearing: 223.552925 deg,
      approachRate: -0.677714 m/s,
      LOS rate: 0.076074 deg/s,
      cmd update: 0.228222 deg/s,
      cmd heading: 224.569584 deg,
      new cmd heading: 224.620420 deg.

2020-12-13T20:15:00.989Z,1607890500.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:01.765Z,1607890501.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:02.186Z,1607890502.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:02.992Z,1607890502.992 [Micromodem](INFO): Nmea in: $SNTTA,0.400188,,,,201502.96*4E

2020-12-13T20:15:03.842Z,1607890503.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 600.059998 m, bearing: 221.918529 deg, deltaT: 5.211969 s, approachRate: -0.702236 m/s, LOS rate: -0.313585 deg/s, posRepo size: 4
2020-12-13T20:15:03.844Z,1607890503.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 600.059998 m,
      bearing: 221.918529 deg,
      approachRate: -0.702236 m/s,
      LOS rate: -0.313585 deg/s,
      cmd update: -0.940755 deg/s,
      cmd heading: 225.757636 deg,
      new cmd heading: 225.852372 deg.

2020-12-13T20:15:06.255Z,1607890506.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:07.015Z,1607890507.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:07.434Z,1607890507.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:08.251Z,1607890508.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201508.21*53

2020-12-13T20:15:09.073Z,1607890509.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:10.259Z,1607890510.259 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:15:10.646Z,1607890510.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:15:11.927Z,1607890511.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:12.671Z,1607890512.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:13.085Z,1607890513.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:13.903Z,1607890513.903 [Micromodem](INFO): Nmea in: $SNTTA,0.394839,,,,201513.86*46

2020-12-13T20:15:14.727Z,1607890514.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 592.139954 m, bearing: 221.300479 deg, deltaT: 10.878910 s, approachRate: -0.728018 m/s, LOS rate: -0.056812 deg/s, posRepo size: 4
2020-12-13T20:15:14.729Z,1607890514.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 592.139954 m,
      bearing: 221.300479 deg,
      approachRate: -0.728018 m/s,
      LOS rate: -0.056812 deg/s,
      cmd update: -0.170435 deg/s,
      cmd heading: 215.517330 deg,
      new cmd heading: 215.126426 deg.

2020-12-13T20:15:17.222Z,1607890517.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:17.923Z,1607890517.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:18.333Z,1607890518.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:19.186Z,1607890519.186 [Micromodem](INFO): Nmea in: $SNTTA,0.392589,,,,201519.11*42

2020-12-13T20:15:19.989Z,1607890519.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 588.719971 m, bearing: 221.975861 deg, deltaT: 5.238811 s, approachRate: -0.652817 m/s, LOS rate: 0.128919 deg/s, posRepo size: 4
2020-12-13T20:15:19.991Z,1607890519.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 588.719971 m,
      bearing: 221.975861 deg,
      approachRate: -0.652817 m/s,
      LOS rate: 0.128919 deg/s,
      cmd update: 0.386757 deg/s,
      cmd heading: 214.624452 deg,
      new cmd heading: 214.549752 deg.

2020-12-13T20:15:22.403Z,1607890522.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:23.207Z,1607890523.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:23.602Z,1607890523.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:24.387Z,1607890524.387 [Micromodem](INFO): Nmea in: $SNTTA,0.390000,,,,201524.40*4E

2020-12-13T20:15:25.268Z,1607890525.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 584.820007 m, bearing: 222.044778 deg, deltaT: 5.309438 s, approachRate: -0.734534 m/s, LOS rate: 0.012980 deg/s, posRepo size: 4
2020-12-13T20:15:25.270Z,1607890525.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 584.820007 m,
      bearing: 222.044778 deg,
      approachRate: -0.734534 m/s,
      LOS rate: 0.012980 deg/s,
      cmd update: 0.038940 deg/s,
      cmd heading: 216.677879 deg,
      new cmd heading: 216.835734 deg.

2020-12-13T20:15:27.662Z,1607890527.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:28.444Z,1607890528.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:28.867Z,1607890528.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:29.655Z,1607890529.655 [Micromodem](INFO): Nmea in: $SNTTA,0.387392,,,,201529.64*4B

2020-12-13T20:15:30.494Z,1607890530.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 580.859985 m, bearing: 223.696290 deg, deltaT: 5.275099 s, approachRate: -0.750701 m/s, LOS rate: 0.313077 deg/s, posRepo size: 4
2020-12-13T20:15:30.496Z,1607890530.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 580.859985 m,
      bearing: 223.696290 deg,
      approachRate: -0.750701 m/s,
      LOS rate: 0.313077 deg/s,
      cmd update: 0.939231 deg/s,
      cmd heading: 216.883111 deg,
      new cmd heading: 216.897277 deg.

2020-12-13T20:15:32.906Z,1607890532.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:33.675Z,1607890533.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:34.094Z,1607890534.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:34.911Z,1607890534.911 [Micromodem](INFO): Nmea in: $SNTTA,0.384953,,,,201534.87*4E

2020-12-13T20:15:35.732Z,1607890535.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 577.619995 m, bearing: 224.749697 deg, deltaT: 5.208984 s, approachRate: -0.622000 m/s, LOS rate: 0.202229 deg/s, posRepo size: 4
2020-12-13T20:15:35.734Z,1607890535.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 577.619995 m,
      bearing: 224.749697 deg,
      approachRate: -0.622000 m/s,
      LOS rate: 0.202229 deg/s,
      cmd update: 0.606686 deg/s,
      cmd heading: 221.764980 deg,
      new cmd heading: 222.144395 deg.

2020-12-13T20:15:38.203Z,1607890538.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:38.927Z,1607890538.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:39.341Z,1607890539.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:40.187Z,1607890540.187 [Micromodem](INFO): Nmea in: $SNTTA,0.382461,,,,201540.12*4B

2020-12-13T20:15:40.993Z,1607890540.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 573.479980 m, bearing: 222.723152 deg, deltaT: 5.229195 s, approachRate: -0.791712 m/s, LOS rate: -0.387544 deg/s, posRepo size: 4
2020-12-13T20:15:40.995Z,1607890540.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 573.479980 m,
      bearing: 222.723152 deg,
      approachRate: -0.791712 m/s,
      LOS rate: -0.387544 deg/s,
      cmd update: -1.162633 deg/s,
      cmd heading: 224.946158 deg,
      new cmd heading: 225.201820 deg.

2020-12-13T20:15:43.403Z,1607890543.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:44.207Z,1607890544.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:44.593Z,1607890544.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:45.399Z,1607890545.399 [Micromodem](INFO): Nmea in: $SNTTA,0.379851,,,,201545.40*42

2020-12-13T20:15:46.278Z,1607890546.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 569.580017 m, bearing: 224.299820 deg, deltaT: 5.300175 s, approachRate: -0.735818 m/s, LOS rate: 0.297475 deg/s, posRepo size: 4
2020-12-13T20:15:46.280Z,1607890546.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 569.580017 m,
      bearing: 224.299820 deg,
      approachRate: -0.735818 m/s,
      LOS rate: 0.297475 deg/s,
      cmd update: 0.892424 deg/s,
      cmd heading: 218.784402 deg,
      new cmd heading: 218.311335 deg.

2020-12-13T20:15:48.642Z,1607890548.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:49.436Z,1607890549.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:49.868Z,1607890549.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:50.671Z,1607890550.671 [Micromodem](INFO): Nmea in: $SNTTA,0.377455,,,,201550.63*41

2020-12-13T20:15:51.501Z,1607890551.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 566.039978 m, bearing: 222.324584 deg, deltaT: 5.218621 s, approachRate: -0.678348 m/s, LOS rate: -0.378498 deg/s, posRepo size: 4
2020-12-13T20:15:51.503Z,1607890551.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 566.039978 m,
      bearing: 222.324584 deg,
      approachRate: -0.678348 m/s,
      LOS rate: -0.378498 deg/s,
      cmd update: -1.135493 deg/s,
      cmd heading: 223.443406 deg,
      new cmd heading: 223.808113 deg.

2020-12-13T20:15:53.913Z,1607890553.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:54.683Z,1607890554.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:15:55.114Z,1607890555.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:15:55.919Z,1607890555.919 [Micromodem](INFO): Nmea in: $SNTTA,0.375011,,,,201555.88*47

2020-12-13T20:15:56.728Z,1607890556.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 562.320007 m, bearing: 222.065269 deg, deltaT: 5.258401 s, approachRate: -0.707434 m/s, LOS rate: -0.049314 deg/s, posRepo size: 4
2020-12-13T20:15:56.730Z,1607890556.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 562.320007 m,
      bearing: 222.065269 deg,
      approachRate: -0.707434 m/s,
      LOS rate: -0.049314 deg/s,
      cmd update: -0.147943 deg/s,
      cmd heading: 217.486071 deg,
      new cmd heading: 217.043767 deg.

2020-12-13T20:15:59.206Z,1607890559.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:15:59.939Z,1607890559.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:00.355Z,1607890560.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:01.183Z,1607890561.183 [Micromodem](INFO): Nmea in: $SNTTA,0.372815,,,,201601.13*4C

2020-12-13T20:16:02.020Z,1607890562.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 559.260010 m, bearing: 221.525410 deg, deltaT: 5.220711 s, approachRate: -0.586127 m/s, LOS rate: -0.103407 deg/s, posRepo size: 4
2020-12-13T20:16:02.026Z,1607890562.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 559.260010 m,
      bearing: 221.525410 deg,
      approachRate: -0.586127 m/s,
      LOS rate: -0.103407 deg/s,
      cmd update: -0.310221 deg/s,
      cmd heading: 216.711934 deg,
      new cmd heading: 216.645490 deg.

2020-12-13T20:16:04.434Z,1607890564.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:05.219Z,1607890565.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:05.601Z,1607890565.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:06.420Z,1607890566.420 [Micromodem](INFO): Nmea in: $SNTTA,0.370353,,,,201606.41*47

2020-12-13T20:16:07.258Z,1607890567.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 555.479980 m, bearing: 222.418676 deg, deltaT: 5.288751 s, approachRate: -0.714730 m/s, LOS rate: 0.168899 deg/s, posRepo size: 4
2020-12-13T20:16:07.260Z,1607890567.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 555.479980 m,
      bearing: 222.418676 deg,
      approachRate: -0.714730 m/s,
      LOS rate: 0.168899 deg/s,
      cmd update: 0.506698 deg/s,
      cmd heading: 215.071252 deg,
      new cmd heading: 214.947918 deg.

2020-12-13T20:16:09.654Z,1607890569.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:10.459Z,1607890570.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:10.877Z,1607890570.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:11.666Z,1607890571.666 [Micromodem](INFO): Nmea in: $SNTTA,0.367998,,,,201611.65*4C

2020-12-13T20:16:12.520Z,1607890572.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 552.000000 m, bearing: 222.087385 deg, deltaT: 5.239071 s, approachRate: -0.664236 m/s, LOS rate: -0.063235 deg/s, posRepo size: 4
2020-12-13T20:16:12.522Z,1607890572.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 552.000000 m,
      bearing: 222.087385 deg,
      approachRate: -0.664236 m/s,
      LOS rate: -0.063235 deg/s,
      cmd update: -0.189704 deg/s,
      cmd heading: 217.725868 deg,
      new cmd heading: 217.939164 deg.

2020-12-13T20:16:14.918Z,1607890574.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:15.699Z,1607890575.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:16.105Z,1607890576.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:16.927Z,1607890576.927 [Micromodem](INFO): Nmea in: $SNTTA,0.365667,,,,201616.89*44

2020-12-13T20:16:17.760Z,1607890577.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 548.459961 m, bearing: 222.791960 deg, deltaT: 5.232566 s, approachRate: -0.676540 m/s, LOS rate: 0.134652 deg/s, posRepo size: 4
2020-12-13T20:16:17.764Z,1607890577.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 548.459961 m,
      bearing: 222.791960 deg,
      approachRate: -0.676540 m/s,
      LOS rate: 0.134652 deg/s,
      cmd update: 0.403956 deg/s,
      cmd heading: 216.733221 deg,
      new cmd heading: 216.651936 deg.

2020-12-13T20:16:20.222Z,1607890580.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:20.955Z,1607890580.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:21.377Z,1607890581.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:22.207Z,1607890582.207 [Micromodem](INFO): Nmea in: $SNTTA,0.363290,,,,201622.15*4C

2020-12-13T20:16:23.042Z,1607890583.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 544.739990 m, bearing: 221.982555 deg, deltaT: 5.271098 s, approachRate: -0.705730 m/s, LOS rate: -0.153555 deg/s, posRepo size: 4
2020-12-13T20:16:23.044Z,1607890583.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 544.739990 m,
      bearing: 221.982555 deg,
      approachRate: -0.705730 m/s,
      LOS rate: -0.153555 deg/s,
      cmd update: -0.460666 deg/s,
      cmd heading: 218.862436 deg,
      new cmd heading: 219.039168 deg.

2020-12-13T20:16:25.456Z,1607890585.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:26.229Z,1607890586.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:26.622Z,1607890586.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:27.440Z,1607890587.440 [Micromodem](INFO): Nmea in: $SNTTA,0.360772,,,,201627.42*41

2020-12-13T20:16:28.272Z,1607890588.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 540.899963 m, bearing: 221.705195 deg, deltaT: 5.329012 s, approachRate: -0.720589 m/s, LOS rate: -0.052047 deg/s, posRepo size: 4
2020-12-13T20:16:28.274Z,1607890588.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 540.899963 m,
      bearing: 221.705195 deg,
      approachRate: -0.720589 m/s,
      LOS rate: -0.052047 deg/s,
      cmd update: -0.156142 deg/s,
      cmd heading: 216.407480 deg,
      new cmd heading: 216.250669 deg.

2020-12-13T20:16:30.670Z,1607890590.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:31.466Z,1607890591.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:31.873Z,1607890591.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:32.701Z,1607890592.701 [Micromodem](INFO): Nmea in: $SNTTA,0.358301,,,,201632.66*48

2020-12-13T20:16:33.541Z,1607890593.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 537.299988 m, bearing: 221.504920 deg, deltaT: 5.196412 s, approachRate: -0.692781 m/s, LOS rate: -0.038541 deg/s, posRepo size: 4
2020-12-13T20:16:33.543Z,1607890593.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 537.299988 m,
      bearing: 221.504920 deg,
      approachRate: -0.692781 m/s,
      LOS rate: -0.038541 deg/s,
      cmd update: -0.115623 deg/s,
      cmd heading: 215.596771 deg,
      new cmd heading: 215.531687 deg.

2020-12-13T20:16:35.942Z,1607890595.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:36.723Z,1607890596.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:37.128Z,1607890597.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:37.955Z,1607890597.955 [Micromodem](INFO): Nmea in: $SNTTA,0.355933,,,,201637.92*40

2020-12-13T20:16:38.779Z,1607890598.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 533.700012 m, bearing: 222.441366 deg, deltaT: 5.245103 s, approachRate: -0.686350 m/s, LOS rate: 0.178537 deg/s, posRepo size: 4
2020-12-13T20:16:38.785Z,1607890598.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 533.700012 m,
      bearing: 222.441366 deg,
      approachRate: -0.686350 m/s,
      LOS rate: 0.178537 deg/s,
      cmd update: 0.535612 deg/s,
      cmd heading: 214.989833 deg,
      new cmd heading: 214.942863 deg.

2020-12-13T20:16:40.373Z,1607890600.373 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:16:41.215Z,1607890601.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:41.972Z,1607890601.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:42.373Z,1607890602.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:43.218Z,1607890603.218 [Micromodem](INFO): Nmea in: $SNTTA,0.353592,,,,201643.16*4E

2020-12-13T20:16:44.022Z,1607890604.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 530.159973 m, bearing: 223.129808 deg, deltaT: 5.229552 s, approachRate: -0.676930 m/s, LOS rate: 0.131645 deg/s, posRepo size: 4
2020-12-13T20:16:44.024Z,1607890604.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 530.159973 m,
      bearing: 223.129808 deg,
      approachRate: -0.676930 m/s,
      LOS rate: 0.131645 deg/s,
      cmd update: 0.394934 deg/s,
      cmd heading: 217.790859 deg,
      new cmd heading: 218.015346 deg.

2020-12-13T20:16:46.475Z,1607890606.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:47.231Z,1607890607.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:47.645Z,1607890607.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:48.461Z,1607890608.461 [Micromodem](INFO): Nmea in: $SNTTA,0.351037,,,,201648.42*4C

2020-12-13T20:16:49.290Z,1607890609.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 526.380005 m, bearing: 221.834395 deg, deltaT: 5.311300 s, approachRate: -0.711684 m/s, LOS rate: -0.243898 deg/s, posRepo size: 4
2020-12-13T20:16:49.292Z,1607890609.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 526.380005 m,
      bearing: 221.834395 deg,
      approachRate: -0.711684 m/s,
      LOS rate: -0.243898 deg/s,
      cmd update: -0.731693 deg/s,
      cmd heading: 219.888503 deg,
      new cmd heading: 220.037108 deg.

2020-12-13T20:16:50.470Z,1607890610.470 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:16:51.712Z,1607890611.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:52.487Z,1607890612.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:52.894Z,1607890612.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:53.711Z,1607890613.711 [Micromodem](INFO): Nmea in: $SNTTA,0.348404,,,,201653.68*42

2020-12-13T20:16:54.548Z,1607890614.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 522.419983 m, bearing: 221.834094 deg, deltaT: 5.210228 s, approachRate: -0.760048 m/s, LOS rate: -0.000058 deg/s, posRepo size: 4
2020-12-13T20:16:54.550Z,1607890614.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 522.419983 m,
      bearing: 221.834094 deg,
      approachRate: -0.760048 m/s,
      LOS rate: -0.000058 deg/s,
      cmd update: -0.000173 deg/s,
      cmd heading: 216.078908 deg,
      new cmd heading: 215.766208 deg.

2020-12-13T20:16:56.965Z,1607890616.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:16:57.735Z,1607890617.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:16:58.133Z,1607890618.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:16:58.959Z,1607890618.959 [Micromodem](INFO): Nmea in: $SNTTA,0.345831,,,,201658.93*4A

2020-12-13T20:16:59.809Z,1607890619.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 519.239990 m, bearing: 224.618243 deg, deltaT: 5.260967 s, approachRate: -0.604450 m/s, LOS rate: 0.529209 deg/s, posRepo size: 4
2020-12-13T20:16:59.815Z,1607890619.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 519.239990 m,
      bearing: 224.618243 deg,
      approachRate: -0.604450 m/s,
      LOS rate: 0.529209 deg/s,
      cmd update: 1.587626 deg/s,
      cmd heading: 216.077997 deg,
      new cmd heading: 216.077925 deg.

2020-12-13T20:17:00.230Z,1607890620.230 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:17:02.245Z,1607890622.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:02.983Z,1607890622.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:03.401Z,1607890623.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:04.231Z,1607890624.231 [Micromodem](INFO): Nmea in: $SNTTA,0.343911,,,,201704.18*44

2020-12-13T20:17:05.032Z,1607890625.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:06.630Z,1607890626.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:17:07.893Z,1607890627.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:08.665Z,1607890628.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:09.045Z,1607890629.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:09.879Z,1607890629.879 [Micromodem](INFO): Nmea in: $SNTTA,0.341084,,,,201709.86*49

2020-12-13T20:17:10.260Z,1607890630.260 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:17:10.692Z,1607890630.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 511.679993 m, bearing: 225.505580 deg, deltaT: 10.887082 s, approachRate: -0.694401 m/s, LOS rate: 0.081504 deg/s, posRepo size: 4
2020-12-13T20:17:10.694Z,1607890630.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 511.679993 m,
      bearing: 225.505580 deg,
      approachRate: -0.694401 m/s,
      LOS rate: 0.081504 deg/s,
      cmd update: 0.244511 deg/s,
      cmd heading: 233.362553 deg,
      new cmd heading: 234.028946 deg.

2020-12-13T20:17:13.126Z,1607890633.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:13.896Z,1607890633.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:14.307Z,1607890634.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:15.127Z,1607890635.127 [Micromodem](INFO): Nmea in: $SNTTA,0.338781,,,,201715.09*4F

2020-12-13T20:17:15.219Z,1607890635.219 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:17:15.959Z,1607890635.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 508.019989 m, bearing: 224.630455 deg, deltaT: 5.266116 s, approachRate: -0.695010 m/s, LOS rate: -0.166180 deg/s, posRepo size: 4
2020-12-13T20:17:15.961Z,1607890635.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 508.019989 m,
      bearing: 224.630455 deg,
      approachRate: -0.695010 m/s,
      LOS rate: -0.166180 deg/s,
      cmd update: -0.498541 deg/s,
      cmd heading: 234.649970 deg,
      new cmd heading: 234.753104 deg.

2020-12-13T20:17:18.360Z,1607890638.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:19.166Z,1607890639.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:19.545Z,1607890639.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:20.378Z,1607890640.378 [Micromodem](INFO): Nmea in: $SNTTA,0.336234,,,,201720.36*40

2020-12-13T20:17:21.225Z,1607890641.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:22.818Z,1607890642.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:17:24.082Z,1607890644.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:24.464Z,1607890644.464 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:17:24.863Z,1607890644.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:25.265Z,1607890645.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:25.298Z,1607890645.298 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:17:26.095Z,1607890646.095 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,61,64
4,186,80,80,B0,FF
2020-12-13T20:17:26.110Z,1607890646.110 [Micromodem](INFO): Nmea in: $SNTTA,0.333705,,,,201726.06*47

2020-12-13T20:17:26.897Z,1607890646.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:29.722Z,1607890649.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:30.538Z,1607890650.538 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:17:32.566Z,1607890652.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:33.339Z,1607890653.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:33.753Z,1607890653.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:34.570Z,1607890654.570 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,06D80,61,64
4,186,80,80,B0,FF
2020-12-13T20:17:34.594Z,1607890654.594 [Micromodem](INFO): Nmea in: $SNTTA,0.329592,,,,201734.53*43

2020-12-13T20:17:35.388Z,1607890655.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:38.258Z,1607890658.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:41.056Z,1607890661.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:41.851Z,1607890661.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:42.233Z,1607890662.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:43.060Z,1607890663.060 [Micromodem](INFO): Nmea in: $SNTTA,0.325635,,,,201743.04*43

2020-12-13T20:17:43.920Z,1607890663.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 488.279999 m, bearing: 222.464876 deg, deltaT: 27.958977 s, approachRate: -0.706034 m/s, LOS rate: -0.077456 deg/s, posRepo size: 4
2020-12-13T20:17:43.922Z,1607890663.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 488.279999 m,
      bearing: 222.464876 deg,
      approachRate: -0.706034 m/s,
      LOS rate: -0.077456 deg/s,
      cmd update: -0.232367 deg/s,
      cmd heading: 220.712842 deg,
      new cmd heading: 220.500096 deg.

2020-12-13T20:17:46.292Z,1607890666.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:47.075Z,1607890667.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:47.485Z,1607890667.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:48.314Z,1607890668.314 [Micromodem](INFO): Nmea in: $SNTTA,0.323146,,,,201748.27*4C

2020-12-13T20:17:48.732Z,1607890668.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 484.499969 m, bearing: 221.592606 deg, deltaT: 4.845143 s, approachRate: -0.780169 m/s, LOS rate: -0.180030 deg/s, posRepo size: 4
2020-12-13T20:17:48.734Z,1607890668.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 484.499969 m,
      bearing: 221.592606 deg,
      approachRate: -0.780169 m/s,
      LOS rate: -0.180030 deg/s,
      cmd update: -0.540089 deg/s,
      cmd heading: 219.586060 deg,
      new cmd heading: 219.495618 deg.

2020-12-13T20:17:51.209Z,1607890671.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:51.923Z,1607890671.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:52.341Z,1607890672.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:53.186Z,1607890673.186 [Micromodem](INFO): Nmea in: $SNTTA,0.320756,,,,201753.11*47

2020-12-13T20:17:53.568Z,1607890673.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 480.959991 m, bearing: 221.836567 deg, deltaT: 4.910831 s, approachRate: -0.720851 m/s, LOS rate: 0.049678 deg/s, posRepo size: 4
2020-12-13T20:17:53.570Z,1607890673.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 480.959991 m,
      bearing: 221.836567 deg,
      approachRate: -0.720851 m/s,
      LOS rate: 0.049678 deg/s,
      cmd update: 0.149034 deg/s,
      cmd heading: 216.936448 deg,
      new cmd heading: 216.763734 deg.

2020-12-13T20:17:56.005Z,1607890676.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:17:56.779Z,1607890676.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:17:57.196Z,1607890677.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:17:58.002Z,1607890678.002 [Micromodem](INFO): Nmea in: $SNTTA,0.318301,,,,201757.97*40

2020-12-13T20:17:58.432Z,1607890678.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 477.120026 m, bearing: 222.318150 deg, deltaT: 4.813460 s, approachRate: -0.797756 m/s, LOS rate: 0.100049 deg/s, posRepo size: 4
2020-12-13T20:17:58.435Z,1607890678.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 477.120026 m,
      bearing: 222.318150 deg,
      approachRate: -0.797756 m/s,
      LOS rate: 0.100049 deg/s,
      cmd update: 0.300148 deg/s,
      cmd heading: 217.653955 deg,
      new cmd heading: 217.708896 deg.

2020-12-13T20:18:00.867Z,1607890680.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:01.624Z,1607890681.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:02.033Z,1607890682.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:02.883Z,1607890682.883 [Micromodem](INFO): Nmea in: $SNTTA,0.315788,,,0.318299,201802.82*55

2020-12-13T20:18:03.305Z,1607890683.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.519989 m, bearing: 221.465291 deg, deltaT: 4.861855 s, approachRate: -0.740466 m/s, LOS rate: -0.175418 deg/s, posRepo size: 4
2020-12-13T20:18:03.307Z,1607890683.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.519989 m,
      bearing: 221.465291 deg,
      approachRate: -0.740466 m/s,
      LOS rate: -0.175418 deg/s,
      cmd update: -0.526255 deg/s,
      cmd heading: 219.108424 deg,
      new cmd heading: 219.226165 deg.

2020-12-13T20:18:05.679Z,1607890685.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:06.475Z,1607890686.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:06.885Z,1607890686.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:07.702Z,1607890687.702 [Micromodem](INFO): Nmea in: $SNTTA,0.313825,,,,201807.67*43

2020-12-13T20:18:08.148Z,1607890688.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 470.459991 m, bearing: 222.519640 deg, deltaT: 4.818544 s, approachRate: -0.635046 m/s, LOS rate: 0.218811 deg/s, posRepo size: 4
2020-12-13T20:18:08.164Z,1607890688.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 470.459991 m,
      bearing: 222.519640 deg,
      approachRate: -0.635046 m/s,
      LOS rate: 0.218811 deg/s,
      cmd update: 0.656432 deg/s,
      cmd heading: 216.565171 deg,
      new cmd heading: 216.354813 deg.

2020-12-13T20:18:10.536Z,1607890690.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:11.323Z,1607890691.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:11.721Z,1607890691.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:12.562Z,1607890692.562 [Micromodem](INFO): Nmea in: $SNTTA,0.311441,,,,201812.52*4D

2020-12-13T20:18:13.006Z,1607890693.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 466.919983 m, bearing: 221.762145 deg, deltaT: 4.856000 s, approachRate: -0.728997 m/s, LOS rate: -0.155992 deg/s, posRepo size: 4
2020-12-13T20:18:13.008Z,1607890693.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 466.919983 m,
      bearing: 221.762145 deg,
      approachRate: -0.728997 m/s,
      LOS rate: -0.155992 deg/s,
      cmd update: -0.467975 deg/s,
      cmd heading: 219.756575 deg,
      new cmd heading: 220.018066 deg.

2020-12-13T20:18:15.392Z,1607890695.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:16.182Z,1607890696.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:16.587Z,1607890696.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:17.394Z,1607890697.394 [Micromodem](INFO): Nmea in: $SNTTA,0.308922,,,,201817.37*4B

2020-12-13T20:18:17.833Z,1607890697.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 463.199982 m, bearing: 222.854087 deg, deltaT: 4.862338 s, approachRate: -0.765064 m/s, LOS rate: 0.224571 deg/s, posRepo size: 4
2020-12-13T20:18:17.835Z,1607890697.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 463.199982 m,
      bearing: 222.854087 deg,
      approachRate: -0.765064 m/s,
      LOS rate: 0.224571 deg/s,
      cmd update: 0.673714 deg/s,
      cmd heading: 217.482974 deg,
      new cmd heading: 217.309074 deg.

2020-12-13T20:18:20.262Z,1607890700.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:21.011Z,1607890701.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:21.462Z,1607890701.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:22.261Z,1607890702.261 [Micromodem](INFO): Nmea in: $SNTTA,0.306502,,,,201822.20*4B

2020-12-13T20:18:22.692Z,1607890702.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 459.540009 m, bearing: 221.541762 deg, deltaT: 4.855325 s, approachRate: -0.753806 m/s, LOS rate: -0.270286 deg/s, posRepo size: 4
2020-12-13T20:18:22.694Z,1607890702.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 459.540009 m,
      bearing: 221.541762 deg,
      approachRate: -0.753806 m/s,
      LOS rate: -0.270286 deg/s,
      cmd update: -0.810857 deg/s,
      cmd heading: 220.754113 deg,
      new cmd heading: 221.006868 deg.

2020-12-13T20:18:25.181Z,1607890705.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:25.895Z,1607890705.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:26.297Z,1607890706.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:27.127Z,1607890707.127 [Micromodem](INFO): Nmea in: $SNTTA,0.304146,,,,201827.09*43

2020-12-13T20:18:27.551Z,1607890707.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 456.059967 m, bearing: 221.541666 deg, deltaT: 4.938923 s, approachRate: -0.704615 m/s, LOS rate: -0.000019 deg/s, posRepo size: 4
2020-12-13T20:18:27.553Z,1607890707.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.059967 m,
      bearing: 221.541666 deg,
      approachRate: -0.704615 m/s,
      LOS rate: -0.000019 deg/s,
      cmd update: -0.000058 deg/s,
      cmd heading: 216.749353 deg,
      new cmd heading: 216.509825 deg.

2020-12-13T20:18:29.957Z,1607890709.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:30.739Z,1607890710.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:31.154Z,1607890711.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:31.969Z,1607890711.969 [Micromodem](INFO): Nmea in: $SNTTA,0.301702,,,,201831.93*44

2020-12-13T20:18:32.397Z,1607890712.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 452.339966 m, bearing: 220.647376 deg, deltaT: 4.737224 s, approachRate: -0.785270 m/s, LOS rate: -0.188779 deg/s, posRepo size: 4
2020-12-13T20:18:32.399Z,1607890712.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 452.339966 m,
      bearing: 220.647376 deg,
      approachRate: -0.785270 m/s,
      LOS rate: -0.188779 deg/s,
      cmd update: -0.566338 deg/s,
      cmd heading: 216.749078 deg,
      new cmd heading: 216.749055 deg.

2020-12-13T20:18:34.846Z,1607890714.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:35.591Z,1607890715.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:36.010Z,1607890716.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:36.836Z,1607890716.836 [Micromodem](INFO): Nmea in: $SNTTA,0.299386,,,,201836.78*4E

2020-12-13T20:18:37.265Z,1607890717.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 448.919983 m, bearing: 220.319991 deg, deltaT: 4.863469 s, approachRate: -0.703198 m/s, LOS rate: -0.067315 deg/s, posRepo size: 4
2020-12-13T20:18:37.267Z,1607890717.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 448.919983 m,
      bearing: 220.319991 deg,
      approachRate: -0.703198 m/s,
      LOS rate: -0.067315 deg/s,
      cmd update: -0.201945 deg/s,
      cmd heading: 213.994643 deg,
      new cmd heading: 213.765617 deg.

2020-12-13T20:18:39.643Z,1607890719.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:40.453Z,1607890720.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:40.861Z,1607890720.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:41.669Z,1607890721.669 [Micromodem](INFO): Nmea in: $SNTTA,0.297063,,,,201841.65*44

2020-12-13T20:18:42.112Z,1607890722.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 445.799988 m, bearing: 223.130109 deg, deltaT: 4.828322 s, approachRate: -0.646186 m/s, LOS rate: 0.582007 deg/s, posRepo size: 4
2020-12-13T20:18:42.114Z,1607890722.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 445.799988 m,
      bearing: 223.130109 deg,
      approachRate: -0.646186 m/s,
      LOS rate: 0.582007 deg/s,
      cmd update: 1.746021 deg/s,
      cmd heading: 213.020589 deg,
      new cmd heading: 212.934052 deg.

2020-12-13T20:18:44.512Z,1607890724.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:45.339Z,1607890725.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:45.701Z,1607890725.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:46.519Z,1607890726.519 [Micromodem](INFO): Nmea in: $SNTTA,0.294789,,,,201846.53*46

2020-12-13T20:18:46.945Z,1607890726.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 445.799988 m, bearing: 220.861011 deg, deltaT: 4.885505 s, approachRate: 0.000000 m/s, LOS rate: -0.464455 deg/s, posRepo size: 4
2020-12-13T20:18:46.947Z,1607890726.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 445.799988 m,
      bearing: 220.861011 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.464455 deg/s,
      cmd update: -1.393365 deg/s,
      cmd heading: 221.559479 deg,
      new cmd heading: 222.206063 deg.

2020-12-13T20:18:48.936Z,1607890728.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:18:49.359Z,1607890729.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:50.133Z,1607890730.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:50.554Z,1607890730.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:51.359Z,1607890731.359 [Micromodem](INFO): Nmea in: $SNTTA,0.292684,,,,201851.33*4C

2020-12-13T20:18:52.227Z,1607890732.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:53.790Z,1607890733.790 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:18:55.004Z,1607890735.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:55.809Z,1607890735.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:18:56.230Z,1607890736.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:18:57.022Z,1607890737.022 [Micromodem](INFO): Nmea in: $SNTTA,0.289685,,,,201857.00*41

2020-12-13T20:18:57.864Z,1607890737.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:18:59.422Z,1607890739.422 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:19:00.670Z,1607890740.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:01.446Z,1607890741.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:01.872Z,1607890741.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:02.673Z,1607890742.673 [Micromodem](INFO): Nmea in: $SNTTA,0.287305,,,,201902.64*41

2020-12-13T20:19:03.091Z,1607890743.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 430.800018 m, bearing: 218.722629 deg, deltaT: 16.137795 s, approachRate: -0.929493 m/s, LOS rate: -0.132508 deg/s, posRepo size: 4
2020-12-13T20:19:03.093Z,1607890743.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 430.800018 m,
      bearing: 218.722629 deg,
      approachRate: -0.929493 m/s,
      LOS rate: -0.132508 deg/s,
      cmd update: -0.397523 deg/s,
      cmd heading: 199.101623 deg,
      new cmd heading: 198.545248 deg.

2020-12-13T20:19:05.535Z,1607890745.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:06.287Z,1607890746.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:06.693Z,1607890746.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:07.526Z,1607890747.526 [Micromodem](INFO): Nmea in: $SNTTA,0.284971,,,,201907.48*40

2020-12-13T20:19:07.943Z,1607890747.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 427.259979 m, bearing: 219.230030 deg, deltaT: 4.898065 s, approachRate: -0.722742 m/s, LOS rate: 0.103592 deg/s, posRepo size: 4
2020-12-13T20:19:07.945Z,1607890747.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 427.259979 m,
      bearing: 219.230030 deg,
      approachRate: -0.722742 m/s,
      LOS rate: 0.103592 deg/s,
      cmd update: 0.310776 deg/s,
      cmd heading: 197.150024 deg,
      new cmd heading: 197.014312 deg.

2020-12-13T20:19:10.358Z,1607890750.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:11.170Z,1607890751.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:11.550Z,1607890751.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:12.381Z,1607890752.381 [Micromodem](INFO): Nmea in: $SNTTA,0.282897,,,,201912.36*42

2020-12-13T20:19:12.831Z,1607890752.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 424.139984 m, bearing: 220.185314 deg, deltaT: 4.803699 s, approachRate: -0.649498 m/s, LOS rate: 0.198864 deg/s, posRepo size: 4
2020-12-13T20:19:12.835Z,1607890752.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 424.139984 m,
      bearing: 220.185314 deg,
      approachRate: -0.649498 m/s,
      LOS rate: 0.198864 deg/s,
      cmd update: 0.596593 deg/s,
      cmd heading: 198.645558 deg,
      new cmd heading: 198.775067 deg.

2020-12-13T20:19:15.308Z,1607890755.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:15.979Z,1607890755.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:16.401Z,1607890756.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:17.245Z,1607890757.245 [Micromodem](INFO): Nmea in: $SNTTA,0.280757,,,,201917.17*45

2020-12-13T20:19:17.637Z,1607890757.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 420.960022 m, bearing: 220.417759 deg, deltaT: 4.897226 s, approachRate: -0.649339 m/s, LOS rate: 0.047465 deg/s, posRepo size: 4
2020-12-13T20:19:17.639Z,1607890757.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 420.960022 m,
      bearing: 220.417759 deg,
      approachRate: -0.649339 m/s,
      LOS rate: 0.047465 deg/s,
      cmd update: 0.142394 deg/s,
      cmd heading: 201.564930 deg,
      new cmd heading: 201.761617 deg.

2020-12-13T20:19:19.654Z,1607890759.654 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:19:19.654Z,1607890759.654 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T20:19:19.654Z,1607890759.654 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T20:19:19.654Z,1607890759.654 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:19:19.654Z,1607890759.654 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T20:19:20.180Z,1607890760.180 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:19:20.180Z,1607890760.180 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:19:20.181Z,1607890760.181 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:19:20.181Z,1607890760.181 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:19:20.329Z,1607890760.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:20.510Z,1607890760.510 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:19:20.899Z,1607890760.899 [Micromodem](INFO): Nmea in: $CADRQ,201921,1,9,0,64,1*47

2020-12-13T20:19:20.900Z,1607890760.900 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:19:21.303Z,1607890761.303 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:19:21.303Z,1607890761.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:21.703Z,1607890761.703 [Micromodem](INFO): Nmea in: $CADRQ,201922,1,9,0,64,2*47

2020-12-13T20:19:21.703Z,1607890761.703 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,201922,1,9,0,64,2*47

2020-12-13T20:19:22.114Z,1607890762.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:22.533Z,1607890762.533 [Micromodem](INFO): Nmea in: $SNTTA,0.278789,,,0.281308,201922.50*5A

2020-12-13T20:19:22.000Z,1607890763.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 417.959991 m, bearing: 221.314822 deg, deltaT: 5.249109 s, approachRate: -0.571531 m/s, LOS rate: 0.170898 deg/s, posRepo size: 4
2020-12-13T20:19:23.002Z,1607890763.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 417.959991 m,
      bearing: 221.314822 deg,
      approachRate: -0.571531 m/s,
      LOS rate: 0.170898 deg/s,
      cmd update: 0.512695 deg/s,
      cmd heading: 202.312938 deg,
      new cmd heading: 202.375511 deg.

2020-12-13T20:19:25.391Z,1607890765.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:26.179Z,1607890766.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:26.635Z,1607890766.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:27.439Z,1607890767.439 [Micromodem](INFO): Nmea in: $SNTTA,0.276429,,,,201927.37*47

2020-12-13T20:19:27.917Z,1607890767.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 414.600006 m, bearing: 221.980984 deg, deltaT: 4.943187 s, approachRate: -0.679720 m/s, LOS rate: 0.134764 deg/s, posRepo size: 4
2020-12-13T20:19:27.918Z,1607890767.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 414.600006 m,
      bearing: 221.980984 deg,
      approachRate: -0.679720 m/s,
      LOS rate: 0.134764 deg/s,
      cmd update: 0.404291 deg/s,
      cmd heading: 204.847195 deg,
      new cmd heading: 205.059023 deg.

2020-12-13T20:19:30.324Z,1607890770.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:31.083Z,1607890771.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:31.494Z,1607890771.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:32.306Z,1607890772.306 [Micromodem](INFO): Nmea in: $SNTTA,0.274215,,,,201932.28*46

2020-12-13T20:19:32.868Z,1607890772.868 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:19:32.888Z,1607890772.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 411.120026 m, bearing: 221.278076 deg, deltaT: 4.861837 s, approachRate: -0.715775 m/s, LOS rate: -0.144577 deg/s, posRepo size: 4
2020-12-13T20:19:32.890Z,1607890772.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 411.120026 m,
      bearing: 221.278076 deg,
      approachRate: -0.715775 m/s,
      LOS rate: -0.144577 deg/s,
      cmd update: -0.433730 deg/s,
      cmd heading: 206.812876 deg,
      new cmd heading: 207.024194 deg.

2020-12-13T20:19:34.918Z,1607890774.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:35.511Z,1607890775.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:35.921Z,1607890775.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:36.745Z,1607890776.745 [Micromodem](INFO): Nmea in: $SNTTA,0.272424,,,,201936.70*4D

2020-12-13T20:19:37.220Z,1607890777.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 408.420013 m, bearing: 221.204583 deg, deltaT: 4.400275 s, approachRate: -0.613601 m/s, LOS rate: -0.016702 deg/s, posRepo size: 4
2020-12-13T20:19:37.222Z,1607890777.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 408.420013 m,
      bearing: 221.204583 deg,
      approachRate: -0.613601 m/s,
      LOS rate: -0.016702 deg/s,
      cmd update: -0.050106 deg/s,
      cmd heading: 204.906834 deg,
      new cmd heading: 204.707381 deg.

2020-12-13T20:19:39.377Z,1607890779.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:39.955Z,1607890779.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:40.357Z,1607890780.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:41.210Z,1607890781.210 [Micromodem](INFO): Nmea in: $SNTTA,0.270225,,,,201941.15*4B

2020-12-13T20:19:41.636Z,1607890781.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 405.119995 m, bearing: 221.102034 deg, deltaT: 4.623865 s, approachRate: -0.713693 m/s, LOS rate: -0.022178 deg/s, posRepo size: 4
2020-12-13T20:19:41.638Z,1607890781.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 405.119995 m,
      bearing: 221.102034 deg,
      approachRate: -0.713693 m/s,
      LOS rate: -0.022178 deg/s,
      cmd update: -0.066534 deg/s,
      cmd heading: 204.674864 deg,
      new cmd heading: 204.662491 deg.

2020-12-13T20:19:44.040Z,1607890784.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:44.825Z,1607890784.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:45.236Z,1607890785.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:46.031Z,1607890786.031 [Micromodem](INFO): Nmea in: $SNTTA,0.267997,,,,201946.02*4E

2020-12-13T20:19:46.469Z,1607890786.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 401.760010 m, bearing: 221.672205 deg, deltaT: 4.698903 s, approachRate: -0.715057 m/s, LOS rate: 0.121341 deg/s, posRepo size: 4
2020-12-13T20:19:46.471Z,1607890786.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 401.760010 m,
      bearing: 221.672205 deg,
      approachRate: -0.715057 m/s,
      LOS rate: 0.121341 deg/s,
      cmd update: 0.364024 deg/s,
      cmd heading: 204.362495 deg,
      new cmd heading: 204.336909 deg.

2020-12-13T20:19:49.011Z,1607890789.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:49.759Z,1607890789.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:50.184Z,1607890790.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:50.995Z,1607890790.995 [Micromodem](INFO): Nmea in: $SNTTA,0.265857,,,,201950.95*48

2020-12-13T20:19:51.459Z,1607890791.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 398.579956 m, bearing: 222.230737 deg, deltaT: 4.972512 s, approachRate: -0.639527 m/s, LOS rate: 0.112324 deg/s, posRepo size: 4
2020-12-13T20:19:51.466Z,1607890791.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 398.579956 m,
      bearing: 222.230737 deg,
      approachRate: -0.639527 m/s,
      LOS rate: 0.112324 deg/s,
      cmd update: 0.336972 deg/s,
      cmd heading: 206.168991 deg,
      new cmd heading: 206.312767 deg.

2020-12-13T20:19:52.230Z,1607890792.230 [Micromodem](INFO): Nmea in: $CAERR,201952,DATA_TIMEOUT,2*40

2020-12-13T20:19:52.605Z,1607890792.605 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:19:53.010Z,1607890793.010 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:19:53.414Z,1607890793.414 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,201952.134429,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7E

2020-12-13T20:19:53.983Z,1607890793.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:54.607Z,1607890794.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:55.021Z,1607890795.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:19:55.861Z,1607890795.861 [Micromodem](INFO): Nmea in: $SNTTA,0.263673,,,,201955.80*47

2020-12-13T20:19:56.289Z,1607890796.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 395.279999 m, bearing: 221.831321 deg, deltaT: 4.852281 s, approachRate: -0.680084 m/s, LOS rate: -0.082315 deg/s, posRepo size: 4
2020-12-13T20:19:56.291Z,1607890796.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 395.279999 m,
      bearing: 221.831321 deg,
      approachRate: -0.680084 m/s,
      LOS rate: -0.082315 deg/s,
      cmd update: -0.246945 deg/s,
      cmd heading: 207.807420 deg,
      new cmd heading: 207.935427 deg.

2020-12-13T20:19:58.444Z,1607890798.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:19:59.047Z,1607890799.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:19:59.471Z,1607890799.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:00.317Z,1607890800.317 [Micromodem](INFO): Nmea in: $SNTTA,0.261728,,,,202000.24*4E

2020-12-13T20:20:00.744Z,1607890800.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 392.399994 m, bearing: 222.564952 deg, deltaT: 4.615144 s, approachRate: -0.624034 m/s, LOS rate: 0.158962 deg/s, posRepo size: 4
2020-12-13T20:20:00.746Z,1607890800.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 392.399994 m,
      bearing: 222.564952 deg,
      approachRate: -0.624034 m/s,
      LOS rate: 0.158962 deg/s,
      cmd update: 0.476885 deg/s,
      cmd heading: 206.667738 deg,
      new cmd heading: 206.613449 deg.

2020-12-13T20:20:03.212Z,1607890803.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:03.931Z,1607890803.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:04.350Z,1607890804.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:05.188Z,1607890805.188 [Micromodem](INFO): Nmea in: $SNTTA,0.259347,,,,202005.13*49

2020-12-13T20:20:05.576Z,1607890805.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.800018 m, bearing: 222.075391 deg, deltaT: 4.732858 s, approachRate: -0.760635 m/s, LOS rate: -0.103439 deg/s, posRepo size: 4
2020-12-13T20:20:05.578Z,1607890805.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.800018 m,
      bearing: 222.075391 deg,
      approachRate: -0.760635 m/s,
      LOS rate: -0.103439 deg/s,
      cmd update: -0.310316 deg/s,
      cmd heading: 208.926686 deg,
      new cmd heading: 209.076981 deg.

2020-12-13T20:20:08.063Z,1607890808.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:08.790Z,1607890808.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:09.229Z,1607890809.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:10.013Z,1607890810.013 [Micromodem](INFO): Nmea in: $SNTTA,0.257122,,,,202009.98*49

2020-12-13T20:20:10.433Z,1607890810.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 385.440002 m, bearing: 222.322125 deg, deltaT: 4.811551 s, approachRate: -0.698323 m/s, LOS rate: 0.051279 deg/s, posRepo size: 4
2020-12-13T20:20:10.435Z,1607890810.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.440002 m,
      bearing: 222.322125 deg,
      approachRate: -0.698323 m/s,
      LOS rate: 0.051279 deg/s,
      cmd update: 0.153838 deg/s,
      cmd heading: 207.434840 deg,
      new cmd heading: 207.321724 deg.

2020-12-13T20:20:12.579Z,1607890812.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:13.295Z,1607890813.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:13.773Z,1607890813.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:14.577Z,1607890814.577 [Micromodem](INFO): Nmea in: $SNTTA,0.254975,,,,202014.49*40

2020-12-13T20:20:15.030Z,1607890815.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 382.020020 m, bearing: 222.869455 deg, deltaT: 4.553533 s, approachRate: -0.751061 m/s, LOS rate: 0.120199 deg/s, posRepo size: 4
2020-12-13T20:20:15.032Z,1607890815.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.020020 m,
      bearing: 222.869455 deg,
      approachRate: -0.751061 m/s,
      LOS rate: 0.120199 deg/s,
      cmd update: 0.360597 deg/s,
      cmd heading: 208.135973 deg,
      new cmd heading: 208.198124 deg.

2020-12-13T20:20:17.449Z,1607890817.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:18.231Z,1607890818.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:18.621Z,1607890818.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:19.457Z,1607890819.457 [Micromodem](INFO): Nmea in: $SNTTA,0.252585,,,,202019.42*43

2020-12-13T20:20:20.064Z,1607890820.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 378.599976 m, bearing: 222.866395 deg, deltaT: 4.913399 s, approachRate: -0.696065 m/s, LOS rate: -0.000623 deg/s, posRepo size: 4
2020-12-13T20:20:20.082Z,1607890820.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 378.599976 m,
      bearing: 222.866395 deg,
      approachRate: -0.696065 m/s,
      LOS rate: -0.000623 deg/s,
      cmd update: -0.001868 deg/s,
      cmd heading: 209.906263 deg,
      new cmd heading: 210.096890 deg.

2020-12-13T20:20:22.328Z,1607890822.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:23.083Z,1607890823.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:23.505Z,1607890823.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:24.329Z,1607890824.329 [Micromodem](INFO): Nmea in: $SNTTA,0.250158,,,,202024.28*47

2020-12-13T20:20:24.744Z,1607890824.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 375.119995 m, bearing: 222.750132 deg, deltaT: 4.968916 s, approachRate: -0.700350 m/s, LOS rate: -0.023398 deg/s, posRepo size: 4
2020-12-13T20:20:24.746Z,1607890824.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.119995 m,
      bearing: 222.750132 deg,
      approachRate: -0.700350 m/s,
      LOS rate: -0.023398 deg/s,
      cmd update: -0.070194 deg/s,
      cmd heading: 209.896973 deg,
      new cmd heading: 209.896532 deg.

2020-12-13T20:20:25.545Z,1607890825.545 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:20:26.037Z,1607890826.037 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:20:26.038Z,1607890826.038 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:20:26.038Z,1607890826.038 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:20:26.039Z,1607890826.039 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:20:26.434Z,1607890826.434 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:20:26.911Z,1607890826.911 [Micromodem](INFO): Nmea in: $CADRQ,202027,1,9,0,64,1*4B

2020-12-13T20:20:26.912Z,1607890826.912 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:20:27.042Z,1607890827.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:27.323Z,1607890827.323 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:20:27.719Z,1607890827.719 [Micromodem](INFO): Nmea in: $CADRQ,202028,1,9,0,64,2*47

2020-12-13T20:20:27.720Z,1607890827.720 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:20:28.115Z,1607890828.115 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:20:28.115Z,1607890828.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:28.531Z,1607890828.531 [Micromodem](INFO): Nmea in: $CADRQ,202028,1,9,0,64,3*46

2020-12-13T20:20:28.531Z,1607890828.531 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,202028,1,9,0,64,3*46

2020-12-13T20:20:28.933Z,1607890828.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:29.357Z,1607890829.357 [Micromodem](INFO): Nmea in: $SNTTA,0.247720,,,,202029.31*4D

2020-12-13T20:20:29.778Z,1607890829.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 371.520020 m, bearing: 222.570675 deg, deltaT: 4.904557 s, approachRate: -0.734006 m/s, LOS rate: -0.036590 deg/s, posRepo size: 4
2020-12-13T20:20:29.783Z,1607890829.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.520020 m,
      bearing: 222.570675 deg,
      approachRate: -0.734006 m/s,
      LOS rate: -0.036590 deg/s,
      cmd update: -0.109769 deg/s,
      cmd heading: 209.552962 deg,
      new cmd heading: 209.527052 deg.

2020-12-13T20:20:32.222Z,1607890832.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:32.971Z,1607890832.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:33.377Z,1607890833.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:34.221Z,1607890834.221 [Micromodem](INFO): Nmea in: $SNTTA,0.245685,,,,202034.17*49

2020-12-13T20:20:34.634Z,1607890834.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 368.160004 m, bearing: 222.856327 deg, deltaT: 4.867931 s, approachRate: -0.690235 m/s, LOS rate: 0.058680 deg/s, posRepo size: 4
2020-12-13T20:20:34.636Z,1607890834.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 368.160004 m,
      bearing: 222.856327 deg,
      approachRate: -0.690235 m/s,
      LOS rate: 0.058680 deg/s,
      cmd update: 0.176041 deg/s,
      cmd heading: 209.018621 deg,
      new cmd heading: 208.979498 deg.

2020-12-13T20:20:37.219Z,1607890837.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:37.851Z,1607890837.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:38.241Z,1607890838.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:39.047Z,1607890839.047 [Micromodem](INFO): Nmea in: $SNTTA,0.243146,,,,202039.04*48

2020-12-13T20:20:39.484Z,1607890839.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 364.739960 m, bearing: 223.490743 deg, deltaT: 4.986119 s, approachRate: -0.685913 m/s, LOS rate: 0.127236 deg/s, posRepo size: 4
2020-12-13T20:20:39.486Z,1607890839.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.739960 m,
      bearing: 223.490743 deg,
      approachRate: -0.685913 m/s,
      LOS rate: 0.127236 deg/s,
      cmd update: 0.381709 deg/s,
      cmd heading: 209.897083 deg,
      new cmd heading: 209.935289 deg.

2020-12-13T20:20:41.902Z,1607890841.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:42.671Z,1607890842.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:43.076Z,1607890843.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:43.901Z,1607890843.901 [Micromodem](INFO): Nmea in: $SNTTA,0.241021,,,,202043.86*4D

2020-12-13T20:20:44.333Z,1607890844.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.380005 m, bearing: 223.391159 deg, deltaT: 4.690489 s, approachRate: -0.716334 m/s, LOS rate: -0.021231 deg/s, posRepo size: 4
2020-12-13T20:20:44.335Z,1607890844.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.380005 m,
      bearing: 223.391159 deg,
      approachRate: -0.716334 m/s,
      LOS rate: -0.021231 deg/s,
      cmd update: -0.063693 deg/s,
      cmd heading: 211.685981 deg,
      new cmd heading: 211.830753 deg.

2020-12-13T20:20:46.763Z,1607890846.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:47.534Z,1607890847.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:47.930Z,1607890847.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:48.757Z,1607890848.757 [Micromodem](INFO): Nmea in: $SNTTA,0.238665,,,,202048.73*44

2020-12-13T20:20:49.219Z,1607890849.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.779999 m, bearing: 224.209907 deg, deltaT: 4.858955 s, approachRate: -0.740901 m/s, LOS rate: 0.168503 deg/s, posRepo size: 4
2020-12-13T20:20:49.221Z,1607890849.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.779999 m,
      bearing: 224.209907 deg,
      approachRate: -0.740901 m/s,
      LOS rate: 0.168503 deg/s,
      cmd update: 0.505509 deg/s,
      cmd heading: 211.378730 deg,
      new cmd heading: 211.350617 deg.

2020-12-13T20:20:51.617Z,1607890851.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:52.364Z,1607890852.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:52.770Z,1607890852.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:53.592Z,1607890853.592 [Micromodem](INFO): Nmea in: $SNTTA,0.236124,,,,202053.56*45

2020-12-13T20:20:54.028Z,1607890854.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.000000 m, bearing: 225.036251 deg, deltaT: 4.791930 s, approachRate: -0.788826 m/s, LOS rate: 0.172445 deg/s, posRepo size: 4
2020-12-13T20:20:54.030Z,1607890854.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.000000 m,
      bearing: 225.036251 deg,
      approachRate: -0.788826 m/s,
      LOS rate: 0.172445 deg/s,
      cmd update: 0.517335 deg/s,
      cmd heading: 213.820849 deg,
      new cmd heading: 214.032802 deg.

2020-12-13T20:20:56.578Z,1607890856.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:20:57.236Z,1607890857.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:20:57.621Z,1607890857.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:20:58.020Z,1607890858.020 [Micromodem](INFO): Nmea in: $CAERR,202058,DATA_TIMEOUT,3*41

2020-12-13T20:20:58.484Z,1607890858.484 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:20:58.917Z,1607890858.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.339996 m, bearing: 223.457999 deg, deltaT: 5.071808 s, approachRate: -0.721637 m/s, LOS rate: -0.311181 deg/s, posRepo size: 4
2020-12-13T20:20:58.919Z,1607890858.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.339996 m,
      bearing: 223.457999 deg,
      approachRate: -0.721637 m/s,
      LOS rate: -0.311181 deg/s,
      cmd update: -0.933544 deg/s,
      cmd heading: 216.442567 deg,
      new cmd heading: 216.567180 deg.

2020-12-13T20:21:00.911Z,1607890860.911 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:21:01.308Z,1607890861.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202058.43*54

2020-12-13T20:21:01.334Z,1607890861.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:02.104Z,1607890862.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:02.525Z,1607890862.525 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202058.962517,3,0,200,4000,14500,1,1,9,1,3,2,3,128*43

2020-12-13T20:21:02.525Z,1607890862.525 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202058.962517,3,0,200,4000,14500,1,1,9,1,3,2,3,128*43

2020-12-13T20:21:02.913Z,1607890862.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:03.480Z,1607890863.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202103.30*5F

2020-12-13T20:21:03.905Z,1607890863.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:05.502Z,1607890865.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:21:06.729Z,1607890866.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:07.521Z,1607890867.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:07.929Z,1607890867.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:08.753Z,1607890868.753 [Micromodem](INFO): Nmea in: $SNTTA,0.229007,,,,202108.71*41

2020-12-13T20:21:09.237Z,1607890869.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.379974 m, bearing: 221.615596 deg, deltaT: 10.090949 s, approachRate: -0.689729 m/s, LOS rate: -0.182580 deg/s, posRepo size: 4
2020-12-13T20:21:09.239Z,1607890869.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.379974 m,
      bearing: 221.615596 deg,
      approachRate: -0.689729 m/s,
      LOS rate: -0.182580 deg/s,
      cmd update: -0.547739 deg/s,
      cmd heading: 207.018444 deg,
      new cmd heading: 206.587519 deg.

2020-12-13T20:21:11.736Z,1607890871.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:12.359Z,1607890872.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:12.793Z,1607890872.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:13.604Z,1607890873.604 [Micromodem](INFO): Nmea in: $SNTTA,0.226778,,,,202113.55*4D

2020-12-13T20:21:14.026Z,1607890874.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.080017 m, bearing: 221.407180 deg, deltaT: 4.846975 s, approachRate: -0.680828 m/s, LOS rate: -0.042999 deg/s, posRepo size: 4
2020-12-13T20:21:14.028Z,1607890874.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.080017 m,
      bearing: 221.407180 deg,
      approachRate: -0.680828 m/s,
      LOS rate: -0.042999 deg/s,
      cmd update: -0.128998 deg/s,
      cmd heading: 204.363566 deg,
      new cmd heading: 204.140221 deg.

2020-12-13T20:21:16.216Z,1607890876.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:16.824Z,1607890876.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:17.221Z,1607890877.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:18.026Z,1607890878.026 [Micromodem](INFO): Nmea in: $SNTTA,0.224574,,,,202118.02*48

2020-12-13T20:21:18.479Z,1607890878.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 336.959991 m, bearing: 224.508373 deg, deltaT: 4.654140 s, approachRate: -0.670376 m/s, LOS rate: 0.666330 deg/s, posRepo size: 4
2020-12-13T20:21:18.482Z,1607890878.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.959991 m,
      bearing: 224.508373 deg,
      approachRate: -0.670376 m/s,
      LOS rate: 0.666330 deg/s,
      cmd update: 1.998990 deg/s,
      cmd heading: 203.763192 deg,
      new cmd heading: 203.736575 deg.

2020-12-13T20:21:20.889Z,1607890880.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:21.659Z,1607890881.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:22.071Z,1607890882.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:22.906Z,1607890882.906 [Micromodem](INFO): Nmea in: $SNTTA,0.222406,,,,202122.85*4C

2020-12-13T20:21:23.305Z,1607890883.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.360016 m, bearing: 224.305229 deg, deltaT: 4.658894 s, approachRate: -0.772710 m/s, LOS rate: -0.043603 deg/s, posRepo size: 4
2020-12-13T20:21:23.307Z,1607890883.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.360016 m,
      bearing: 224.305229 deg,
      approachRate: -0.772710 m/s,
      LOS rate: -0.043603 deg/s,
      cmd update: -0.130810 deg/s,
      cmd heading: 213.075832 deg,
      new cmd heading: 213.823210 deg.

2020-12-13T20:21:25.750Z,1607890885.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:26.503Z,1607890886.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:26.917Z,1607890886.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:27.750Z,1607890887.750 [Micromodem](INFO): Nmea in: $SNTTA,0.220076,,,,202127.70*42

2020-12-13T20:21:28.220Z,1607890888.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 330.000000 m, bearing: 225.295620 deg, deltaT: 4.838313 s, approachRate: -0.694460 m/s, LOS rate: 0.204698 deg/s, posRepo size: 4
2020-12-13T20:21:28.226Z,1607890888.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.000000 m,
      bearing: 225.295620 deg,
      approachRate: -0.694460 m/s,
      LOS rate: 0.204698 deg/s,
      cmd update: 0.614093 deg/s,
      cmd heading: 212.442909 deg,
      new cmd heading: 212.383990 deg.

2020-12-13T20:21:30.582Z,1607890890.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:31.343Z,1607890891.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:31.773Z,1607890891.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:31.787Z,1607890891.787 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:21:32.296Z,1607890892.296 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:21:32.296Z,1607890892.296 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:21:32.297Z,1607890892.297 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:21:32.297Z,1607890892.297 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:21:32.596Z,1607890892.596 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:21:33.009Z,1607890893.009 [Micromodem](INFO): Nmea in: $CADRQ,202133,1,9,0,64,1*4F

2020-12-13T20:21:33.010Z,1607890893.010 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:21:33.184Z,1607890893.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.399994 m, bearing: 224.981227 deg, deltaT: 4.866747 s, approachRate: -0.739715 m/s, LOS rate: -0.064600 deg/s, posRepo size: 4
2020-12-13T20:21:33.190Z,1607890893.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.399994 m,
      bearing: 224.981227 deg,
      approachRate: -0.739715 m/s,
      LOS rate: -0.064600 deg/s,
      cmd update: -0.193801 deg/s,
      cmd heading: 215.431570 deg,
      new cmd heading: 215.767669 deg.

2020-12-13T20:21:33.414Z,1607890893.414 [Micromodem](INFO): Nmea in: $SNTTA,0.217805,,,,202132.53*4F

2020-12-13T20:21:33.414Z,1607890893.414 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.217805,,,,202132.53*4F

2020-12-13T20:21:34.622Z,1607890894.622 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:21:35.018Z,1607890895.018 [Micromodem](INFO): Nmea in: $CADRQ,202134,1,9,0,64,2*4B

2020-12-13T20:21:35.018Z,1607890895.018 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:21:35.190Z,1607890895.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:35.449Z,1607890895.449 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:21:35.835Z,1607890895.835 [Micromodem](INFO): Nmea in: $CADRQ,202136,1,9,0,64,3*48

2020-12-13T20:21:35.836Z,1607890895.836 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:21:36.239Z,1607890896.239 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:21:36.239Z,1607890896.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:36.631Z,1607890896.631 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:21:36.631Z,1607890896.631 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:21:38.075Z,1607890898.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:40.271Z,1607890900.271 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:21:40.271Z,1607890900.271 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:21:40.668Z,1607890900.668 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202137.067174,3,0,200,4000,14500,1,1,9,1,3,3,3,186*43

2020-12-13T20:21:40.685Z,1607890900.685 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202137.067174,3,0,200,4000,14500,1,1,9,1,3,3,3,186*43

2020-12-13T20:21:40.706Z,1607890900.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:43.577Z,1607890903.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:46.368Z,1607890906.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:47.542Z,1607890907.542 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:47.949Z,1607890907.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:48.777Z,1607890908.777 [Micromodem](INFO): Nmea in: $SNTTA,0.209726,,,,202148.73*41

2020-12-13T20:21:49.246Z,1607890909.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.459991 m, bearing: 224.389281 deg, deltaT: 16.209624 s, approachRate: -0.736600 m/s, LOS rate: -0.036518 deg/s, posRepo size: 4
2020-12-13T20:21:49.248Z,1607890909.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.459991 m,
      bearing: 224.389281 deg,
      approachRate: -0.736600 m/s,
      LOS rate: -0.036518 deg/s,
      cmd update: -0.109554 deg/s,
      cmd heading: 212.292252 deg,
      new cmd heading: 212.212547 deg.

2020-12-13T20:21:51.633Z,1607890911.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:52.387Z,1607890912.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:52.806Z,1607890912.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:53.672Z,1607890913.672 [Micromodem](INFO): Nmea in: $SNTTA,0.207325,,,,202153.58*4B

2020-12-13T20:21:54.050Z,1607890914.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.799988 m, bearing: 224.657298 deg, deltaT: 4.843058 s, approachRate: -0.755722 m/s, LOS rate: 0.055340 deg/s, posRepo size: 4
2020-12-13T20:21:54.052Z,1607890914.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.799988 m,
      bearing: 224.657298 deg,
      approachRate: -0.755722 m/s,
      LOS rate: 0.055340 deg/s,
      cmd update: 0.166021 deg/s,
      cmd heading: 211.760473 deg,
      new cmd heading: 211.720976 deg.

2020-12-13T20:21:56.494Z,1607890916.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:21:57.239Z,1607890917.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:21:57.645Z,1607890917.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:21:58.484Z,1607890918.484 [Micromodem](INFO): Nmea in: $SNTTA,0.205154,,,,202158.43*4C

2020-12-13T20:21:58.915Z,1607890918.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.559998 m, bearing: 225.638851 deg, deltaT: 4.819803 s, approachRate: -0.672225 m/s, LOS rate: 0.203650 deg/s, posRepo size: 4
2020-12-13T20:21:58.917Z,1607890918.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.559998 m,
      bearing: 225.638851 deg,
      approachRate: -0.672225 m/s,
      LOS rate: 0.203650 deg/s,
      cmd update: 0.610950 deg/s,
      cmd heading: 212.560665 deg,
      new cmd heading: 212.628083 deg.

2020-12-13T20:22:01.469Z,1607890921.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:02.091Z,1607890922.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:02.512Z,1607890922.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:03.321Z,1607890923.321 [Micromodem](INFO): Nmea in: $SNTTA,0.202833,,,,202203.28*43

2020-12-13T20:22:03.749Z,1607890923.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.080017 m, bearing: 226.403846 deg, deltaT: 5.000345 s, approachRate: -0.695948 m/s, LOS rate: 0.152988 deg/s, posRepo size: 4
2020-12-13T20:22:03.773Z,1607890923.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.080017 m,
      bearing: 226.403846 deg,
      approachRate: -0.695948 m/s,
      LOS rate: 0.152988 deg/s,
      cmd update: 0.458965 deg/s,
      cmd heading: 215.615582 deg,
      new cmd heading: 215.761225 deg.

2020-12-13T20:22:06.221Z,1607890926.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:06.952Z,1607890926.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:07.341Z,1607890927.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:08.189Z,1607890928.189 [Micromodem](INFO): Nmea in: $SNTTA,0.200430,,,,202208.14*4A

2020-12-13T20:22:08.595Z,1607890928.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.479980 m, bearing: 225.965703 deg, deltaT: 4.703408 s, approachRate: -0.765410 m/s, LOS rate: -0.093154 deg/s, posRepo size: 4
2020-12-13T20:22:08.597Z,1607890928.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.479980 m,
      bearing: 225.965703 deg,
      approachRate: -0.765410 m/s,
      LOS rate: -0.093154 deg/s,
      cmd update: -0.279463 deg/s,
      cmd heading: 217.774322 deg,
      new cmd heading: 217.950030 deg.

2020-12-13T20:22:11.032Z,1607890931.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:11.812Z,1607890931.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:12.228Z,1607890932.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:13.019Z,1607890933.019 [Micromodem](INFO): Nmea in: $SNTTA,0.197911,,,,202213.01*47

2020-12-13T20:22:13.466Z,1607890933.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.699982 m, bearing: 225.990660 deg, deltaT: 4.831040 s, approachRate: -0.782440 m/s, LOS rate: 0.005166 deg/s, posRepo size: 4
2020-12-13T20:22:13.468Z,1607890933.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.699982 m,
      bearing: 225.990660 deg,
      approachRate: -0.782440 m/s,
      LOS rate: 0.005166 deg/s,
      cmd update: 0.015498 deg/s,
      cmd heading: 216.424227 deg,
      new cmd heading: 216.310702 deg.

2020-12-13T20:22:15.892Z,1607890935.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:16.631Z,1607890936.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:17.037Z,1607890937.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:17.873Z,1607890937.873 [Micromodem](INFO): Nmea in: $SNTTA,0.195664,,,,202217.82*47

2020-12-13T20:22:18.288Z,1607890938.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.339996 m, bearing: 226.691301 deg, deltaT: 4.853760 s, approachRate: -0.692244 m/s, LOS rate: 0.144350 deg/s, posRepo size: 4
2020-12-13T20:22:18.290Z,1607890938.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.339996 m,
      bearing: 226.691301 deg,
      approachRate: -0.692244 m/s,
      LOS rate: 0.144350 deg/s,
      cmd update: 0.433050 deg/s,
      cmd heading: 216.499452 deg,
      new cmd heading: 216.505503 deg.

2020-12-13T20:22:20.903Z,1607890940.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:21.491Z,1607890941.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:21.559Z,1607890941.559 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:22:21.885Z,1607890941.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:22.712Z,1607890942.712 [Micromodem](INFO): Nmea in: $SNTTA,0.193460,,,,202222.68*45

2020-12-13T20:22:23.192Z,1607890943.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.979980 m, bearing: 225.729283 deg, deltaT: 5.046057 s, approachRate: -0.665870 m/s, LOS rate: -0.190648 deg/s, posRepo size: 4
2020-12-13T20:22:23.198Z,1607890943.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.979980 m,
      bearing: 225.729283 deg,
      approachRate: -0.665870 m/s,
      LOS rate: -0.190648 deg/s,
      cmd update: -0.571943 deg/s,
      cmd heading: 218.684653 deg,
      new cmd heading: 218.792190 deg.

2020-12-13T20:22:25.557Z,1607890945.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:26.343Z,1607890946.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:26.745Z,1607890946.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:27.577Z,1607890947.577 [Micromodem](INFO): Nmea in: $SNTTA,0.190932,,,,202227.53*41

2020-12-13T20:22:27.994Z,1607890947.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.139984 m, bearing: 227.296128 deg, deltaT: 4.671732 s, approachRate: -0.821964 m/s, LOS rate: 0.335389 deg/s, posRepo size: 4
2020-12-13T20:22:27.996Z,1607890947.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.139984 m,
      bearing: 227.296128 deg,
      approachRate: -0.821964 m/s,
      LOS rate: 0.335389 deg/s,
      cmd update: 1.006166 deg/s,
      cmd heading: 216.012695 deg,
      new cmd heading: 215.796219 deg.

2020-12-13T20:22:30.486Z,1607890950.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:31.219Z,1607890951.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:31.589Z,1607890951.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:32.420Z,1607890952.420 [Micromodem](INFO): Nmea in: $SNTTA,0.188762,,,,202232.41*44

2020-12-13T20:22:32.864Z,1607890952.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.959991 m, bearing: 227.991674 deg, deltaT: 4.878191 s, approachRate: -0.651879 m/s, LOS rate: 0.142583 deg/s, posRepo size: 4
2020-12-13T20:22:32.866Z,1607890952.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.959991 m,
      bearing: 227.991674 deg,
      approachRate: -0.651879 m/s,
      LOS rate: 0.142583 deg/s,
      cmd update: 0.427748 deg/s,
      cmd heading: 220.912780 deg,
      new cmd heading: 221.294025 deg.

2020-12-13T20:22:35.275Z,1607890955.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:36.039Z,1607890956.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:36.443Z,1607890956.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:37.265Z,1607890957.265 [Micromodem](INFO): Nmea in: $SNTTA,0.186383,,,,202237.23*40

2020-12-13T20:22:37.670Z,1607890957.670 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:22:37.726Z,1607890957.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.479980 m, bearing: 227.968847 deg, deltaT: 4.831008 s, approachRate: -0.720349 m/s, LOS rate: -0.004725 deg/s, posRepo size: 4
2020-12-13T20:22:37.728Z,1607890957.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.479980 m,
      bearing: 227.968847 deg,
      approachRate: -0.720349 m/s,
      LOS rate: -0.004725 deg/s,
      cmd update: -0.014175 deg/s,
      cmd heading: 222.980987 deg,
      new cmd heading: 223.141393 deg.

2020-12-13T20:22:38.238Z,1607890958.238 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:22:38.238Z,1607890958.238 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:22:38.239Z,1607890958.239 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:22:38.239Z,1607890958.239 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:22:38.502Z,1607890958.502 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:22:38.898Z,1607890958.898 [Micromodem](INFO): Nmea in: $CADRQ,202239,1,9,0,64,1*46

2020-12-13T20:22:38.899Z,1607890958.899 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:22:39.303Z,1607890959.303 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:22:39.697Z,1607890959.697 [Micromodem](INFO): Nmea in: $CADRQ,202240,1,9,0,64,2*4B

2020-12-13T20:22:39.698Z,1607890959.698 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:22:39.838Z,1607890959.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:40.109Z,1607890960.109 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:22:40.511Z,1607890960.511 [Micromodem](INFO): Nmea in: $CADRQ,202240,1,9,0,64,3*4A

2020-12-13T20:22:40.511Z,1607890960.511 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:22:40.901Z,1607890960.901 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:22:40.901Z,1607890960.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:41.306Z,1607890961.306 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:22:41.307Z,1607890961.307 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:22:42.538Z,1607890962.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:44.947Z,1607890964.947 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:22:44.947Z,1607890964.947 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:22:45.340Z,1607890965.340 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202241.746792,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4B

2020-12-13T20:22:45.340Z,1607890965.340 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202241.746792,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4B

2020-12-13T20:22:45.389Z,1607890965.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:48.002Z,1607890968.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:50.637Z,1607890970.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:52.226Z,1607890972.226 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:52.641Z,1607890972.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:53.251Z,1607890973.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:53.479Z,1607890973.479 [Micromodem](INFO): Nmea in: $SNTTA,0.178537,,,,202253.42*4D

2020-12-13T20:22:53.899Z,1607890973.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.720001 m, bearing: 227.959339 deg, deltaT: 16.168987 s, approachRate: -0.727317 m/s, LOS rate: -0.000588 deg/s, posRepo size: 4
2020-12-13T20:22:53.901Z,1607890973.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.720001 m,
      bearing: 227.959339 deg,
      approachRate: -0.727317 m/s,
      LOS rate: -0.000588 deg/s,
      cmd update: -0.001764 deg/s,
      cmd heading: 222.751735 deg,
      new cmd heading: 222.745979 deg.

2020-12-13T20:22:56.327Z,1607890976.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:22:57.075Z,1607890977.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:22:57.489Z,1607890977.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:22:58.305Z,1607890978.305 [Micromodem](INFO): Nmea in: $SNTTA,0.176299,,,,202258.27*48

2020-12-13T20:22:58.731Z,1607890978.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.299988 m, bearing: 227.937865 deg, deltaT: 4.834858 s, approachRate: -0.707366 m/s, LOS rate: -0.004442 deg/s, posRepo size: 4
2020-12-13T20:22:58.733Z,1607890978.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.299988 m,
      bearing: 227.937865 deg,
      approachRate: -0.707366 m/s,
      LOS rate: -0.004442 deg/s,
      cmd update: -0.013325 deg/s,
      cmd heading: 222.743206 deg,
      new cmd heading: 222.742495 deg.

2020-12-13T20:23:01.213Z,1607890981.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:01.923Z,1607890981.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:02.336Z,1607890982.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:03.185Z,1607890983.185 [Micromodem](INFO): Nmea in: $SNTTA,0.173702,,,,202303.11*40

2020-12-13T20:23:03.583Z,1607890983.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.399994 m, bearing: 229.119461 deg, deltaT: 4.966312 s, approachRate: -0.785290 m/s, LOS rate: 0.237922 deg/s, posRepo size: 4
2020-12-13T20:23:03.585Z,1607890983.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.399994 m,
      bearing: 229.119461 deg,
      approachRate: -0.785290 m/s,
      LOS rate: 0.237922 deg/s,
      cmd update: 0.713766 deg/s,
      cmd heading: 222.677085 deg,
      new cmd heading: 222.673186 deg.

2020-12-13T20:23:06.131Z,1607890986.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:06.775Z,1607890986.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:07.193Z,1607890987.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:08.011Z,1607890988.011 [Micromodem](INFO): Nmea in: $SNTTA,0.171203,,,,202307.97*4C

2020-12-13T20:23:08.443Z,1607890988.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.679993 m, bearing: 228.876702 deg, deltaT: 4.944151 s, approachRate: -0.752404 m/s, LOS rate: -0.049100 deg/s, posRepo size: 4
2020-12-13T20:23:08.450Z,1607890988.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.679993 m,
      bearing: 228.876702 deg,
      approachRate: -0.752404 m/s,
      LOS rate: -0.049100 deg/s,
      cmd update: -0.147300 deg/s,
      cmd heading: 226.208748 deg,
      new cmd heading: 226.354437 deg.

2020-12-13T20:23:10.886Z,1607890990.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:11.635Z,1607890991.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:12.034Z,1607890992.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:12.883Z,1607890992.883 [Micromodem](INFO): Nmea in: $SNTTA,0.168842,,,,202312.83*4A

2020-12-13T20:23:13.309Z,1607890993.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.079987 m, bearing: 228.873041 deg, deltaT: 4.669737 s, approachRate: -0.770923 m/s, LOS rate: -0.000784 deg/s, posRepo size: 4
2020-12-13T20:23:13.311Z,1607890993.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.079987 m,
      bearing: 228.873041 deg,
      approachRate: -0.770923 m/s,
      LOS rate: -0.000784 deg/s,
      cmd update: -0.002352 deg/s,
      cmd heading: 225.520865 deg,
      new cmd heading: 225.464206 deg.

2020-12-13T20:23:15.842Z,1607890995.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:16.535Z,1607890996.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:16.945Z,1607890996.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:17.777Z,1607890997.777 [Micromodem](INFO): Nmea in: $SNTTA,0.166515,,,,202317.73*41

2020-12-13T20:23:18.224Z,1607890998.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.600006 m, bearing: 229.772973 deg, deltaT: 4.936426 s, approachRate: -0.704960 m/s, LOS rate: 0.182304 deg/s, posRepo size: 4
2020-12-13T20:23:18.226Z,1607890998.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.600006 m,
      bearing: 229.772973 deg,
      approachRate: -0.704960 m/s,
      LOS rate: 0.182304 deg/s,
      cmd update: 0.546913 deg/s,
      cmd heading: 225.509255 deg,
      new cmd heading: 225.508362 deg.

2020-12-13T20:23:20.604Z,1607891000.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:21.383Z,1607891001.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:21.821Z,1607891001.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:22.617Z,1607891002.617 [Micromodem](INFO): Nmea in: $SNTTA,0.164085,,,,202322.57*4F

2020-12-13T20:23:23.038Z,1607891003.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.939987 m, bearing: 228.657248 deg, deltaT: 4.814530 s, approachRate: -0.760203 m/s, LOS rate: -0.231741 deg/s, posRepo size: 4
2020-12-13T20:23:23.040Z,1607891003.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.939987 m,
      bearing: 228.657248 deg,
      approachRate: -0.760203 m/s,
      LOS rate: -0.231741 deg/s,
      cmd update: -0.695224 deg/s,
      cmd heading: 228.142428 deg,
      new cmd heading: 228.349622 deg.

2020-12-13T20:23:25.678Z,1607891005.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:26.271Z,1607891006.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:26.669Z,1607891006.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:27.499Z,1607891007.499 [Micromodem](INFO): Nmea in: $SNTTA,0.161675,,,,202327.46*46

2020-12-13T20:23:28.038Z,1607891008.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.339996 m, bearing: 229.135648 deg, deltaT: 5.029209 s, approachRate: -0.715816 m/s, LOS rate: 0.095124 deg/s, posRepo size: 4
2020-12-13T20:23:28.040Z,1607891008.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.339996 m,
      bearing: 229.135648 deg,
      approachRate: -0.715816 m/s,
      LOS rate: 0.095124 deg/s,
      cmd update: 0.285373 deg/s,
      cmd heading: 224.646018 deg,
      new cmd heading: 224.402884 deg.

2020-12-13T20:23:30.505Z,1607891010.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:31.239Z,1607891011.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:31.625Z,1607891011.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:32.455Z,1607891012.455 [Micromodem](INFO): Nmea in: $SNTTA,0.159261,,,,202332.43*4D

2020-12-13T20:23:32.953Z,1607891012.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.739975 m, bearing: 228.674966 deg, deltaT: 4.811805 s, approachRate: -0.748164 m/s, LOS rate: -0.095740 deg/s, posRepo size: 4
2020-12-13T20:23:32.956Z,1607891012.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.739975 m,
      bearing: 228.674966 deg,
      approachRate: -0.748164 m/s,
      LOS rate: -0.095740 deg/s,
      cmd update: -0.287220 deg/s,
      cmd heading: 226.019175 deg,
      new cmd heading: 226.148061 deg.

2020-12-13T20:23:35.313Z,1607891015.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:36.071Z,1607891016.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:36.189Z,1607891016.189 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:23:36.489Z,1607891016.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:37.318Z,1607891017.318 [Micromodem](INFO): Nmea in: $SNTTA,0.156883,,,,202337.26*42

2020-12-13T20:23:37.735Z,1607891017.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.199982 m, bearing: 230.111669 deg, deltaT: 4.859391 s, approachRate: -0.728485 m/s, LOS rate: 0.295655 deg/s, posRepo size: 4
2020-12-13T20:23:37.737Z,1607891017.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.199982 m,
      bearing: 230.111669 deg,
      approachRate: -0.728485 m/s,
      LOS rate: 0.295655 deg/s,
      cmd update: 0.886965 deg/s,
      cmd heading: 224.623495 deg,
      new cmd heading: 224.515558 deg.

2020-12-13T20:23:40.335Z,1607891020.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:40.932Z,1607891020.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:41.345Z,1607891021.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:42.193Z,1607891022.193 [Micromodem](INFO): Nmea in: $SNTTA,0.154546,,,,202342.12*41

2020-12-13T20:23:42.590Z,1607891022.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.660004 m, bearing: 229.057156 deg, deltaT: 4.890867 s, approachRate: -0.723794 m/s, LOS rate: -0.215609 deg/s, posRepo size: 4
2020-12-13T20:23:42.592Z,1607891022.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.660004 m,
      bearing: 229.057156 deg,
      approachRate: -0.723794 m/s,
      LOS rate: -0.215609 deg/s,
      cmd update: -0.646826 deg/s,
      cmd heading: 228.940406 deg,
      new cmd heading: 229.262402 deg.

2020-12-13T20:23:43.365Z,1607891023.365 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:23:43.920Z,1607891023.920 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:23:43.921Z,1607891023.921 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:23:43.921Z,1607891023.921 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:23:43.922Z,1607891023.922 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:23:44.198Z,1607891024.198 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:23:44.582Z,1607891024.582 [Micromodem](INFO): Nmea in: $CADRQ,202345,1,9,0,64,1*4C

2020-12-13T20:23:44.582Z,1607891024.582 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:23:44.983Z,1607891024.983 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:23:45.010Z,1607891025.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:45.403Z,1607891025.403 [Micromodem](INFO): Nmea in: $CADRQ,202345,1,9,0,64,2*4F

2020-12-13T20:23:45.405Z,1607891025.405 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:23:45.806Z,1607891025.806 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:23:45.810Z,1607891025.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:46.215Z,1607891026.215 [Micromodem](INFO): Nmea in: $CADRQ,202346,1,9,0,64,3*4D

2020-12-13T20:23:46.215Z,1607891026.215 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,202346,1,9,0,64,3*4D

2020-12-13T20:23:46.601Z,1607891026.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:47.022Z,1607891027.022 [Micromodem](INFO): Nmea in: $SNTTA,0.152177,,,0.154702,202347.00*5C

2020-12-13T20:23:47.491Z,1607891027.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.119995 m, bearing: 229.339584 deg, deltaT: 4.820843 s, approachRate: -0.734313 m/s, LOS rate: 0.058585 deg/s, posRepo size: 4
2020-12-13T20:23:47.493Z,1607891027.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.119995 m,
      bearing: 229.339584 deg,
      approachRate: -0.734313 m/s,
      LOS rate: 0.058585 deg/s,
      cmd update: 0.175755 deg/s,
      cmd heading: 225.806650 deg,
      new cmd heading: 225.536990 deg.

2020-12-13T20:23:49.892Z,1607891029.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:50.635Z,1607891030.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:51.096Z,1607891031.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:51.889Z,1607891031.889 [Micromodem](INFO): Nmea in: $SNTTA,0.149875,,,,202351.83*4A

2020-12-13T20:23:52.365Z,1607891032.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.699982 m, bearing: 229.314749 deg, deltaT: 4.886023 s, approachRate: -0.699959 m/s, LOS rate: -0.005083 deg/s, posRepo size: 4
2020-12-13T20:23:52.367Z,1607891032.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.699982 m,
      bearing: 229.314749 deg,
      approachRate: -0.699959 m/s,
      LOS rate: -0.005083 deg/s,
      cmd update: -0.015248 deg/s,
      cmd heading: 226.665387 deg,
      new cmd heading: 226.737019 deg.

2020-12-13T20:23:54.735Z,1607891034.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:55.535Z,1607891035.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:23:55.929Z,1607891035.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:23:56.752Z,1607891036.752 [Micromodem](INFO): Nmea in: $SNTTA,0.147396,,,,202356.73*4A

2020-12-13T20:23:57.351Z,1607891037.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.919983 m, bearing: 229.421300 deg, deltaT: 4.877476 s, approachRate: -0.774991 m/s, LOS rate: 0.021846 deg/s, posRepo size: 4
2020-12-13T20:23:57.355Z,1607891037.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.919983 m,
      bearing: 229.421300 deg,
      approachRate: -0.774991 m/s,
      LOS rate: 0.021846 deg/s,
      cmd update: 0.065537 deg/s,
      cmd heading: 226.591137 deg,
      new cmd heading: 226.583248 deg.

2020-12-13T20:23:59.367Z,1607891039.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:23:59.975Z,1607891039.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:00.373Z,1607891040.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:01.225Z,1607891041.225 [Micromodem](INFO): Nmea in: $SNTTA,0.145105,,,,202401.17*47

2020-12-13T20:24:01.650Z,1607891041.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.500000 m, bearing: 229.367178 deg, deltaT: 4.425846 s, approachRate: -0.772730 m/s, LOS rate: -0.012229 deg/s, posRepo size: 4
2020-12-13T20:24:01.652Z,1607891041.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.500000 m,
      bearing: 229.367178 deg,
      approachRate: -0.772730 m/s,
      LOS rate: -0.012229 deg/s,
      cmd update: -0.036686 deg/s,
      cmd heading: 226.881678 deg,
      new cmd heading: 226.907259 deg.

2020-12-13T20:24:03.833Z,1607891043.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:04.407Z,1607891044.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:04.856Z,1607891044.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:05.651Z,1607891045.651 [Micromodem](INFO): Nmea in: $SNTTA,0.142906,,,,202405.60*4F

2020-12-13T20:24:06.085Z,1607891046.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.199982 m, bearing: 228.595394 deg, deltaT: 4.617382 s, approachRate: -0.714695 m/s, LOS rate: -0.167148 deg/s, posRepo size: 4
2020-12-13T20:24:06.086Z,1607891046.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.199982 m,
      bearing: 228.595394 deg,
      approachRate: -0.714695 m/s,
      LOS rate: -0.167148 deg/s,
      cmd update: -0.501443 deg/s,
      cmd heading: 226.712619 deg,
      new cmd heading: 226.704694 deg.

2020-12-13T20:24:08.524Z,1607891048.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:09.283Z,1607891049.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:09.685Z,1607891049.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:10.537Z,1607891050.537 [Micromodem](INFO): Nmea in: $SNTTA,0.140377,,,,202410.47*40

2020-12-13T20:24:10.943Z,1607891050.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.419983 m, bearing: 229.608010 deg, deltaT: 4.687813 s, approachRate: -0.806346 m/s, LOS rate: 0.216010 deg/s, posRepo size: 4
2020-12-13T20:24:10.945Z,1607891050.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.419983 m,
      bearing: 229.608010 deg,
      approachRate: -0.806346 m/s,
      LOS rate: 0.216010 deg/s,
      cmd update: 0.648031 deg/s,
      cmd heading: 224.363166 deg,
      new cmd heading: 224.168069 deg.

2020-12-13T20:24:13.400Z,1607891053.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:14.129Z,1607891054.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:14.533Z,1607891054.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:15.373Z,1607891055.373 [Micromodem](INFO): Nmea in: $SNTTA,0.138077,,,,202415.32*4B

2020-12-13T20:24:15.822Z,1607891055.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.939987 m, bearing: 230.094812 deg, deltaT: 4.867349 s, approachRate: -0.714967 m/s, LOS rate: 0.100014 deg/s, posRepo size: 4
2020-12-13T20:24:15.824Z,1607891055.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.939987 m,
      bearing: 230.094812 deg,
      approachRate: -0.714967 m/s,
      LOS rate: 0.100014 deg/s,
      cmd update: 0.300041 deg/s,
      cmd heading: 227.509977 deg,
      new cmd heading: 227.776831 deg.

2020-12-13T20:24:16.566Z,1607891056.566 [Micromodem](INFO): Nmea in: $CAERR,202416,DATA_TIMEOUT,3*4F

2020-12-13T20:24:16.969Z,1607891056.969 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:24:18.223Z,1607891058.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:18.987Z,1607891058.987 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:24:18.988Z,1607891058.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:19.393Z,1607891059.393 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202416.647490,3,0,200,4000,14500,1,1,9,1,3,2,3,128*4B

2020-12-13T20:24:19.393Z,1607891059.393 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202416.647490,3,0,200,4000,14500,1,1,9,1,3,2,3,128*4B

2020-12-13T20:24:19.798Z,1607891059.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:20.219Z,1607891060.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202420.18*51

2020-12-13T20:24:21.039Z,1607891061.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:22.614Z,1607891062.614 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:24:23.915Z,1607891063.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:24.635Z,1607891064.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:25.053Z,1607891065.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:25.885Z,1607891065.885 [Micromodem](INFO): Nmea in: $SNTTA,0.132753,,,,202425.83*49

2020-12-13T20:24:26.325Z,1607891066.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.959991 m, bearing: 229.112180 deg, deltaT: 10.499812 s, approachRate: -0.760013 m/s, LOS rate: -0.093586 deg/s, posRepo size: 4
2020-12-13T20:24:26.327Z,1607891066.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.959991 m,
      bearing: 229.112180 deg,
      approachRate: -0.760013 m/s,
      LOS rate: -0.093586 deg/s,
      cmd update: -0.280757 deg/s,
      cmd heading: 230.660103 deg,
      new cmd heading: 230.785005 deg.

2020-12-13T20:24:28.700Z,1607891068.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:29.495Z,1607891069.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:29.977Z,1607891069.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:30.802Z,1607891070.802 [Micromodem](INFO): Nmea in: $SNTTA,0.130366,,,,202430.69*49

2020-12-13T20:24:30.860Z,1607891070.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 229.849826 deg, deltaT: 4.481990 s, approachRate: -0.789830 m/s, LOS rate: 0.164580 deg/s, posRepo size: 4
2020-12-13T20:24:30.866Z,1607891070.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.419983 m,
      bearing: 229.849826 deg,
      approachRate: -0.789830 m/s,
      LOS rate: 0.164580 deg/s,
      cmd update: 0.493741 deg/s,
      cmd heading: 229.394895 deg,
      new cmd heading: 229.269966 deg.

2020-12-13T20:24:32.986Z,1607891072.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:33.603Z,1607891073.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:34.013Z,1607891074.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:34.857Z,1607891074.857 [Micromodem](INFO): Nmea in: $SNTTA,0.128402,,,,202434.79*40

2020-12-13T20:24:35.272Z,1607891075.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 229.612628 deg, deltaT: 4.485899 s, approachRate: -0.668759 m/s, LOS rate: -0.052877 deg/s, posRepo size: 4
2020-12-13T20:24:35.274Z,1607891075.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 229.612628 deg,
      approachRate: -0.668759 m/s,
      LOS rate: -0.052877 deg/s,
      cmd update: -0.158630 deg/s,
      cmd heading: 231.599767 deg,
      new cmd heading: 231.792928 deg.

2020-12-13T20:24:37.701Z,1607891077.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:38.462Z,1607891078.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:38.873Z,1607891078.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:39.704Z,1607891079.704 [Micromodem](INFO): Nmea in: $SNTTA,0.126039,,,,202439.65*42

2020-12-13T20:24:40.109Z,1607891080.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.879990 m, bearing: 230.751275 deg, deltaT: 4.817356 s, approachRate: -0.734845 m/s, LOS rate: 0.236363 deg/s, posRepo size: 4
2020-12-13T20:24:40.111Z,1607891080.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.879990 m,
      bearing: 230.751275 deg,
      approachRate: -0.734845 m/s,
      LOS rate: 0.236363 deg/s,
      cmd update: 0.709090 deg/s,
      cmd heading: 230.832375 deg,
      new cmd heading: 230.770431 deg.

2020-12-13T20:24:42.667Z,1607891082.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:43.307Z,1607891083.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:43.709Z,1607891083.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:44.546Z,1607891084.546 [Micromodem](INFO): Nmea in: $SNTTA,0.123567,,,,202444.50*45

2020-12-13T20:24:44.960Z,1607891084.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.160004 m, bearing: 230.237699 deg, deltaT: 4.998172 s, approachRate: -0.744269 m/s, LOS rate: -0.102753 deg/s, posRepo size: 4
2020-12-13T20:24:44.962Z,1607891084.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.160004 m,
      bearing: 230.237699 deg,
      approachRate: -0.744269 m/s,
      LOS rate: -0.102753 deg/s,
      cmd update: -0.308258 deg/s,
      cmd heading: 234.376497 deg,
      new cmd heading: 234.549073 deg.

2020-12-13T20:24:47.388Z,1607891087.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:48.174Z,1607891088.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:48.557Z,1607891088.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:24:48.950Z,1607891088.950 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:24:49.382Z,1607891089.382 [Micromodem](INFO): Nmea in: $SNTTA,0.121167,,,,202449.37*4F

2020-12-13T20:24:49.543Z,1607891089.543 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:24:49.544Z,1607891089.544 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:24:49.544Z,1607891089.544 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:24:49.548Z,1607891089.548 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:24:49.836Z,1607891089.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 230.268244 deg, deltaT: 4.902749 s, approachRate: -0.746521 m/s, LOS rate: 0.006230 deg/s, posRepo size: 4
2020-12-13T20:24:49.842Z,1607891089.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 230.268244 deg,
      approachRate: -0.746521 m/s,
      LOS rate: 0.006230 deg/s,
      cmd update: 0.018690 deg/s,
      cmd heading: 232.866431 deg,
      new cmd heading: 232.798382 deg.

2020-12-13T20:24:50.614Z,1607891090.614 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:24:50.990Z,1607891090.990 [Micromodem](INFO): Nmea in: $CADRQ,202450,1,9,0,64,1*4F

2020-12-13T20:24:50.990Z,1607891090.990 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:24:51.480Z,1607891091.480 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:24:51.877Z,1607891091.877 [Micromodem](INFO): Nmea in: $CADRQ,202452,1,9,0,64,2*4E

2020-12-13T20:24:51.879Z,1607891091.879 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:24:52.263Z,1607891092.263 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:24:52.317Z,1607891092.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:52.671Z,1607891092.671 [Micromodem](INFO): Nmea in: $CADRQ,202453,1,9,0,64,3*4E

2020-12-13T20:24:52.674Z,1607891092.674 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:24:53.082Z,1607891093.082 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:24:53.083Z,1607891093.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:24:53.483Z,1607891093.483 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:24:53.483Z,1607891093.483 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:24:55.304Z,1607891095.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:24:57.115Z,1607891097.115 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:24:57.115Z,1607891097.115 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:24:57.523Z,1607891097.523 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202453.907241,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4E

2020-12-13T20:24:57.523Z,1607891097.523 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202453.907241,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4E

2020-12-13T20:24:57.962Z,1607891097.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:00.807Z,1607891100.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:03.742Z,1607891103.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:04.379Z,1607891104.379 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:04.821Z,1607891104.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:05.654Z,1607891105.654 [Micromodem](INFO): Nmea in: $SNTTA,0.113217,,,,202505.57*45

2020-12-13T20:25:05.679Z,1607891105.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.620010 m, bearing: 230.176993 deg, deltaT: 15.632154 s, approachRate: -0.759971 m/s, LOS rate: -0.005837 deg/s, posRepo size: 4
2020-12-13T20:25:05.710Z,1607891105.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.620010 m,
      bearing: 230.176993 deg,
      approachRate: -0.759971 m/s,
      LOS rate: -0.005837 deg/s,
      cmd update: -0.017512 deg/s,
      cmd heading: 233.158670 deg,
      new cmd heading: 233.166676 deg.

2020-12-13T20:25:08.468Z,1607891108.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:09.059Z,1607891109.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:09.485Z,1607891109.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:10.314Z,1607891110.314 [Micromodem](INFO): Nmea in: $SNTTA,0.110702,,,,202510.25*46

2020-12-13T20:25:10.479Z,1607891110.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 231.418256 deg, deltaT: 4.676490 s, approachRate: -0.795469 m/s, LOS rate: 0.265426 deg/s, posRepo size: 4
2020-12-13T20:25:10.481Z,1607891110.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 231.418256 deg,
      approachRate: -0.795469 m/s,
      LOS rate: 0.265426 deg/s,
      cmd update: 0.796279 deg/s,
      cmd heading: 233.076772 deg,
      new cmd heading: 233.067119 deg.

2020-12-13T20:25:12.739Z,1607891112.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:13.515Z,1607891113.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:13.928Z,1607891113.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:14.779Z,1607891114.779 [Micromodem](INFO): Nmea in: $SNTTA,0.108508,,,,202514.71*42

2020-12-13T20:25:14.997Z,1607891114.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 231.688705 deg, deltaT: 4.442950 s, approachRate: -0.742754 m/s, LOS rate: 0.060871 deg/s, posRepo size: 4
2020-12-13T20:25:14.999Z,1607891114.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.599991 m,
      bearing: 231.688705 deg,
      approachRate: -0.742754 m/s,
      LOS rate: 0.060871 deg/s,
      cmd update: 0.182614 deg/s,
      cmd heading: 236.614777 deg,
      new cmd heading: 237.113016 deg.

2020-12-13T20:25:16.992Z,1607891116.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:17.659Z,1607891117.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:18.067Z,1607891118.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:18.898Z,1607891118.898 [Micromodem](INFO): Nmea in: $SNTTA,0.106478,,,,202518.85*4D

2020-12-13T20:25:18.940Z,1607891118.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 231.325694 deg, deltaT: 4.146449 s, approachRate: -0.737980 m/s, LOS rate: -0.087547 deg/s, posRepo size: 4
2020-12-13T20:25:18.944Z,1607891118.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.539993 m,
      bearing: 231.325694 deg,
      approachRate: -0.737980 m/s,
      LOS rate: -0.087547 deg/s,
      cmd update: -0.262642 deg/s,
      cmd heading: 237.371182 deg,
      new cmd heading: 237.449162 deg.

2020-12-13T20:25:21.465Z,1607891121.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:22.099Z,1607891122.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:22.517Z,1607891122.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:23.351Z,1607891123.351 [Micromodem](INFO): Nmea in: $SNTTA,0.104276,,0.107081,,202523.29*58

2020-12-13T20:25:23.566Z,1607891123.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.240005 m, bearing: 231.104669 deg, deltaT: 4.440882 s, approachRate: -0.743093 m/s, LOS rate: -0.049771 deg/s, posRepo size: 4
2020-12-13T20:25:23.568Z,1607891123.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.240005 m,
      bearing: 231.104669 deg,
      approachRate: -0.743093 m/s,
      LOS rate: -0.049771 deg/s,
      cmd update: -0.149312 deg/s,
      cmd heading: 236.203820 deg,
      new cmd heading: 236.044106 deg.

2020-12-13T20:25:25.767Z,1607891125.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:26.569Z,1607891126.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:26.957Z,1607891126.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:27.810Z,1607891127.810 [Micromodem](INFO): Nmea in: $SNTTA,0.101937,,,,202527.76*4C

2020-12-13T20:25:27.998Z,1607891127.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 230.307968 deg, deltaT: 4.474274 s, approachRate: -0.643681 m/s, LOS rate: -0.178063 deg/s, posRepo size: 4
2020-12-13T20:25:28.000Z,1607891128.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.360001 m,
      bearing: 230.307968 deg,
      approachRate: -0.643681 m/s,
      LOS rate: -0.178063 deg/s,
      cmd update: -0.534188 deg/s,
      cmd heading: 235.536743 deg,
      new cmd heading: 235.451174 deg.

2020-12-13T20:25:29.982Z,1607891129.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:30.623Z,1607891130.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:30.989Z,1607891130.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:31.846Z,1607891131.846 [Micromodem](INFO): Nmea in: $SNTTA,0.100064,,,,202531.81*4D

2020-12-13T20:25:31.896Z,1607891131.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 230.488613 deg, deltaT: 4.025949 s, approachRate: 0.000000 m/s, LOS rate: 0.044870 deg/s, posRepo size: 4
2020-12-13T20:25:31.898Z,1607891131.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.360001 m,
      bearing: 230.488613 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.044870 deg/s,
      cmd update: 0.134610 deg/s,
      cmd heading: 233.394534 deg,
      new cmd heading: 233.148463 deg.

2020-12-13T20:25:34.410Z,1607891134.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:35.039Z,1607891135.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:35.450Z,1607891135.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:36.278Z,1607891136.278 [Micromodem](INFO): Nmea in: $SNTTA,0.097686,,,,202536.23*47

2020-12-13T20:25:36.470Z,1607891136.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 231.551664 deg, deltaT: 4.491686 s, approachRate: -1.562885 m/s, LOS rate: 0.236671 deg/s, posRepo size: 4
2020-12-13T20:25:36.472Z,1607891136.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.340012 m,
      bearing: 231.551664 deg,
      approachRate: -1.562885 m/s,
      LOS rate: 0.236671 deg/s,
      cmd update: 0.710012 deg/s,
      cmd heading: 234.002183 deg,
      new cmd heading: 234.072157 deg.

2020-12-13T20:25:38.731Z,1607891138.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:39.519Z,1607891139.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:39.928Z,1607891139.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:40.766Z,1607891140.766 [Micromodem](INFO): Nmea in: $SNTTA,0.095257,,,,202540.71*4B

2020-12-13T20:25:40.980Z,1607891140.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.740005 m, bearing: 230.918314 deg, deltaT: 4.449721 s, approachRate: -0.809041 m/s, LOS rate: -0.142335 deg/s, posRepo size: 4
2020-12-13T20:25:40.986Z,1607891140.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.740005 m,
      bearing: 230.918314 deg,
      approachRate: -0.809041 m/s,
      LOS rate: -0.142335 deg/s,
      cmd update: -0.427004 deg/s,
      cmd heading: 237.158979 deg,
      new cmd heading: 237.573922 deg.

2020-12-13T20:25:42.994Z,1607891142.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:43.591Z,1607891143.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:44.003Z,1607891144.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:44.846Z,1607891144.846 [Micromodem](INFO): Nmea in: $SNTTA,0.093256,,,,202544.78*41

2020-12-13T20:25:44.878Z,1607891144.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 230.125001 deg, deltaT: 4.058899 s, approachRate: -0.739117 m/s, LOS rate: -0.195450 deg/s, posRepo size: 4
2020-12-13T20:25:44.880Z,1607891144.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.740005 m,
      bearing: 230.125001 deg,
      approachRate: -0.739117 m/s,
      LOS rate: -0.195450 deg/s,
      cmd update: -0.586351 deg/s,
      cmd heading: 235.429023 deg,
      new cmd heading: 235.245188 deg.

2020-12-13T20:25:47.391Z,1607891147.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:48.040Z,1607891148.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:48.439Z,1607891148.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:49.276Z,1607891149.276 [Micromodem](INFO): Nmea in: $SNTTA,0.091350,,0.131249,0.102493,202549.23*46

2020-12-13T20:25:49.466Z,1607891149.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 231.270451 deg, deltaT: 4.490127 s, approachRate: -0.641408 m/s, LOS rate: 0.255104 deg/s, posRepo size: 4
2020-12-13T20:25:49.468Z,1607891149.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.860001 m,
      bearing: 231.270451 deg,
      approachRate: -0.641408 m/s,
      LOS rate: 0.255104 deg/s,
      cmd update: 0.765312 deg/s,
      cmd heading: 232.792295 deg,
      new cmd heading: 232.486588 deg.

2020-12-13T20:25:51.698Z,1607891151.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:52.491Z,1607891152.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:52.881Z,1607891152.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:53.710Z,1607891153.710 [Micromodem](INFO): Nmea in: $SNTTA,0.089149,,,,202553.68*40

2020-12-13T20:25:53.920Z,1607891153.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 230.440365 deg, deltaT: 4.385835 s, approachRate: -0.752420 m/s, LOS rate: -0.189265 deg/s, posRepo size: 4
2020-12-13T20:25:53.922Z,1607891153.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.560013 m,
      bearing: 230.440365 deg,
      approachRate: -0.752420 m/s,
      LOS rate: -0.189265 deg/s,
      cmd update: -0.567796 deg/s,
      cmd heading: 236.152382 deg,
      new cmd heading: 236.600458 deg.

2020-12-13T20:25:54.939Z,1607891154.939 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:25:55.466Z,1607891155.466 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:25:55.466Z,1607891155.466 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:25:55.467Z,1607891155.467 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:25:55.467Z,1607891155.467 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:25:55.738Z,1607891155.738 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:25:55.950Z,1607891155.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:25:56.147Z,1607891156.147 [Micromodem](INFO): Nmea in: $CADRQ,202556,1,9,0,64,1*48

2020-12-13T20:25:56.157Z,1607891156.157 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:25:56.535Z,1607891156.535 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:25:56.536Z,1607891156.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:25:56.931Z,1607891156.931 [Micromodem](INFO): Nmea in: $CADRQ,202557,1,9,0,64,2*4A

2020-12-13T20:25:56.931Z,1607891156.931 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,202557,1,9,0,64,2*4A

2020-12-13T20:25:57.358Z,1607891157.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:25:57.783Z,1607891157.783 [Micromodem](INFO): Nmea in: $SNTTA,0.087123,,,,202557.73*4C

2020-12-13T20:25:57.829Z,1607891157.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.500000 m, bearing: 230.787038 deg, deltaT: 4.082727 s, approachRate: -0.749502 m/s, LOS rate: 0.084912 deg/s, posRepo size: 4
2020-12-13T20:25:57.831Z,1607891157.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 230.787038 deg,
      approachRate: -0.749502 m/s,
      LOS rate: 0.084912 deg/s,
      cmd update: 0.254736 deg/s,
      cmd heading: 233.836534 deg,
      new cmd heading: 233.600583 deg.

2020-12-13T20:26:00.354Z,1607891160.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:00.975Z,1607891160.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:01.377Z,1607891161.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:02.242Z,1607891162.242 [Micromodem](INFO): Nmea in: $SNTTA,0.085128,,,,202602.17*44

2020-12-13T20:26:02.401Z,1607891162.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.560005 m, bearing: 230.673438 deg, deltaT: 4.432099 s, approachRate: -0.663341 m/s, LOS rate: -0.025631 deg/s, posRepo size: 4
2020-12-13T20:26:02.403Z,1607891162.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.560005 m,
      bearing: 230.673438 deg,
      approachRate: -0.663341 m/s,
      LOS rate: -0.025631 deg/s,
      cmd update: -0.076893 deg/s,
      cmd heading: 234.966623 deg,
      new cmd heading: 235.107064 deg.

2020-12-13T20:26:04.623Z,1607891164.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:05.419Z,1607891165.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:05.847Z,1607891165.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:06.666Z,1607891166.666 [Micromodem](INFO): Nmea in: $SNTTA,0.083203,,,,202606.61*4D

2020-12-13T20:26:06.865Z,1607891166.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.620003 m, bearing: 231.941476 deg, deltaT: 4.433043 s, approachRate: -0.663202 m/s, LOS rate: 0.286042 deg/s, posRepo size: 4
2020-12-13T20:26:06.889Z,1607891166.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.620003 m,
      bearing: 231.941476 deg,
      approachRate: -0.663202 m/s,
      LOS rate: 0.286042 deg/s,
      cmd update: 0.858127 deg/s,
      cmd heading: 234.625747 deg,
      new cmd heading: 234.580996 deg.

2020-12-13T20:26:08.913Z,1607891168.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:09.511Z,1607891169.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:09.926Z,1607891169.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:10.766Z,1607891170.766 [Micromodem](INFO): Nmea in: $SNTTA,0.080919,,,,202610.70*49

2020-12-13T20:26:10.829Z,1607891170.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 231.461533 deg, deltaT: 4.083046 s, approachRate: -0.837610 m/s, LOS rate: -0.117546 deg/s, posRepo size: 4
2020-12-13T20:26:10.831Z,1607891170.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.200005 m,
      bearing: 231.461533 deg,
      approachRate: -0.837610 m/s,
      LOS rate: -0.117546 deg/s,
      cmd update: -0.352637 deg/s,
      cmd heading: 238.129481 deg,
      new cmd heading: 238.504549 deg.

2020-12-13T20:26:13.370Z,1607891173.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:13.971Z,1607891173.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:14.377Z,1607891174.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:15.218Z,1607891175.218 [Micromodem](INFO): Nmea in: $SNTTA,0.078901,,,,202615.16*42

2020-12-13T20:26:15.421Z,1607891175.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 231.419704 deg, deltaT: 4.474242 s, approachRate: -0.670506 m/s, LOS rate: -0.009349 deg/s, posRepo size: 4
2020-12-13T20:26:15.423Z,1607891175.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.199997 m,
      bearing: 231.419704 deg,
      approachRate: -0.670506 m/s,
      LOS rate: -0.009349 deg/s,
      cmd update: -0.028046 deg/s,
      cmd heading: 236.553106 deg,
      new cmd heading: 236.352548 deg.

2020-12-13T20:26:17.646Z,1607891177.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:18.449Z,1607891178.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:18.865Z,1607891178.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:19.690Z,1607891179.690 [Micromodem](INFO): Nmea in: $SNTTA,0.076591,,,,202619.64*40

2020-12-13T20:26:19.914Z,1607891179.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.720001 m, bearing: 230.522163 deg, deltaT: 4.460781 s, approachRate: -0.780132 m/s, LOS rate: -0.201207 deg/s, posRepo size: 4
2020-12-13T20:26:19.916Z,1607891179.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.720001 m,
      bearing: 230.522163 deg,
      approachRate: -0.780132 m/s,
      LOS rate: -0.201207 deg/s,
      cmd update: -0.603622 deg/s,
      cmd heading: 236.427906 deg,
      new cmd heading: 236.410691 deg.

2020-12-13T20:26:21.930Z,1607891181.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:22.519Z,1607891182.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:22.966Z,1607891182.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:23.764Z,1607891183.764 [Micromodem](INFO): Nmea in: $SNTTA,0.074706,,,,202623.71*43

2020-12-13T20:26:23.787Z,1607891183.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 230.823866 deg, deltaT: 4.064135 s, approachRate: -0.708637 m/s, LOS rate: 0.074236 deg/s, posRepo size: 4
2020-12-13T20:26:23.794Z,1607891183.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.840004 m,
      bearing: 230.823866 deg,
      approachRate: -0.708637 m/s,
      LOS rate: 0.074236 deg/s,
      cmd update: 0.222707 deg/s,
      cmd heading: 233.974291 deg,
      new cmd heading: 233.722827 deg.

2020-12-13T20:26:26.355Z,1607891186.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:26.552Z,1607891186.552 [Micromodem](INFO): Nmea in: $CAERR,202627,DATA_TIMEOUT,2*4E

2020-12-13T20:26:26.963Z,1607891186.963 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:26:26.964Z,1607891186.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:28.195Z,1607891188.195 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:26:28.195Z,1607891188.195 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T20:26:28.576Z,1607891188.576 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202627.392371,3,0,200,4000,14500,1,1,9,1,3,1,3,64*74

2020-12-13T20:26:28.576Z,1607891188.576 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202627.392371,3,0,200,4000,14500,1,1,9,1,3,1,3,64*74

2020-12-13T20:26:29.024Z,1607891189.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:31.855Z,1607891191.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:34.820Z,1607891194.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:37.500Z,1607891197.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:38.267Z,1607891198.267 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:38.682Z,1607891198.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:39.522Z,1607891199.522 [Micromodem](INFO): Nmea in: $SNTTA,0.067214,,0.090903,,202639.46*55

2020-12-13T20:26:39.547Z,1607891199.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.619995 m, bearing: 232.147229 deg, deltaT: 15.919955 s, approachRate: -0.704776 m/s, LOS rate: 0.083126 deg/s, posRepo size: 4
2020-12-13T20:26:39.550Z,1607891199.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.619995 m,
      bearing: 232.147229 deg,
      approachRate: -0.704776 m/s,
      LOS rate: 0.083126 deg/s,
      cmd update: 0.249378 deg/s,
      cmd heading: 237.519766 deg,
      new cmd heading: 237.578208 deg.

2020-12-13T20:26:41.967Z,1607891201.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:42.707Z,1607891202.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:43.137Z,1607891203.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:43.955Z,1607891203.955 [Micromodem](INFO): Nmea in: $SNTTA,0.064862,,0.077894,,202643.90*5D

2020-12-13T20:26:43.979Z,1607891203.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 231.561062 deg, deltaT: 4.264460 s, approachRate: -0.830113 m/s, LOS rate: -0.137454 deg/s, posRepo size: 4
2020-12-13T20:26:43.981Z,1607891203.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.080009 m,
      bearing: 231.561062 deg,
      approachRate: -0.830113 m/s,
      LOS rate: -0.137454 deg/s,
      cmd update: -0.412362 deg/s,
      cmd heading: 238.583227 deg,
      new cmd heading: 238.690423 deg.

2020-12-13T20:26:46.055Z,1607891206.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:46.843Z,1607891206.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:47.229Z,1607891207.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:48.050Z,1607891208.050 [Micromodem](INFO): Nmea in: $SNTTA,0.062818,,,,202648.03*4C

2020-12-13T20:26:48.087Z,1607891208.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 231.202231 deg, deltaT: 4.253246 s, approachRate: -0.719454 m/s, LOS rate: -0.084366 deg/s, posRepo size: 4
2020-12-13T20:26:48.089Z,1607891208.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 231.202231 deg,
      approachRate: -0.719454 m/s,
      LOS rate: -0.084366 deg/s,
      cmd update: -0.253099 deg/s,
      cmd heading: 236.833779 deg,
      new cmd heading: 236.711998 deg.

2020-12-13T20:26:50.510Z,1607891210.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:51.263Z,1607891211.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:51.681Z,1607891211.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:52.515Z,1607891212.515 [Micromodem](INFO): Nmea in: $SNTTA,0.060644,,,,202652.46*43

2020-12-13T20:26:52.562Z,1607891212.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.720001 m, bearing: 231.432081 deg, deltaT: 4.501126 s, approachRate: -0.733149 m/s, LOS rate: 0.051065 deg/s, posRepo size: 4
2020-12-13T20:26:52.570Z,1607891212.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.720001 m,
      bearing: 231.432081 deg,
      approachRate: -0.733149 m/s,
      LOS rate: 0.051065 deg/s,
      cmd update: 0.153195 deg/s,
      cmd heading: 235.691822 deg,
      new cmd heading: 235.631746 deg.

2020-12-13T20:26:54.943Z,1607891214.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:26:55.746Z,1607891215.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:26:56.143Z,1607891216.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:26:56.936Z,1607891216.936 [Micromodem](INFO): Nmea in: $SNTTA,0.058543,,0.098016,,202656.94*5F

2020-12-13T20:26:56.991Z,1607891216.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 231.903992 deg, deltaT: 4.246461 s, approachRate: -0.720601 m/s, LOS rate: 0.111131 deg/s, posRepo size: 4
2020-12-13T20:26:56.993Z,1607891216.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 231.903992 deg,
      approachRate: -0.720601 m/s,
      LOS rate: 0.111131 deg/s,
      cmd update: 0.333392 deg/s,
      cmd heading: 236.342300 deg,
      new cmd heading: 236.409861 deg.

2020-12-13T20:26:59.450Z,1607891219.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:00.223Z,1607891220.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:00.613Z,1607891220.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:00.625Z,1607891220.625 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:27:01.205Z,1607891221.205 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:27:01.206Z,1607891221.206 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:27:01.206Z,1607891221.206 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:27:01.207Z,1607891221.207 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:27:01.502Z,1607891221.502 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:27:01.539Z,1607891221.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.540001 m, bearing: 231.533359 deg, deltaT: 4.741525 s, approachRate: -0.658015 m/s, LOS rate: -0.078168 deg/s, posRepo size: 4
2020-12-13T20:27:01.541Z,1607891221.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.540001 m,
      bearing: 231.533359 deg,
      approachRate: -0.658015 m/s,
      LOS rate: -0.078168 deg/s,
      cmd update: -0.234503 deg/s,
      cmd heading: 237.921851 deg,
      new cmd heading: 238.005773 deg.

2020-12-13T20:27:01.898Z,1607891221.898 [Micromodem](INFO): Nmea in: $CADRQ,202702,1,9,0,64,1*4B

2020-12-13T20:27:01.898Z,1607891221.898 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:27:02.298Z,1607891222.298 [Micromodem](INFO): Nmea in: $SNTTA,0.056458,,,,202701.41*49

2020-12-13T20:27:02.298Z,1607891222.298 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.056458,,,,202701.41*49

2020-12-13T20:27:03.521Z,1607891223.521 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:27:03.899Z,1607891223.899 [Micromodem](INFO): Nmea in: $CADRQ,202703,1,9,0,64,2*49

2020-12-13T20:27:03.899Z,1607891223.899 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:27:04.039Z,1607891224.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:04.323Z,1607891224.323 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:27:04.703Z,1607891224.703 [Micromodem](INFO): Nmea in: $CADRQ,202705,1,9,0,64,3*4E

2020-12-13T20:27:04.703Z,1607891224.703 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:27:05.168Z,1607891225.168 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:27:05.176Z,1607891225.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:05.560Z,1607891225.560 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:27:05.560Z,1607891225.560 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:27:06.982Z,1607891226.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:09.223Z,1607891229.223 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:27:09.223Z,1607891229.223 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:27:09.603Z,1607891229.603 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202705.935842,3,0,200,4000,14500,1,1,9,1,3,3,3,186*46

2020-12-13T20:27:09.604Z,1607891229.604 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202705.935842,3,0,200,4000,14500,1,1,9,1,3,3,3,186*46

2020-12-13T20:27:09.648Z,1607891229.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:12.495Z,1607891232.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:15.290Z,1607891235.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:16.479Z,1607891236.479 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:16.877Z,1607891236.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:17.718Z,1607891237.718 [Micromodem](INFO): Nmea in: $SNTTA,0.048739,,,,202717.67*41

2020-12-13T20:27:17.916Z,1607891237.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.900002 m, bearing: 231.744029 deg, deltaT: 16.042411 s, approachRate: -0.725577 m/s, LOS rate: 0.013132 deg/s, posRepo size: 4
2020-12-13T20:27:17.918Z,1607891237.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.900002 m,
      bearing: 231.744029 deg,
      approachRate: -0.725577 m/s,
      LOS rate: 0.013132 deg/s,
      cmd update: 0.039396 deg/s,
      cmd heading: 234.158958 deg,
      new cmd heading: 234.022415 deg.

2020-12-13T20:27:19.911Z,1607891239.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:20.527Z,1607891240.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:20.929Z,1607891240.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:21.770Z,1607891241.770 [Micromodem](INFO): Nmea in: $SNTTA,0.046859,,,,202721.72*47

2020-12-13T20:27:21.832Z,1607891241.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.079994 m, bearing: 231.820281 deg, deltaT: 4.035576 s, approachRate: -0.698787 m/s, LOS rate: 0.018895 deg/s, posRepo size: 4
2020-12-13T20:27:21.834Z,1607891241.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.079994 m,
      bearing: 231.820281 deg,
      approachRate: -0.698787 m/s,
      LOS rate: 0.018895 deg/s,
      cmd update: 0.056685 deg/s,
      cmd heading: 234.317953 deg,
      new cmd heading: 234.336163 deg.

2020-12-13T20:27:24.362Z,1607891244.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:24.959Z,1607891244.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:25.369Z,1607891245.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:26.230Z,1607891246.230 [Micromodem](INFO): Nmea in: $SNTTA,0.044751,,,,202726.15*44

2020-12-13T20:27:26.442Z,1607891246.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.900002 m, bearing: 230.647374 deg, deltaT: 4.466864 s, approachRate: -0.711907 m/s, LOS rate: -0.262580 deg/s, posRepo size: 4
2020-12-13T20:27:26.446Z,1607891246.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 230.647374 deg,
      approachRate: -0.711907 m/s,
      LOS rate: -0.262580 deg/s,
      cmd update: -0.787739 deg/s,
      cmd heading: 234.571152 deg,
      new cmd heading: 234.605438 deg.

2020-12-13T20:27:28.683Z,1607891248.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:29.464Z,1607891249.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:29.878Z,1607891249.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:30.726Z,1607891250.726 [Micromodem](INFO): Nmea in: $SNTTA,0.042710,,,,202730.66*44

2020-12-13T20:27:30.798Z,1607891250.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.899998 m, bearing: 233.356172 deg, deltaT: 4.632246 s, approachRate: -0.647635 m/s, LOS rate: 0.584770 deg/s, posRepo size: 4
2020-12-13T20:27:30.814Z,1607891250.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.899998 m,
      bearing: 233.356172 deg,
      approachRate: -0.647635 m/s,
      LOS rate: 0.584770 deg/s,
      cmd update: 1.754310 deg/s,
      cmd heading: 230.922152 deg,
      new cmd heading: 230.672611 deg.

2020-12-13T20:27:33.153Z,1607891253.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:33.908Z,1607891253.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:34.327Z,1607891254.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:35.170Z,1607891255.170 [Micromodem](INFO): Nmea in: $SNTTA,0.040642,,,,202735.10*44

2020-12-13T20:27:35.236Z,1607891255.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.840000 m, bearing: 232.988189 deg, deltaT: 4.285398 s, approachRate: -0.714052 m/s, LOS rate: -0.085869 deg/s, posRepo size: 4
2020-12-13T20:27:35.242Z,1607891255.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 232.988189 deg,
      approachRate: -0.714052 m/s,
      LOS rate: -0.085869 deg/s,
      cmd update: -0.257607 deg/s,
      cmd heading: 238.433195 deg,
      new cmd heading: 239.285495 deg.

2020-12-13T20:27:37.555Z,1607891257.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:38.363Z,1607891258.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:38.757Z,1607891258.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:39.603Z,1607891259.603 [Micromodem](INFO): Nmea in: $SNTTA,0.038364,,,,202739.56*44

2020-12-13T20:27:39.627Z,1607891259.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 233.354560 deg, deltaT: 4.496386 s, approachRate: -0.773955 m/s, LOS rate: 0.081481 deg/s, posRepo size: 4
2020-12-13T20:27:39.629Z,1607891259.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 233.354560 deg,
      approachRate: -0.773955 m/s,
      LOS rate: 0.081481 deg/s,
      cmd update: 0.244444 deg/s,
      cmd heading: 237.279597 deg,
      new cmd heading: 237.176810 deg.

2020-12-13T20:27:42.027Z,1607891262.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:42.814Z,1607891262.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:43.229Z,1607891263.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:44.034Z,1607891264.034 [Micromodem](INFO): Nmea in: $SNTTA,0.035996,,,,202744.01*46

2020-12-13T20:27:44.070Z,1607891264.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 233.118646 deg, deltaT: 4.401717 s, approachRate: -0.790600 m/s, LOS rate: -0.053596 deg/s, posRepo size: 4
2020-12-13T20:27:44.072Z,1607891264.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.880001 m,
      bearing: 233.118646 deg,
      approachRate: -0.790600 m/s,
      LOS rate: -0.053596 deg/s,
      cmd update: -0.160788 deg/s,
      cmd heading: 238.360000 deg,
      new cmd heading: 238.463047 deg.

2020-12-13T20:27:44.473Z,1607891264.473 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:27:46.499Z,1607891266.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:47.239Z,1607891267.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:47.645Z,1607891267.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:48.490Z,1607891268.490 [Micromodem](INFO): Nmea in: $SNTTA,0.033878,,,,202748.43*4B

2020-12-13T20:27:48.514Z,1607891268.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 232.754870 deg, deltaT: 4.428943 s, approachRate: -0.731553 m/s, LOS rate: -0.082136 deg/s, posRepo size: 4
2020-12-13T20:27:48.516Z,1607891268.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 232.754870 deg,
      approachRate: -0.731553 m/s,
      LOS rate: -0.082136 deg/s,
      cmd update: -0.246408 deg/s,
      cmd heading: 237.647247 deg,
      new cmd heading: 237.577655 deg.

2020-12-13T20:27:48.896Z,1607891268.896 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:27:50.991Z,1607891270.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:51.707Z,1607891271.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:52.217Z,1607891272.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:53.010Z,1607891273.010 [Micromodem](INFO): Nmea in: $SNTTA,0.031831,,,,202752.90*41

2020-12-13T20:27:53.097Z,1607891273.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 233.208886 deg, deltaT: 4.542589 s, approachRate: -0.686831 m/s, LOS rate: 0.099947 deg/s, posRepo size: 4
2020-12-13T20:27:53.099Z,1607891273.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.520004 m,
      bearing: 233.208886 deg,
      approachRate: -0.686831 m/s,
      LOS rate: 0.099947 deg/s,
      cmd update: 0.299840 deg/s,
      cmd heading: 236.528876 deg,
      new cmd heading: 236.412313 deg.

2020-12-13T20:27:55.466Z,1607891275.466 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:27:55.480Z,1607891275.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:27:56.248Z,1607891276.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:27:56.630Z,1607891276.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:27:57.466Z,1607891277.466 [Micromodem](INFO): Nmea in: $SNTTA,0.029804,,,,202757.44*42

2020-12-13T20:27:57.532Z,1607891277.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 238.404338 deg, deltaT: 4.470354 s, approachRate: -0.603980 m/s, LOS rate: 1.162201 deg/s, posRepo size: 4
2020-12-13T20:27:57.539Z,1607891277.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.820000 m,
      bearing: 238.404338 deg,
      approachRate: -0.603980 m/s,
      LOS rate: 1.162201 deg/s,
      cmd update: 3.486604 deg/s,
      cmd heading: 237.870440 deg,
      new cmd heading: 238.001870 deg.

2020-12-13T20:27:59.910Z,1607891279.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:00.671Z,1607891280.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:01.087Z,1607891281.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:01.906Z,1607891281.906 [Micromodem](INFO): Nmea in: $SNTTA,0.027837,,,,202801.86*4E

2020-12-13T20:28:01.967Z,1607891281.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 232.364101 deg, deltaT: 4.464160 s, approachRate: -0.725781 m/s, LOS rate: -1.353051 deg/s, posRepo size: 4
2020-12-13T20:28:01.969Z,1607891281.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.579998 m,
      bearing: 232.364101 deg,
      approachRate: -0.725781 m/s,
      LOS rate: -1.353051 deg/s,
      cmd update: -4.059154 deg/s,
      cmd heading: 253.395109 deg,
      new cmd heading: 254.860090 deg.

2020-12-13T20:28:04.483Z,1607891284.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:05.115Z,1607891285.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:05.530Z,1607891285.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:06.367Z,1607891286.367 [Micromodem](INFO): Nmea in: $SNTTA,0.025902,,,,202806.31*40

2020-12-13T20:28:06.368Z,1607891286.368 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:28:06.391Z,1607891286.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 233.594218 deg, deltaT: 4.412196 s, approachRate: -0.666335 m/s, LOS rate: 0.278799 deg/s, posRepo size: 4
2020-12-13T20:28:06.392Z,1607891286.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.64 m.
2020-12-13T20:28:06.394Z,1607891286.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.639999 m,
      bearing: 233.594218 deg,
      approachRate: -0.666335 m/s,
      LOS rate: 0.278799 deg/s,
      cmd update: 0.836398 deg/s,
      cmd heading: 235.437649 deg,
      new cmd heading: 233.730559 deg.

2020-12-13T20:28:06.954Z,1607891286.954 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:28:06.954Z,1607891286.954 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:28:06.955Z,1607891286.955 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:28:06.955Z,1607891286.955 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:28:06.963Z,1607891286.963 [PowerOnly](INFO): Powering up loadControl
2020-12-13T20:28:07.641Z,1607891287.641 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:28:08.050Z,1607891288.050 [Micromodem](INFO): Nmea in: $CADRQ,202808,1,9,0,64,1*4E

2020-12-13T20:28:08.050Z,1607891288.050 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:28:08.443Z,1607891288.443 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:28:08.634Z,1607891288.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:08.886Z,1607891288.886 [Micromodem](INFO): Nmea in: $CADRQ,202809,1,9,0,64,2*4C

2020-12-13T20:28:08.889Z,1607891288.889 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:28:09.255Z,1607891289.255 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:28:09.256Z,1607891289.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:09.635Z,1607891289.635 [Micromodem](INFO): Nmea in: $CADRQ,202810,1,9,0,64,3*45

2020-12-13T20:28:09.635Z,1607891289.635 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,202810,1,9,0,64,3*45

2020-12-13T20:28:10.057Z,1607891290.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:10.466Z,1607891290.466 [Micromodem](INFO): Nmea in: $SNTTA,0.024253,,,,202810.45*4A

2020-12-13T20:28:10.634Z,1607891290.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 232.821095 deg, deltaT: 4.181083 s, approachRate: -0.688816 m/s, LOS rate: -0.184910 deg/s, posRepo size: 4
2020-12-13T20:28:10.635Z,1607891290.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2020-12-13T20:28:10.637Z,1607891290.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 232.821095 deg,
      approachRate: -0.688816 m/s,
      LOS rate: -0.184910 deg/s,
      cmd update: -0.554729 deg/s,
      cmd heading: 238.919897 deg,
      new cmd heading: 239.338495 deg.

2020-12-13T20:28:13.112Z,1607891293.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:13.368Z,1607891293.368 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:28:13.747Z,1607891293.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:14.178Z,1607891294.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:14.982Z,1607891294.982 [Micromodem](INFO): Nmea in: $SNTTA,0.022280,,,,202814.94*4A

2020-12-13T20:28:15.020Z,1607891295.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.239998 m, bearing: 233.068321 deg, deltaT: 4.560758 s, approachRate: -0.552541 m/s, LOS rate: 0.054207 deg/s, posRepo size: 4
2020-12-13T20:28:15.021Z,1607891295.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.24 m.
2020-12-13T20:28:15.023Z,1607891295.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.239998 m,
      bearing: 233.068321 deg,
      approachRate: -0.552541 m/s,
      LOS rate: 0.054207 deg/s,
      cmd update: 0.162621 deg/s,
      cmd heading: 236.380199 deg,
      new cmd heading: 236.209244 deg.

2020-12-13T20:28:17.433Z,1607891297.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:18.211Z,1607891298.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:18.620Z,1607891298.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:19.435Z,1607891299.435 [Micromodem](INFO): Nmea in: $SNTTA,0.020639,,,,202819.40*4A

2020-12-13T20:28:19.496Z,1607891299.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 235.389083 deg, deltaT: 4.346652 s, approachRate: -0.565953 m/s, LOS rate: 0.533919 deg/s, posRepo size: 4
2020-12-13T20:28:19.501Z,1607891299.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.78 m.
2020-12-13T20:28:19.503Z,1607891299.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.779999 m,
      bearing: 235.389083 deg,
      approachRate: -0.565953 m/s,
      LOS rate: 0.533919 deg/s,
      cmd update: 1.601758 deg/s,
      cmd heading: 237.085497 deg,
      new cmd heading: 237.158188 deg.

2020-12-13T20:28:21.933Z,1607891301.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:22.675Z,1607891302.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:23.081Z,1607891303.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:23.942Z,1607891303.942 [Micromodem](INFO): Nmea in: $SNTTA,0.018991,,,,202823.87*4E

2020-12-13T20:28:23.979Z,1607891303.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.259996 m, bearing: 235.691797 deg, deltaT: 4.464068 s, approachRate: -0.564508 m/s, LOS rate: 0.067811 deg/s, posRepo size: 4
2020-12-13T20:28:23.979Z,1607891303.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.26 m.
2020-12-13T20:28:23.979Z,1607891303.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.26 m.
2020-12-13T20:28:23.980Z,1607891303.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T20:28:23.982Z,1607891303.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.259996 m,
      bearing: 235.691797 deg,
      approachRate: -0.564508 m/s,
      LOS rate: 0.067811 deg/s,
      cmd update: 0.203434 deg/s,
      cmd heading: 244.246775 deg,
      new cmd heading: 244.981276 deg.

2020-12-13T20:28:25.536Z,1607891305.536 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:28:26.355Z,1607891306.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:27.143Z,1607891307.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:27.533Z,1607891307.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:28.362Z,1607891308.362 [Micromodem](INFO): Nmea in: $SNTTA,0.017347,,,,202828.34*43

2020-12-13T20:28:28.405Z,1607891308.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 241.580922 deg, deltaT: 4.436686 s, approachRate: -0.554468 m/s, LOS rate: 1.327370 deg/s, posRepo size: 4
2020-12-13T20:28:28.407Z,1607891308.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 241.580922 deg,
      approachRate: -0.554468 m/s,
      LOS rate: 1.327370 deg/s,
      cmd update: 3.982111 deg/s,
      cmd heading: 245.149940 deg,
      new cmd heading: 245.239705 deg.

2020-12-13T20:28:30.861Z,1607891310.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:31.594Z,1607891311.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:31.973Z,1607891311.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:32.818Z,1607891312.818 [Micromodem](INFO): Nmea in: $SNTTA,0.015873,,,0.066760,202832.79*50

2020-12-13T20:28:32.854Z,1607891312.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.639997 m, bearing: 239.806330 deg, deltaT: 4.472300 s, approachRate: -0.482973 m/s, LOS rate: -0.396796 deg/s, posRepo size: 4
2020-12-13T20:28:32.856Z,1607891312.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 239.806330 deg,
      approachRate: -0.482973 m/s,
      LOS rate: -0.396796 deg/s,
      cmd update: -1.190389 deg/s,
      cmd heading: 262.870288 deg,
      new cmd heading: 264.640583 deg.

2020-12-13T20:28:35.286Z,1607891315.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:36.007Z,1607891316.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:36.518Z,1607891316.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:37.318Z,1607891317.318 [Micromodem](INFO): Nmea in: $SNTTA,0.014282,,,,202837.20*43

2020-12-13T20:28:37.374Z,1607891317.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.179998 m, bearing: 238.344724 deg, deltaT: 4.520171 s, approachRate: -0.544227 m/s, LOS rate: -0.323352 deg/s, posRepo size: 4
2020-12-13T20:28:37.376Z,1607891317.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.179998 m,
      bearing: 238.344724 deg,
      approachRate: -0.544227 m/s,
      LOS rate: -0.323352 deg/s,
      cmd update: -0.970056 deg/s,
      cmd heading: 257.467787 deg,
      new cmd heading: 256.960581 deg.

2020-12-13T20:28:39.350Z,1607891319.350 [Micromodem](INFO): Nmea in: $CAERR,202840,DATA_TIMEOUT,3*40

2020-12-13T20:28:39.731Z,1607891319.731 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:28:39.790Z,1607891319.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:40.539Z,1607891320.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:42.179Z,1607891322.179 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:28:42.180Z,1607891322.180 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2020-12-13T20:28:42.560Z,1607891322.560 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202840.183307,3,0,200,4000,14500,1,1,9,1,3,2,3,128*42

2020-12-13T20:28:42.560Z,1607891322.560 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202840.183307,3,0,200,4000,14500,1,1,9,1,3,2,3,128*42

2020-12-13T20:28:42.757Z,1607891322.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:45.449Z,1607891325.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:48.311Z,1607891328.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:51.129Z,1607891331.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:51.874Z,1607891331.874 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:52.285Z,1607891332.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:53.212Z,1607891333.212 [Micromodem](INFO): Nmea in: $SNTTA,0.009179,,,,202853.07*4F

2020-12-13T20:28:53.282Z,1607891333.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 230.989211 deg, deltaT: 15.756152 s, approachRate: -0.483621 m/s, LOS rate: -0.466834 deg/s, posRepo size: 4
2020-12-13T20:28:53.284Z,1607891333.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 230.989211 deg,
      approachRate: -0.483621 m/s,
      LOS rate: -0.466834 deg/s,
      cmd update: -1.400503 deg/s,
      cmd heading: 242.179504 deg,
      new cmd heading: 241.622748 deg.

2020-12-13T20:28:55.223Z,1607891335.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:28:55.923Z,1607891335.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:28:56.325Z,1607891336.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:28:57.165Z,1607891337.165 [Micromodem](INFO): Nmea in: $SNTTA,0.007963,,,,202857.12*42

2020-12-13T20:28:57.227Z,1607891337.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 229.070884 deg, deltaT: 4.120829 s, approachRate: -0.451365 m/s, LOS rate: -0.465520 deg/s, posRepo size: 4
2020-12-13T20:28:57.229Z,1607891337.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 229.070884 deg,
      approachRate: -0.451365 m/s,
      LOS rate: -0.465520 deg/s,
      cmd update: -1.396559 deg/s,
      cmd heading: 236.413936 deg,
      new cmd heading: 235.851113 deg.

2020-12-13T20:28:59.598Z,1607891339.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:00.363Z,1607891340.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:00.804Z,1607891340.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:01.613Z,1607891341.613 [Micromodem](INFO): Nmea in: $SNTTA,0.006469,,,,202901.56*46

2020-12-13T20:29:01.653Z,1607891341.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 227.118243 deg, deltaT: 4.407055 s, approachRate: -0.517352 m/s, LOS rate: -0.443072 deg/s, posRepo size: 4
2020-12-13T20:29:01.655Z,1607891341.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 227.118243 deg,
      approachRate: -0.517352 m/s,
      LOS rate: -0.443072 deg/s,
      cmd update: -1.329215 deg/s,
      cmd heading: 230.253721 deg,
      new cmd heading: 229.672057 deg.

2020-12-13T20:29:04.065Z,1607891344.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:04.847Z,1607891344.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:05.231Z,1607891345.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:06.048Z,1607891346.048 [Micromodem](INFO): Nmea in: $SNTTA,0.005099,,,,202906.04*4E

2020-12-13T20:29:06.091Z,1607891346.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 225.316848 deg, deltaT: 4.411909 s, approachRate: -0.462385 m/s, LOS rate: -0.408303 deg/s, posRepo size: 4
2020-12-13T20:29:06.093Z,1607891346.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 225.316848 deg,
      approachRate: -0.462385 m/s,
      LOS rate: -0.408303 deg/s,
      cmd update: -1.224908 deg/s,
      cmd heading: 224.389200 deg,
      new cmd heading: 223.800804 deg.

2020-12-13T20:29:08.634Z,1607891348.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:09.267Z,1607891349.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:09.673Z,1607891349.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:10.514Z,1607891350.514 [Micromodem](INFO): Nmea in: $SNTTA,0.004051,,,,202910.46*4A

2020-12-13T20:29:10.571Z,1607891350.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 224.679045 deg, deltaT: 4.466995 s, approachRate: -0.335796 m/s, LOS rate: -0.142781 deg/s, posRepo size: 4
2020-12-13T20:29:10.578Z,1607891350.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 224.679045 deg,
      approachRate: -0.335796 m/s,
      LOS rate: -0.142781 deg/s,
      cmd update: -0.428344 deg/s,
      cmd heading: 218.917502 deg,
      new cmd heading: 218.390416 deg.

2020-12-13T20:29:12.105Z,1607891352.105 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:29:12.646Z,1607891352.646 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:29:12.647Z,1607891352.647 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:29:12.648Z,1607891352.648 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:29:12.648Z,1607891352.648 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:29:12.745Z,1607891352.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:12.908Z,1607891352.908 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:29:13.318Z,1607891353.318 [Micromodem](INFO): Nmea in: $CADRQ,202913,1,9,0,64,1*45

2020-12-13T20:29:13.319Z,1607891353.319 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:29:13.711Z,1607891353.711 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:29:13.711Z,1607891353.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:14.115Z,1607891354.115 [Micromodem](INFO): Nmea in: $CADRQ,202914,1,9,0,64,2*41

2020-12-13T20:29:14.116Z,1607891354.116 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,202914,1,9,0,64,2*41

2020-12-13T20:29:14.527Z,1607891354.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:14.966Z,1607891354.966 [Micromodem](INFO): Nmea in: $SNTTA,0.003163,,0.048831,,202914.90*5A

2020-12-13T20:29:15.259Z,1607891355.259 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T20:29:15.259Z,1607891355.259 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T20:29:15.260Z,1607891355.260 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T20:29:15.260Z,1607891355.260 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T20:29:15.261Z,1607891355.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T20:29:15.261Z,1607891355.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2020-12-13T20:29:15.261Z,1607891355.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T20:29:15.261Z,1607891355.261 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T20:29:15.262Z,1607891355.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T20:29:15.264Z,1607891355.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 234.781332 deg, deltaT: 4.474108 s, approachRate: -0.281621 m/s, LOS rate: 2.257944 deg/s, posRepo size: 4
2020-12-13T20:29:15.266Z,1607891355.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 234.781332 deg,
      approachRate: -0.281621 m/s,
      LOS rate: 2.257944 deg/s,
      cmd update: 6.773833 deg/s,
      cmd heading: 217.001072 deg,
      new cmd heading: 216.712042 deg.

2020-12-13T20:29:15.467Z,1607891355.467 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T202915: (41.552319, -70.708603)
2020-12-13T20:29:15.467Z,1607891355.467 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T20:29:15.467Z,1607891355.467 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T20:29:15.468Z,1607891355.468 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T20:29:15.468Z,1607891355.468 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T20:29:15.468Z,1607891355.468 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T20:29:15.468Z,1607891355.468 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T20:29:15.468Z,1607891355.468 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T20:29:15.468Z,1607891355.468 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T20:29:15.881Z,1607891355.881 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T20:29:15.900Z,1607891355.900 [UniversalFixResidualReporter](INFO): Fix residual: 7.9 %DT, over the last 1047.1 m. Residual distance 82.8 m at bearing -61.8 degrees. Fix at (41.5584, -70.7027) with 835.9 m made good.
2020-12-13T20:29:17.495Z,1607891357.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:18.247Z,1607891358.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:18.653Z,1607891358.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:19.498Z,1607891359.498 [Micromodem](INFO): Nmea in: $SNTTA,0.003283,,0.006064,,202919.44*51

2020-12-13T20:29:19.540Z,1607891359.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 225.300306 deg, deltaT: 4.696164 s, approachRate: 0.063882 m/s, LOS rate: -2.018887 deg/s, posRepo size: 4
2020-12-13T20:29:19.546Z,1607891359.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 225.300306 deg,
      approachRate: 0.063882 m/s,
      LOS rate: -2.018887 deg/s,
      cmd update: -6.056662 deg/s,
      cmd heading: 248.811101 deg,
      new cmd heading: 250.536160 deg.

2020-12-13T20:29:19.916Z,1607891359.916 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T20:19:19.7Z
2020-12-13T20:29:19.916Z,1607891359.916 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T20:29:19.916Z,1607891359.916 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:29:19.916Z,1607891359.916 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T20:29:19.916Z,1607891359.916 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:29:19.917Z,1607891359.917 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T20:29:20.333Z,1607891360.333 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:29:20.333Z,1607891360.333 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T20:29:20.334Z,1607891360.334 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T20:29:20.334Z,1607891360.334 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:29:20.334Z,1607891360.334 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T20:29:21.285Z,1607891361.285 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:29:21.931Z,1607891361.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:22.711Z,1607891362.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:23.131Z,1607891363.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:23.950Z,1607891363.950 [Micromodem](INFO): Nmea in: $SNTTA,0.004185,,,0.047723,202923.90*52

2020-12-13T20:29:23.987Z,1607891363.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.119999 m, bearing: 242.489474 deg, deltaT: 4.242975 s, approachRate: 0.282821 m/s, LOS rate: 4.051207 deg/s, posRepo size: 4
2020-12-13T20:29:23.989Z,1607891363.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 242.489474 deg,
      approachRate: 0.282821 m/s,
      LOS rate: 4.051207 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 223.111848 deg,
      new cmd heading: 220.335499 deg.

2020-12-13T20:29:25.835Z,1607891365.835 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T20:29:26.051Z,1607891366.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:26.867Z,1607891366.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:27.241Z,1607891367.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:28.242Z,1607891368.242 [Micromodem](INFO): Nmea in: $SNTTA,0.005131,,,,202928.06*43

2020-12-13T20:29:28.277Z,1607891368.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 246.168514 deg, deltaT: 4.543991 s, approachRate: 0.713030 m/s, LOS rate: 0.809650 deg/s, posRepo size: 4
2020-12-13T20:29:28.279Z,1607891368.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 246.168514 deg,
      approachRate: 0.713030 m/s,
      LOS rate: 0.809650 deg/s,
      cmd update: 2.428949 deg/s,
      cmd heading: 277.508462 deg,
      new cmd heading: 280.095506 deg.

2020-12-13T20:29:30.648Z,1607891370.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:31.057Z,1607891371.057 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:29:31.457Z,1607891371.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:31.884Z,1607891371.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:32.682Z,1607891372.682 [Micromodem](INFO): Nmea in: $SNTTA,0.008528,,,,202932.65*4C

2020-12-13T20:29:32.707Z,1607891372.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 238.518457 deg, deltaT: 4.206573 s, approachRate: 0.442166 m/s, LOS rate: -1.818596 deg/s, posRepo size: 4
2020-12-13T20:29:32.729Z,1607891372.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 238.518457 deg,
      approachRate: 0.442166 m/s,
      LOS rate: -1.818596 deg/s,
      cmd update: -5.455789 deg/s,
      cmd heading: 287.752684 deg,
      new cmd heading: 288.792172 deg.

2020-12-13T20:29:35.146Z,1607891375.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:35.887Z,1607891375.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:36.289Z,1607891376.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:37.150Z,1607891377.150 [Micromodem](INFO): Nmea in: $SNTTA,0.008485,,,,202937.08*44

2020-12-13T20:29:37.186Z,1607891377.186 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:29:37.209Z,1607891377.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 277.876793 deg, deltaT: 4.451948 s, approachRate: 0.309976 m/s, LOS rate: 8.840700 deg/s, posRepo size: 4
2020-12-13T20:29:37.209Z,1607891377.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.60 m. Rolling out.
2020-12-13T20:29:37.210Z,1607891377.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T20:29:39.598Z,1607891379.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:40.347Z,1607891380.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:40.839Z,1607891380.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:41.187Z,1607891381.187 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:29:41.595Z,1607891381.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202941.54*53

2020-12-13T20:29:41.621Z,1607891381.621 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset. Current Limiter Activated.
2020-12-13T20:29:41.621Z,1607891381.621 [PowerOnly] Hardware Fault, FailCount= 1
2020-12-13T20:29:41.621Z,1607891381.621 [PowerOnly](ERROR): Hardware Fault
2020-12-13T20:29:41.772Z,1607891381.772 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2020-12-13T20:29:41.992Z,1607891381.992 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:29:42.460Z,1607891382.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:42.925Z,1607891382.925 [CBIT](INFO): Clearing failed state for component PowerOnly
2020-12-13T20:29:42.925Z,1607891382.925 [PowerOnly] No Fault, FailCount= 1
2020-12-13T20:29:43.607Z,1607891383.607 [Micromodem](INFO): Nmea in: $CAERR,202944,DATA_TIMEOUT,2*44

2020-12-13T20:29:44.006Z,1607891384.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:29:44.007Z,1607891384.007 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:29:44.421Z,1607891384.421 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:29:45.015Z,1607891385.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:45.632Z,1607891385.632 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:29:45.633Z,1607891385.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:46.041Z,1607891386.041 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,202944.550754,3,0,200,4000,14500,1,1,9,1,3,1,3,64*75

2020-12-13T20:29:46.041Z,1607891386.041 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,202944.550754,3,0,200,4000,14500,1,1,9,1,3,1,3,64*75

2020-12-13T20:29:46.437Z,1607891386.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:46.958Z,1607891386.958 [Micromodem](INFO): Nmea in: $SNTTA,0.011471,,,,202946.83*42

2020-12-13T20:29:47.123Z,1607891387.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 292.962441 deg, deltaT: 9.774070 s, approachRate: 0.448125 m/s, LOS rate: 1.543436 deg/s, posRepo size: 4
2020-12-13T20:29:49.336Z,1607891389.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:50.136Z,1607891390.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:50.529Z,1607891390.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:51.088Z,1607891391.088 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:29:51.358Z,1607891391.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202951.33*53

2020-12-13T20:29:51.406Z,1607891391.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.540001 m, bearing: 302.130440 deg, deltaT: 4.602937 s, approachRate: 0.338914 m/s, LOS rate: 1.991772 deg/s, posRepo size: 4
2020-12-13T20:29:53.824Z,1607891393.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:54.595Z,1607891394.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:54.980Z,1607891394.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:29:55.850Z,1607891395.850 [Micromodem](INFO): Nmea in: $SNTTA,0.014685,,,,202955.79*49

2020-12-13T20:29:55.872Z,1607891395.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 235.562378 deg, deltaT: 4.316196 s, approachRate: 0.625550 m/s, LOS rate: -15.422854 deg/s, posRepo size: 4
2020-12-13T20:29:58.254Z,1607891398.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:29:59.023Z,1607891399.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:29:59.445Z,1607891399.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:00.266Z,1607891400.266 [Micromodem](INFO): Nmea in: $SNTTA,0.016253,,,,203000.21*41

2020-12-13T20:30:00.291Z,1607891400.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 239.800374 deg, deltaT: 4.461408 s, approachRate: 0.672434 m/s, LOS rate: 0.949923 deg/s, posRepo size: 4
2020-12-13T20:30:02.686Z,1607891402.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:03.467Z,1607891403.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:03.873Z,1607891403.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:04.696Z,1607891404.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203004.66*5B

2020-12-13T20:30:05.189Z,1607891405.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:07.106Z,1607891407.106 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:30:07.967Z,1607891407.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:08.723Z,1607891408.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:09.149Z,1607891409.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:09.977Z,1607891409.977 [Micromodem](INFO): Nmea in: $SNTTA,0.019818,,,,203009.91*49

2020-12-13T20:30:10.054Z,1607891410.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 270.042976 deg, deltaT: 9.656028 s, approachRate: 0.584091 m/s, LOS rate: 3.131992 deg/s, posRepo size: 4
2020-12-13T20:30:11.173Z,1607891411.173 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-13T20:30:12.535Z,1607891412.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:13.229Z,1607891413.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:13.633Z,1607891413.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:14.468Z,1607891414.468 [Micromodem](INFO): Nmea in: $SNTTA,0.021804,,,,203014.42*4D

2020-12-13T20:30:14.494Z,1607891414.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.820000 m, bearing: 269.583168 deg, deltaT: 4.527906 s, approachRate: 0.649306 m/s, LOS rate: -0.101550 deg/s, posRepo size: 4
2020-12-13T20:30:17.050Z,1607891417.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:17.663Z,1607891417.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:18.076Z,1607891418.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:18.089Z,1607891418.089 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:30:18.626Z,1607891418.626 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:30:18.626Z,1607891418.626 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:30:18.627Z,1607891418.627 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:30:18.627Z,1607891418.627 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:30:18.969Z,1607891418.969 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:30:19.128Z,1607891419.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 271.711728 deg, deltaT: 4.639228 s, approachRate: 0.633727 m/s, LOS rate: 0.458818 deg/s, posRepo size: 4
2020-12-13T20:30:19.394Z,1607891419.394 [Micromodem](INFO): Nmea in: $CADRQ,203019,1,9,0,64,1*47

2020-12-13T20:30:19.394Z,1607891419.394 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:30:19.846Z,1607891419.846 [Micromodem](INFO): Nmea in: $SNTTA,0.023793,,,,203018.85*49

2020-12-13T20:30:19.846Z,1607891419.846 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.023793,,,,203018.85*49

2020-12-13T20:30:21.035Z,1607891421.035 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:30:21.440Z,1607891421.440 [Micromodem](INFO): Nmea in: $CADRQ,203020,1,9,0,64,2*4E

2020-12-13T20:30:21.441Z,1607891421.441 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:30:21.572Z,1607891421.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:21.867Z,1607891421.867 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:30:22.243Z,1607891422.243 [Micromodem](INFO): Nmea in: $CADRQ,203022,1,9,0,64,3*4D

2020-12-13T20:30:22.243Z,1607891422.243 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:30:22.647Z,1607891422.647 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:30:22.647Z,1607891422.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:23.040Z,1607891423.040 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:30:23.040Z,1607891423.040 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:30:24.322Z,1607891424.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:26.715Z,1607891426.715 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:30:26.715Z,1607891426.715 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:30:27.124Z,1607891427.124 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203023.478163,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4A

2020-12-13T20:30:27.124Z,1607891427.124 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,203023.478163,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4A

2020-12-13T20:30:27.195Z,1607891427.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:29.700Z,1607891429.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:32.440Z,1607891432.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:34.022Z,1607891434.022 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:34.451Z,1607891434.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:35.270Z,1607891435.270 [Micromodem](INFO): Nmea in: $SNTTA,0.030413,,,,203035.21*41

2020-12-13T20:30:35.341Z,1607891435.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.959999 m, bearing: 263.292290 deg, deltaT: 16.174819 s, approachRate: 0.630610 m/s, LOS rate: -0.520527 deg/s, posRepo size: 4
2020-12-13T20:30:38.152Z,1607891438.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:38.827Z,1607891438.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:39.293Z,1607891439.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:40.021Z,1607891440.021 [Micromodem](INFO): Nmea in: $SNTTA,0.032475,,0.033626,0.069438,203040.02*42

2020-12-13T20:30:40.085Z,1607891440.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.900002 m, bearing: 262.023542 deg, deltaT: 4.740650 s, approachRate: 0.620169 m/s, LOS rate: -0.267632 deg/s, posRepo size: 4
2020-12-13T20:30:42.273Z,1607891442.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:42.855Z,1607891442.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:43.241Z,1607891443.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:44.074Z,1607891444.074 [Micromodem](INFO): Nmea in: $SNTTA,0.034318,,,,203044.05*49

2020-12-13T20:30:44.316Z,1607891444.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.539997 m, bearing: 264.613140 deg, deltaT: 4.062366 s, approachRate: 0.649867 m/s, LOS rate: 0.637461 deg/s, posRepo size: 4
2020-12-13T20:30:46.225Z,1607891446.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:46.904Z,1607891446.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:47.301Z,1607891447.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:48.182Z,1607891448.182 [Micromodem](INFO): Nmea in: $SNTTA,0.035996,,,,203048.09*44

2020-12-13T20:30:48.244Z,1607891448.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 265.726788 deg, deltaT: 4.031818 s, approachRate: 0.639911 m/s, LOS rate: 0.276215 deg/s, posRepo size: 4
2020-12-13T20:30:50.704Z,1607891450.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:51.343Z,1607891451.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:51.749Z,1607891451.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:52.590Z,1607891452.590 [Micromodem](INFO): Nmea in: $SNTTA,0.037961,,,,203052.53*4A

2020-12-13T20:30:52.612Z,1607891452.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 260.615266 deg, deltaT: 4.513726 s, approachRate: 0.651347 m/s, LOS rate: -1.132440 deg/s, posRepo size: 4
2020-12-13T20:30:55.185Z,1607891455.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:55.815Z,1607891455.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:30:56.221Z,1607891456.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:30:57.024Z,1607891457.024 [Micromodem](INFO): Nmea in: $SNTTA,0.039880,,,,203057.01*48

2020-12-13T20:30:57.261Z,1607891457.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 270.996334 deg, deltaT: 4.415054 s, approachRate: 0.706671 m/s, LOS rate: 2.351289 deg/s, posRepo size: 4
2020-12-13T20:30:59.273Z,1607891459.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:30:59.995Z,1607891459.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:00.397Z,1607891460.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:01.258Z,1607891461.258 [Micromodem](INFO): Nmea in: $SNTTA,0.041740,,0.059656,,203101.19*58

2020-12-13T20:31:01.458Z,1607891461.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.700001 m, bearing: 266.648755 deg, deltaT: 4.267421 s, approachRate: 0.590522 m/s, LOS rate: -1.018784 deg/s, posRepo size: 4
2020-12-13T20:31:03.418Z,1607891463.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:04.064Z,1607891464.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:04.474Z,1607891464.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:04.597Z,1607891464.597 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-13T20:31:04.597Z,1607891464.597 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-13T20:31:04.597Z,1607891464.597 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-13T20:31:04.741Z,1607891464.741 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-13T20:31:04.961Z,1607891464.961 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T20:31:05.302Z,1607891465.302 [Micromodem](INFO): Nmea in: $SNTTA,0.043649,,,,203105.26*4D

2020-12-13T20:31:05.327Z,1607891465.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 266.257959 deg, deltaT: 4.066097 s, approachRate: 0.767320 m/s, LOS rate: -0.096111 deg/s, posRepo size: 4
2020-12-13T20:31:05.818Z,1607891465.818 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-13T20:31:05.818Z,1607891465.818 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-13T20:31:07.898Z,1607891467.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:08.507Z,1607891468.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:08.909Z,1607891468.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:09.746Z,1607891469.746 [Micromodem](INFO): Nmea in: $SNTTA,0.045444,,,,203109.70*4B

2020-12-13T20:31:09.945Z,1607891469.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 260.873010 deg, deltaT: 4.371344 s, approachRate: 0.562756 m/s, LOS rate: -1.231875 deg/s, posRepo size: 4
2020-12-13T20:31:12.168Z,1607891472.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:12.944Z,1607891472.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:13.466Z,1607891473.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:14.258Z,1607891474.258 [Micromodem](INFO): Nmea in: $SNTTA,0.047559,,,,203114.13*4D

2020-12-13T20:31:14.276Z,1607891474.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 271.147500 deg, deltaT: 4.681736 s, approachRate: 0.666420 m/s, LOS rate: 2.194590 deg/s, posRepo size: 4
2020-12-13T20:31:16.699Z,1607891476.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:17.500Z,1607891477.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:17.897Z,1607891477.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:18.726Z,1607891478.726 [Micromodem](INFO): Nmea in: $SNTTA,0.049641,,,,203118.69*48

2020-12-13T20:31:18.751Z,1607891478.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 269.971587 deg, deltaT: 4.282467 s, approachRate: 0.728553 m/s, LOS rate: -0.274588 deg/s, posRepo size: 4
2020-12-13T20:31:21.201Z,1607891481.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:21.935Z,1607891481.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:22.341Z,1607891482.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:23.189Z,1607891483.189 [Micromodem](INFO): Nmea in: $SNTTA,0.051501,,,,203123.13*43

2020-12-13T20:31:23.222Z,1607891483.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 268.418129 deg, deltaT: 4.472665 s, approachRate: 0.643911 m/s, LOS rate: -0.347323 deg/s, posRepo size: 4
2020-12-13T20:31:23.986Z,1607891483.986 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:31:24.514Z,1607891484.514 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:31:24.515Z,1607891484.515 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:31:24.515Z,1607891484.515 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:31:24.516Z,1607891484.516 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:31:24.774Z,1607891484.774 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:31:25.178Z,1607891485.178 [Micromodem](INFO): Nmea in: $CADRQ,203125,1,9,0,64,1*49

2020-12-13T20:31:25.178Z,1607891485.178 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:31:25.335Z,1607891485.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:25.572Z,1607891485.572 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:31:25.986Z,1607891485.986 [Micromodem](INFO): Nmea in: $CADRQ,203126,1,9,0,64,2*49

2020-12-13T20:31:25.988Z,1607891485.988 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:31:26.379Z,1607891486.379 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:31:26.379Z,1607891486.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:26.787Z,1607891486.787 [Micromodem](INFO): Nmea in: $CADRQ,203127,1,9,0,64,3*49

2020-12-13T20:31:26.787Z,1607891486.787 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203127,1,9,0,64,3*49

2020-12-13T20:31:27.271Z,1607891487.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:27.662Z,1607891487.662 [Micromodem](INFO): Nmea in: $SNTTA,0.053485,,,,203127.57*48

2020-12-13T20:31:27.684Z,1607891487.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 268.953752 deg, deltaT: 4.527253 s, approachRate: 0.649401 m/s, LOS rate: 0.118311 deg/s, posRepo size: 4
2020-12-13T20:31:30.160Z,1607891490.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:30.897Z,1607891490.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:31.289Z,1607891491.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:32.118Z,1607891492.118 [Micromodem](INFO): Nmea in: $SNTTA,0.055527,,,,203132.09*48

2020-12-13T20:31:32.153Z,1607891492.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 266.780659 deg, deltaT: 4.396573 s, approachRate: 0.695996 m/s, LOS rate: -0.494270 deg/s, posRepo size: 4
2020-12-13T20:31:34.571Z,1607891494.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:35.331Z,1607891495.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:35.745Z,1607891495.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:36.187Z,1607891496.187 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:31:36.590Z,1607891496.590 [Micromodem](INFO): Nmea in: $SNTTA,0.057550,,,,203136.52*40

2020-12-13T20:31:36.636Z,1607891496.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 270.217419 deg, deltaT: 4.487077 s, approachRate: 0.668587 m/s, LOS rate: 0.765924 deg/s, posRepo size: 4
2020-12-13T20:31:38.218Z,1607891498.218 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:31:39.035Z,1607891499.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:39.786Z,1607891499.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:40.254Z,1607891500.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:41.054Z,1607891501.054 [Micromodem](INFO): Nmea in: $SNTTA,0.059626,,0.076225,,203140.98*51

2020-12-13T20:31:41.133Z,1607891501.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.580002 m, bearing: 269.159232 deg, deltaT: 4.469100 s, approachRate: 0.711553 m/s, LOS rate: -0.236779 deg/s, posRepo size: 4
2020-12-13T20:31:43.503Z,1607891503.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:44.287Z,1607891504.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:44.689Z,1607891504.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:45.526Z,1607891505.526 [Micromodem](INFO): Nmea in: $SNTTA,0.061574,,,,203145.48*4C

2020-12-13T20:31:45.555Z,1607891505.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 294.978904 deg, deltaT: 4.470428 s, approachRate: 0.697920 m/s, LOS rate: 5.775660 deg/s, posRepo size: 4
2020-12-13T20:31:48.003Z,1607891508.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:48.727Z,1607891508.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:49.137Z,1607891509.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:49.987Z,1607891509.987 [Micromodem](INFO): Nmea in: $SNTTA,0.063474,,0.082974,,203149.92*5A

2020-12-13T20:31:50.047Z,1607891510.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 264.282641 deg, deltaT: 4.447948 s, approachRate: 0.593532 m/s, LOS rate: -6.901219 deg/s, posRepo size: 4
2020-12-13T20:31:52.414Z,1607891512.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:53.699Z,1607891513.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:54.125Z,1607891514.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:31:54.950Z,1607891514.950 [Micromodem](INFO): Nmea in: $SNTTA,0.065612,,,,203154.89*46

2020-12-13T20:31:55.044Z,1607891515.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 249.760101 deg, deltaT: 4.992855 s, approachRate: 0.660944 m/s, LOS rate: -2.908664 deg/s, posRepo size: 4
2020-12-13T20:31:56.210Z,1607891516.210 [Micromodem](INFO): Nmea in: $CAERR,203157,DATA_TIMEOUT,3*4E

2020-12-13T20:31:56.617Z,1607891516.617 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:31:57.469Z,1607891517.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:31:58.214Z,1607891518.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:31:59.452Z,1607891519.452 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:31:59.453Z,1607891519.453 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2020-12-13T20:31:59.864Z,1607891519.864 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203157.233180,3,0,200,4000,14500,1,1,9,1,3,2,3,128*49

2020-12-13T20:31:59.864Z,1607891519.864 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,203157.233180,3,0,200,4000,14500,1,1,9,1,3,2,3,128*49

2020-12-13T20:32:00.080Z,1607891520.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:02.769Z,1607891522.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:05.587Z,1607891525.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:08.586Z,1607891528.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:09.618Z,1607891529.618 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:10.041Z,1607891530.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:10.882Z,1607891530.882 [Micromodem](INFO): Nmea in: $SNTTA,0.072884,,,,203210.81*4A

2020-12-13T20:32:10.907Z,1607891530.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.440010 m, bearing: 264.759169 deg, deltaT: 15.876404 s, approachRate: 0.680255 m/s, LOS rate: 0.944740 deg/s, posRepo size: 4
2020-12-13T20:32:11.251Z,1607891531.251 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:32:13.090Z,1607891533.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:13.651Z,1607891533.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:14.061Z,1607891534.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:14.907Z,1607891534.907 [Micromodem](INFO): Nmea in: $SNTTA,0.074775,,,,203214.84*4C

2020-12-13T20:32:15.116Z,1607891535.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 263.019957 deg, deltaT: 4.051057 s, approachRate: 0.710925 m/s, LOS rate: -0.429323 deg/s, posRepo size: 4
2020-12-13T20:32:17.323Z,1607891537.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:18.095Z,1607891538.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:18.517Z,1607891538.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:19.342Z,1607891539.342 [Micromodem](INFO): Nmea in: $SNTTA,0.076799,,,,203219.29*46

2020-12-13T20:32:19.523Z,1607891539.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 265.107208 deg, deltaT: 4.486731 s, approachRate: 0.668637 m/s, LOS rate: 0.465205 deg/s, posRepo size: 4
2020-12-13T20:32:21.506Z,1607891541.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:22.139Z,1607891542.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:22.223Z,1607891542.223 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:32:22.545Z,1607891542.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:23.386Z,1607891543.386 [Micromodem](INFO): Nmea in: $SNTTA,0.078460,,,,203223.33*4F

2020-12-13T20:32:23.408Z,1607891543.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.779999 m, bearing: 260.590759 deg, deltaT: 4.036121 s, approachRate: 0.609496 m/s, LOS rate: -1.119007 deg/s, posRepo size: 4
2020-12-13T20:32:26.037Z,1607891546.037 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:32:26.051Z,1607891546.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:26.603Z,1607891546.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:27.037Z,1607891547.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:27.866Z,1607891547.866 [Micromodem](INFO): Nmea in: $SNTTA,0.080492,,,,203227.79*4F

2020-12-13T20:32:28.093Z,1607891548.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.960007 m, bearing: 256.263315 deg, deltaT: 4.460344 s, approachRate: 0.712951 m/s, LOS rate: -0.970204 deg/s, posRepo size: 4
2020-12-13T20:32:29.905Z,1607891549.905 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:32:30.421Z,1607891550.421 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:32:30.421Z,1607891550.421 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:32:30.422Z,1607891550.422 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:32:30.422Z,1607891550.422 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:32:30.500Z,1607891550.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:30.716Z,1607891550.716 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:32:31.107Z,1607891551.107 [Micromodem](INFO): Nmea in: $CADRQ,203231,1,9,0,64,1*4F

2020-12-13T20:32:31.108Z,1607891551.108 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:32:31.511Z,1607891551.511 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:32:31.512Z,1607891551.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:31.921Z,1607891551.921 [Micromodem](INFO): Nmea in: $CADRQ,203232,1,9,0,64,2*4F

2020-12-13T20:32:31.921Z,1607891551.921 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203232,1,9,0,64,2*4F

2020-12-13T20:32:32.339Z,1607891552.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:32.770Z,1607891552.770 [Micromodem](INFO): Nmea in: $SNTTA,0.082574,,,,203232.71*48

2020-12-13T20:32:32.929Z,1607891552.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 267.213639 deg, deltaT: 4.881328 s, approachRate: 0.614585 m/s, LOS rate: 2.243308 deg/s, posRepo size: 4
2020-12-13T20:32:35.266Z,1607891555.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:36.051Z,1607891556.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:36.158Z,1607891556.158 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:32:36.439Z,1607891556.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:37.258Z,1607891557.258 [Micromodem](INFO): Nmea in: $SNTTA,0.084544,,,,203237.24*48

2020-12-13T20:32:37.302Z,1607891557.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 263.553422 deg, deltaT: 4.528043 s, approachRate: 0.662540 m/s, LOS rate: -0.808344 deg/s, posRepo size: 4
2020-12-13T20:32:39.720Z,1607891559.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:40.475Z,1607891560.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:40.917Z,1607891560.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:41.734Z,1607891561.734 [Micromodem](INFO): Nmea in: $SNTTA,0.086717,,,,203241.67*48

2020-12-13T20:32:41.840Z,1607891561.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 261.143185 deg, deltaT: 4.425591 s, approachRate: 0.732103 m/s, LOS rate: -0.544614 deg/s, posRepo size: 4
2020-12-13T20:32:44.201Z,1607891564.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:44.959Z,1607891564.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:45.353Z,1607891565.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:46.186Z,1607891566.186 [Micromodem](INFO): Nmea in: $SNTTA,0.088531,,,,203246.15*42

2020-12-13T20:32:46.228Z,1607891566.228 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:32:46.240Z,1607891566.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 262.088838 deg, deltaT: 4.512840 s, approachRate: 0.584997 m/s, LOS rate: 0.209547 deg/s, posRepo size: 4
2020-12-13T20:32:48.619Z,1607891568.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:49.387Z,1607891569.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:49.820Z,1607891569.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:50.645Z,1607891570.645 [Micromodem](INFO): Nmea in: $SNTTA,0.090346,,,,203250.58*43

2020-12-13T20:32:50.680Z,1607891570.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.600006 m, bearing: 258.919658 deg, deltaT: 4.403652 s, approachRate: 0.626755 m/s, LOS rate: -0.719671 deg/s, posRepo size: 4
2020-12-13T20:32:51.281Z,1607891571.281 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-13T20:32:51.281Z,1607891571.281 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-13T20:32:51.281Z,1607891571.281 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-13T20:32:51.410Z,1607891571.410 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-13T20:32:51.581Z,1607891571.581 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T20:32:52.446Z,1607891572.446 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-13T20:32:52.446Z,1607891572.446 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-13T20:32:53.246Z,1607891573.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:53.892Z,1607891573.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:54.300Z,1607891574.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:55.131Z,1607891575.131 [Micromodem](INFO): Nmea in: $SNTTA,0.092374,,,,203255.08*40

2020-12-13T20:32:55.155Z,1607891575.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.660004 m, bearing: 258.742510 deg, deltaT: 4.490300 s, approachRate: 0.681468 m/s, LOS rate: -0.039451 deg/s, posRepo size: 4
2020-12-13T20:32:57.687Z,1607891577.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:32:58.336Z,1607891578.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:32:58.741Z,1607891578.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:32:59.586Z,1607891579.586 [Micromodem](INFO): Nmea in: $SNTTA,0.094359,,,,203259.53*4B

2020-12-13T20:32:59.744Z,1607891579.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.660004 m, bearing: 260.134093 deg, deltaT: 4.461117 s, approachRate: 0.672477 m/s, LOS rate: 0.311936 deg/s, posRepo size: 4
2020-12-13T20:33:01.582Z,1607891581.582 [Micromodem](INFO): Nmea in: $CAERR,203302,DATA_TIMEOUT,2*4D

2020-12-13T20:33:01.977Z,1607891581.977 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:33:02.020Z,1607891582.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:02.780Z,1607891582.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:03.195Z,1607891583.195 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:33:03.195Z,1607891583.195 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T20:33:03.580Z,1607891583.580 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203302.338609,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7D

2020-12-13T20:33:03.580Z,1607891583.580 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,203302.338609,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7D

2020-12-13T20:33:04.847Z,1607891584.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:07.683Z,1607891587.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:10.688Z,1607891590.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:13.342Z,1607891593.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:14.130Z,1607891594.130 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:14.537Z,1607891594.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:15.374Z,1607891595.374 [Micromodem](INFO): Nmea in: $SNTTA,0.101312,,,,203315.32*47

2020-12-13T20:33:15.831Z,1607891595.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.100006 m, bearing: 256.189768 deg, deltaT: 16.213936 s, approachRate: 20.441675 m/s, LOS rate: -0.243268 deg/s, posRepo size: 4
2020-12-13T20:33:18.231Z,1607891598.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:18.993Z,1607891598.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:19.425Z,1607891599.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:20.258Z,1607891600.258 [Micromodem](INFO): Nmea in: $SNTTA,0.103425,,,,203320.19*49

2020-12-13T20:33:20.311Z,1607891600.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 262.394039 deg, deltaT: 4.499018 s, approachRate: -70.655418 m/s, LOS rate: 1.379028 deg/s, posRepo size: 4
2020-12-13T20:33:22.714Z,1607891602.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:23.473Z,1607891603.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:23.885Z,1607891603.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:24.714Z,1607891604.714 [Micromodem](INFO): Nmea in: $SNTTA,0.105430,,,,203324.67*46

2020-12-13T20:33:24.759Z,1607891604.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.160004 m, bearing: 259.773268 deg, deltaT: 4.434705 s, approachRate: 0.662953 m/s, LOS rate: -0.590969 deg/s, posRepo size: 4
2020-12-13T20:33:27.138Z,1607891607.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:27.911Z,1607891607.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:28.313Z,1607891608.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:29.147Z,1607891609.147 [Micromodem](INFO): Nmea in: $SNTTA,0.107167,,,0.123162,203329.10*55

2020-12-13T20:33:29.747Z,1607891609.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:31.542Z,1607891611.542 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:33:32.412Z,1607891612.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:33.191Z,1607891613.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:33.615Z,1607891613.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:34.423Z,1607891614.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203334.38*50

2020-12-13T20:33:35.240Z,1607891615.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:35.613Z,1607891615.613 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:33:36.161Z,1607891616.161 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:33:36.162Z,1607891616.162 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:33:36.162Z,1607891616.162 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:33:36.163Z,1607891616.163 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:33:36.544Z,1607891616.544 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:33:36.545Z,1607891616.545 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:33:36.955Z,1607891616.955 [Micromodem](INFO): Nmea in: $CADRQ,203337,1,9,0,64,1*48

2020-12-13T20:33:36.955Z,1607891616.955 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:33:37.352Z,1607891617.352 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:33:37.768Z,1607891617.768 [Micromodem](INFO): Nmea in: $CADRQ,203338,1,9,0,64,2*44

2020-12-13T20:33:37.768Z,1607891617.768 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:33:37.904Z,1607891617.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:38.175Z,1607891618.175 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:33:38.581Z,1607891618.581 [Micromodem](INFO): Nmea in: $CADRQ,203338,1,9,0,64,3*45

2020-12-13T20:33:38.582Z,1607891618.582 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:33:38.971Z,1607891618.971 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:33:38.971Z,1607891618.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:39.051Z,1607891619.051 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:33:39.367Z,1607891619.367 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:33:39.367Z,1607891619.367 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:33:40.644Z,1607891620.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:43.011Z,1607891623.011 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:33:43.011Z,1607891623.011 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:33:43.435Z,1607891623.435 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203339.814482,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4E

2020-12-13T20:33:43.436Z,1607891623.436 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,203339.814482,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4E

2020-12-13T20:33:43.464Z,1607891623.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:46.267Z,1607891626.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:47.856Z,1607891627.856 [CTD_Seabird](ERROR): Failed to parse device response: 5.43,7.6619,3.299682
2020-12-13T20:33:49.266Z,1607891629.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:50.298Z,1607891630.298 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:50.710Z,1607891630.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:51.110Z,1607891631.110 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F99,000,,64
D,184,80,80,67,FF
2020-12-13T20:33:51.531Z,1607891631.531 [Micromodem](INFO): Nmea in: $SNTTA,0.116965,,,,203351.49*47

2020-12-13T20:33:51.991Z,1607891631.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:54.822Z,1607891634.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:33:55.552Z,1607891635.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:33:56.072Z,1607891636.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:33:56.882Z,1607891636.882 [Micromodem](INFO): Nmea in: $SNTTA,0.118960,,,,203356.74*45

2020-12-13T20:33:56.967Z,1607891636.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.560013 m, bearing: 269.063882 deg, deltaT: 32.131841 s, approachRate: 0.634885 m/s, LOS rate: 0.289140 deg/s, posRepo size: 4
2020-12-13T20:33:59.322Z,1607891639.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:00.083Z,1607891640.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:00.509Z,1607891640.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:01.317Z,1607891641.317 [Micromodem](INFO): Nmea in: $SNTTA,0.121048,,,,203401.27*4F

2020-12-13T20:34:01.752Z,1607891641.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 268.798051 deg, deltaT: 4.858156 s, approachRate: 0.642215 m/s, LOS rate: -0.054718 deg/s, posRepo size: 4
2020-12-13T20:34:04.298Z,1607891644.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:04.943Z,1607891644.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:05.341Z,1607891645.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:06.167Z,1607891646.167 [Micromodem](INFO): Nmea in: $SNTTA,0.123088,,,,203406.14*46

2020-12-13T20:34:07.008Z,1607891647.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:08.568Z,1607891648.568 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:34:09.878Z,1607891649.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:10.618Z,1607891650.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:11.109Z,1607891651.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:11.886Z,1607891651.886 [Micromodem](INFO): Nmea in: $SNTTA,0.125435,,,,203411.81*48

2020-12-13T20:34:11.974Z,1607891651.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 267.481792 deg, deltaT: 10.174409 s, approachRate: 0.648685 m/s, LOS rate: -0.129370 deg/s, posRepo size: 4
2020-12-13T20:34:14.325Z,1607891654.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:15.111Z,1607891655.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:15.549Z,1607891655.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:16.382Z,1607891656.382 [Micromodem](INFO): Nmea in: $SNTTA,0.127394,,0.130201,,203416.30*54

2020-12-13T20:34:16.442Z,1607891656.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 267.871167 deg, deltaT: 4.545044 s, approachRate: 0.000000 m/s, LOS rate: 0.085670 deg/s, posRepo size: 4
2020-12-13T20:34:18.837Z,1607891658.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:19.610Z,1607891659.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:19.989Z,1607891659.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:20.823Z,1607891660.823 [Micromodem](INFO): Nmea in: $SNTTA,0.129191,,,,203420.80*4C

2020-12-13T20:34:21.244Z,1607891661.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.919998 m, bearing: 267.284072 deg, deltaT: 4.830332 s, approachRate: 1.167625 m/s, LOS rate: -0.121544 deg/s, posRepo size: 4
2020-12-13T20:34:23.900Z,1607891663.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:24.499Z,1607891664.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:24.901Z,1607891664.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:25.719Z,1607891665.719 [Micromodem](INFO): Nmea in: $SNTTA,0.131244,,,,203425.69*4C

2020-12-13T20:34:26.545Z,1607891666.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:28.142Z,1607891668.142 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:34:29.128Z,1607891669.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:29.904Z,1607891669.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:30.325Z,1607891670.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:31.174Z,1607891671.174 [Micromodem](INFO): Nmea in: $SNTTA,0.133695,,,,203431.09*45

2020-12-13T20:34:31.625Z,1607891671.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 265.919673 deg, deltaT: 10.356368 s, approachRate: 0.654670 m/s, LOS rate: -0.131745 deg/s, posRepo size: 4
2020-12-13T20:34:33.978Z,1607891673.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:34.751Z,1607891674.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:35.217Z,1607891675.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:36.027Z,1607891676.027 [Micromodem](INFO): Nmea in: $SNTTA,0.135775,,,,203435.94*4C

2020-12-13T20:34:36.124Z,1607891676.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.819992 m, bearing: 265.199689 deg, deltaT: 4.430638 s, approachRate: 0.704186 m/s, LOS rate: -0.162501 deg/s, posRepo size: 4
2020-12-13T20:34:38.497Z,1607891678.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:39.271Z,1607891679.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:39.675Z,1607891679.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:40.519Z,1607891680.519 [Micromodem](INFO): Nmea in: $SNTTA,0.137652,,,,203440.46*47

2020-12-13T20:34:41.115Z,1607891681.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.639999 m, bearing: 264.332064 deg, deltaT: 4.887050 s, approachRate: 0.577037 m/s, LOS rate: -0.177536 deg/s, posRepo size: 4
2020-12-13T20:34:41.306Z,1607891681.306 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:34:41.862Z,1607891681.862 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:34:41.862Z,1607891681.862 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:34:41.863Z,1607891681.863 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:34:41.863Z,1607891681.863 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:34:42.158Z,1607891682.158 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:34:42.562Z,1607891682.562 [Micromodem](INFO): Nmea in: $CADRQ,203442,1,9,0,64,1*4D

2020-12-13T20:34:42.562Z,1607891682.562 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:34:42.970Z,1607891682.970 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:34:43.153Z,1607891683.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:43.347Z,1607891683.347 [Micromodem](INFO): Nmea in: $CADRQ,203443,1,9,0,64,2*4F

2020-12-13T20:34:43.349Z,1607891683.349 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:34:43.767Z,1607891683.767 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:34:43.768Z,1607891683.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:44.159Z,1607891684.159 [Micromodem](INFO): Nmea in: $CADRQ,203444,1,9,0,64,3*49

2020-12-13T20:34:44.159Z,1607891684.159 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203444,1,9,0,64,3*49

2020-12-13T20:34:44.575Z,1607891684.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:44.992Z,1607891684.992 [Micromodem](INFO): Nmea in: $SNTTA,0.139879,,,,203444.96*47

2020-12-13T20:34:45.843Z,1607891685.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:47.386Z,1607891687.386 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:34:48.662Z,1607891688.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:49.415Z,1607891689.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:49.884Z,1607891689.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:50.675Z,1607891690.675 [Micromodem](INFO): Nmea in: $SNTTA,0.142563,,,,203450.60*41

2020-12-13T20:34:51.168Z,1607891691.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:52.694Z,1607891692.694 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:34:54.085Z,1607891694.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:54.715Z,1607891694.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:34:55.121Z,1607891695.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:34:55.947Z,1607891695.947 [Micromodem](INFO): Nmea in: $SNTTA,0.144169,,,,203455.91*42

2020-12-13T20:34:56.791Z,1607891696.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:34:58.350Z,1607891698.350 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:34:59.631Z,1607891699.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:00.364Z,1607891700.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:00.861Z,1607891700.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:01.674Z,1607891701.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203501.55*5B

2020-12-13T20:35:01.736Z,1607891701.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 269.648929 deg, deltaT: 20.737317 s, approachRate: 0.624960 m/s, LOS rate: 0.256391 deg/s, posRepo size: 4
2020-12-13T20:35:04.125Z,1607891704.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:04.878Z,1607891704.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:05.285Z,1607891705.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:06.123Z,1607891706.123 [Micromodem](INFO): Nmea in: $SNTTA,0.149003,,,,203506.07*4A

2020-12-13T20:35:07.131Z,1607891707.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:08.510Z,1607891708.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:09.790Z,1607891709.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:10.539Z,1607891710.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:10.925Z,1607891710.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:11.751Z,1607891711.751 [Micromodem](INFO): Nmea in: $SNTTA,0.151059,,,,203511.73*49

2020-12-13T20:35:12.607Z,1607891712.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:13.755Z,1607891713.755 [Micromodem](INFO): Nmea in: $CAERR,203514,DATA_TIMEOUT,3*4D

2020-12-13T20:35:14.162Z,1607891714.162 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:14.163Z,1607891714.163 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:35:15.547Z,1607891715.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:16.184Z,1607891716.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:16.612Z,1607891716.612 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:35:16.612Z,1607891716.612 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2020-12-13T20:35:16.984Z,1607891716.984 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203514.595461,3,0,200,4000,14500,1,1,9,1,3,2,3,128*4B

2020-12-13T20:35:16.984Z,1607891716.984 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,203514.595461,3,0,200,4000,14500,1,1,9,1,3,2,3,128*4B

2020-12-13T20:35:18.222Z,1607891718.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:21.144Z,1607891721.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:23.902Z,1607891723.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:26.482Z,1607891726.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:27.510Z,1607891727.510 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:27.905Z,1607891727.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:28.723Z,1607891728.723 [Micromodem](INFO): Nmea in: $SNTTA,0.158193,,,,203528.70*4E

2020-12-13T20:35:29.143Z,1607891729.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:31.154Z,1607891731.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:32.009Z,1607891732.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:32.765Z,1607891732.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:33.217Z,1607891733.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:34.027Z,1607891734.027 [Micromodem](INFO): Nmea in: $SNTTA,0.160520,,,,203533.96*4B

2020-12-13T20:35:35.071Z,1607891735.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:35.681Z,1607891735.681 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:35:36.062Z,1607891736.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:37.692Z,1607891737.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:38.476Z,1607891738.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:38.873Z,1607891738.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:39.709Z,1607891739.709 [Micromodem](INFO): Nmea in: $SNTTA,0.162537,,,,203539.67*4B

2020-12-13T20:35:40.127Z,1607891740.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.899994 m, bearing: 266.593020 deg, deltaT: 38.468998 s, approachRate: 0.631678 m/s, LOS rate: -0.079438 deg/s, posRepo size: 4
2020-12-13T20:35:42.578Z,1607891742.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:43.319Z,1607891743.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:43.721Z,1607891743.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:44.551Z,1607891744.551 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203544.51*5E

2020-12-13T20:35:45.389Z,1607891745.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:46.962Z,1607891746.962 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:46.963Z,1607891746.963 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:35:47.494Z,1607891747.494 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:35:47.494Z,1607891747.494 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:35:47.495Z,1607891747.495 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:35:47.495Z,1607891747.495 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:35:47.875Z,1607891747.875 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:35:48.023Z,1607891748.023 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:35:48.038Z,1607891748.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:48.290Z,1607891748.290 [Micromodem](INFO): Nmea in: $CADRQ,203548,1,9,0,64,1*46

2020-12-13T20:35:48.290Z,1607891748.290 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:35:48.688Z,1607891748.688 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:35:48.690Z,1607891748.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:49.099Z,1607891749.099 [Micromodem](INFO): Nmea in: $CADRQ,203549,1,9,0,64,2*44

2020-12-13T20:35:49.099Z,1607891749.099 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203549,1,9,0,64,2*44

2020-12-13T20:35:49.497Z,1607891749.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:49.930Z,1607891749.930 [Micromodem](INFO): Nmea in: $SNTTA,0.166952,,,,203549.88*46

2020-12-13T20:35:50.739Z,1607891750.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:52.322Z,1607891752.322 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:53.627Z,1607891753.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:54.341Z,1607891754.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:35:54.822Z,1607891754.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:35:55.618Z,1607891755.618 [Micromodem](INFO): Nmea in: $SNTTA,0.169226,,,,203555.53*4A

2020-12-13T20:35:56.426Z,1607891756.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:57.662Z,1607891757.662 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:35:59.015Z,1607891759.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:35:59.663Z,1607891759.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:00.058Z,1607891760.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:00.879Z,1607891760.879 [Micromodem](INFO): Nmea in: $SNTTA,0.171494,,,,203600.85*44

2020-12-13T20:36:01.704Z,1607891761.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:03.282Z,1607891763.282 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:04.535Z,1607891764.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:05.299Z,1607891765.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:05.765Z,1607891765.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:06.578Z,1607891766.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203606.49*52

2020-12-13T20:36:07.557Z,1607891767.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:08.593Z,1607891768.593 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:10.242Z,1607891770.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:11.021Z,1607891771.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:11.417Z,1607891771.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:12.241Z,1607891772.241 [Micromodem](INFO): Nmea in: $SNTTA,0.176151,,,,203612.21*42

2020-12-13T20:36:12.693Z,1607891772.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.299988 m, bearing: 267.114710 deg, deltaT: 32.523132 s, approachRate: 0.627246 m/s, LOS rate: 0.016041 deg/s, posRepo size: 4
2020-12-13T20:36:15.103Z,1607891775.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:15.863Z,1607891775.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:16.267Z,1607891776.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:17.097Z,1607891777.097 [Micromodem](INFO): Nmea in: $SNTTA,0.178360,,,,203617.05*4F

2020-12-13T20:36:17.520Z,1607891777.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.659973 m, bearing: 269.728268 deg, deltaT: 4.866850 s, approachRate: 0.690382 m/s, LOS rate: 0.537012 deg/s, posRepo size: 4
2020-12-13T20:36:18.702Z,1607891778.702 [Micromodem](INFO): Nmea in: $CAERR,203619,DATA_TIMEOUT,2*42

2020-12-13T20:36:19.098Z,1607891779.098 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:36:19.968Z,1607891779.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:20.322Z,1607891780.322 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:36:20.756Z,1607891780.756 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203619.520824,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7C

2020-12-13T20:36:20.778Z,1607891780.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:21.171Z,1607891781.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:21.981Z,1607891781.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203621.97*54

2020-12-13T20:36:22.831Z,1607891782.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:24.390Z,1607891784.390 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:25.647Z,1607891785.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:26.403Z,1607891786.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:26.829Z,1607891786.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:27.658Z,1607891787.658 [Micromodem](INFO): Nmea in: $SNTTA,0.182585,,,,203627.59*4D

2020-12-13T20:36:28.462Z,1607891788.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:30.038Z,1607891790.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:31.414Z,1607891791.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:32.063Z,1607891792.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:32.473Z,1607891792.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:33.296Z,1607891793.296 [Micromodem](INFO): Nmea in: $SNTTA,0.184957,,,,203633.25*46

2020-12-13T20:36:34.118Z,1607891794.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:35.702Z,1607891795.702 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:36.930Z,1607891796.930 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:36:36.945Z,1607891796.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:37.727Z,1607891797.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:38.173Z,1607891798.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:38.985Z,1607891798.985 [Micromodem](INFO): Nmea in: $SNTTA,0.187285,,,,203638.92*46

2020-12-13T20:36:39.517Z,1607891799.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.039978 m, bearing: 270.178870 deg, deltaT: 21.925774 s, approachRate: 0.610241 m/s, LOS rate: 0.020551 deg/s, posRepo size: 4
2020-12-13T20:36:41.875Z,1607891801.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:42.624Z,1607891802.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:43.022Z,1607891803.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:43.859Z,1607891803.859 [Micromodem](INFO): Nmea in: $SNTTA,0.189404,,,,203643.82*4A

2020-12-13T20:36:44.381Z,1607891804.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:46.250Z,1607891806.250 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:47.111Z,1607891807.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:47.863Z,1607891807.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:48.277Z,1607891808.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:49.099Z,1607891809.099 [Micromodem](INFO): Nmea in: $SNTTA,0.191434,,,,203649.05*45

2020-12-13T20:36:49.928Z,1607891809.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:51.502Z,1607891811.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:52.718Z,1607891812.718 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:36:53.511Z,1607891813.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:53.857Z,1607891813.857 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:36:53.857Z,1607891813.857 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:36:53.858Z,1607891813.858 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:36:53.858Z,1607891813.858 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:36:54.099Z,1607891814.099 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:36:54.100Z,1607891814.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:36:54.511Z,1607891814.511 [Micromodem](INFO): Nmea in: $CADRQ,203654,1,9,0,64,1*48

2020-12-13T20:36:54.511Z,1607891814.511 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203654,1,9,0,64,1*48

2020-12-13T20:36:54.901Z,1607891814.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:36:55.327Z,1607891815.327 [Micromodem](INFO): Nmea in: $SNTTA,0.194129,,,,203655.29*4A

2020-12-13T20:36:56.147Z,1607891816.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:57.749Z,1607891817.749 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:36:59.129Z,1607891819.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:36:59.747Z,1607891819.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:00.153Z,1607891820.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:00.982Z,1607891820.982 [Micromodem](INFO): Nmea in: $SNTTA,0.196524,,,,203700.94*46

2020-12-13T20:37:01.855Z,1607891821.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:03.382Z,1607891823.382 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:04.676Z,1607891824.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:05.399Z,1607891825.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:05.882Z,1607891825.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:06.686Z,1607891826.686 [Micromodem](INFO): Nmea in: $SNTTA,0.198704,,,,203706.59*4F

2020-12-13T20:37:07.523Z,1607891827.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:08.737Z,1607891828.737 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:10.352Z,1607891830.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:11.134Z,1607891831.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:11.557Z,1607891831.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:12.387Z,1607891832.387 [Micromodem](INFO): Nmea in: $SNTTA,0.200933,,,,203712.32*4F

2020-12-13T20:37:12.879Z,1607891832.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:14.418Z,1607891834.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:15.698Z,1607891835.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:16.487Z,1607891836.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:16.889Z,1607891836.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:17.699Z,1607891837.699 [Micromodem](INFO): Nmea in: $SNTTA,0.203501,,,,203717.68*4B

2020-12-13T20:37:18.266Z,1607891838.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:20.099Z,1607891840.099 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:20.963Z,1607891840.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:21.731Z,1607891841.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:22.150Z,1607891842.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:22.966Z,1607891842.966 [Micromodem](INFO): Nmea in: $SNTTA,0.205233,,,,203722.92*48

2020-12-13T20:37:23.841Z,1607891843.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:24.151Z,1607891844.151 [Micromodem](INFO): Nmea in: $CAERR,203724,DATA_TIMEOUT,1*4E

2020-12-13T20:37:25.372Z,1607891845.372 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:26.644Z,1607891846.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:27.383Z,1607891847.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:27.836Z,1607891847.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:28.639Z,1607891848.639 [Micromodem](INFO): Nmea in: $SNTTA,0.207688,,,,203728.58*42

2020-12-13T20:37:29.174Z,1607891849.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:31.014Z,1607891851.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:31.908Z,1607891851.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:32.675Z,1607891852.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:33.133Z,1607891853.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:33.943Z,1607891853.943 [Micromodem](INFO): Nmea in: $SNTTA,0.209600,,,,203733.87*44

2020-12-13T20:37:34.813Z,1607891854.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:35.956Z,1607891855.956 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:37.630Z,1607891857.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:38.371Z,1607891858.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:38.814Z,1607891858.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:39.621Z,1607891859.621 [Micromodem](INFO): Nmea in: $SNTTA,0.212230,,,,203739.56*4F

2020-12-13T20:37:40.166Z,1607891860.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:42.010Z,1607891862.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:42.879Z,1607891862.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:43.635Z,1607891863.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:44.041Z,1607891864.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:44.883Z,1607891864.883 [Micromodem](INFO): Nmea in: $SNTTA,0.214376,,,,203744.82*49

2020-12-13T20:37:45.688Z,1607891865.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:47.258Z,1607891867.258 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:48.703Z,1607891868.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:49.279Z,1607891869.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:49.689Z,1607891869.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:50.507Z,1607891870.507 [Micromodem](INFO): Nmea in: $SNTTA,0.216850,,,,203750.47*48

2020-12-13T20:37:51.311Z,1607891871.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:52.927Z,1607891872.927 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:54.204Z,1607891874.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:54.943Z,1607891874.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:37:55.400Z,1607891875.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:37:56.203Z,1607891876.203 [Micromodem](INFO): Nmea in: $SNTTA,0.219209,,,,203756.13*46

2020-12-13T20:37:57.041Z,1607891877.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:37:58.227Z,1607891878.227 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:37:59.026Z,1607891879.026 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:37:59.562Z,1607891879.562 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:37:59.562Z,1607891879.562 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:37:59.563Z,1607891879.563 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:37:59.563Z,1607891879.563 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:37:59.837Z,1607891879.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:00.011Z,1607891880.011 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:38:00.415Z,1607891880.415 [Micromodem](INFO): Nmea in: $CADRQ,203800,1,9,0,64,1*47

2020-12-13T20:38:00.415Z,1607891880.415 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:38:00.831Z,1607891880.831 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:38:00.831Z,1607891880.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:01.208Z,1607891881.208 [Micromodem](INFO): Nmea in: $CADRQ,203801,1,9,0,64,2*45

2020-12-13T20:38:01.208Z,1607891881.208 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203801,1,9,0,64,2*45

2020-12-13T20:38:01.641Z,1607891881.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:02.043Z,1607891882.043 [Micromodem](INFO): Nmea in: $SNTTA,0.221212,,,,203802.02*49

2020-12-13T20:38:02.476Z,1607891882.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:04.443Z,1607891884.443 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:05.275Z,1607891885.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:06.060Z,1607891886.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:06.509Z,1607891886.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:07.316Z,1607891887.316 [Micromodem](INFO): Nmea in: $SNTTA,0.223295,,,,203807.25*44

2020-12-13T20:38:07.834Z,1607891887.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:09.343Z,1607891889.343 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:10.579Z,1607891890.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:11.359Z,1607891891.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:11.769Z,1607891891.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:12.601Z,1607891892.601 [Micromodem](INFO): Nmea in: $SNTTA,0.225529,,,,203812.55*41

2020-12-13T20:38:13.426Z,1607891893.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:15.006Z,1607891895.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:16.305Z,1607891896.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:17.031Z,1607891897.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:17.439Z,1607891897.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:18.255Z,1607891898.255 [Micromodem](INFO): Nmea in: $SNTTA,0.227812,,,,203818.22*4C

2020-12-13T20:38:19.210Z,1607891899.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:20.674Z,1607891900.674 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:21.923Z,1607891901.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:22.691Z,1607891902.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:23.093Z,1607891903.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:23.927Z,1607891903.927 [Micromodem](INFO): Nmea in: $SNTTA,0.230116,,,,203823.88*4F

2020-12-13T20:38:24.726Z,1607891904.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:26.326Z,1607891906.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:27.741Z,1607891907.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:28.341Z,1607891908.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:28.752Z,1607891908.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:29.588Z,1607891909.588 [Micromodem](INFO): Nmea in: $SNTTA,0.232770,,,,203829.53*47

2020-12-13T20:38:30.384Z,1607891910.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:30.767Z,1607891910.767 [Micromodem](INFO): Nmea in: $CAERR,203831,DATA_TIMEOUT,2*46

2020-12-13T20:38:31.171Z,1607891911.171 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:38:31.975Z,1607891911.975 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:32.786Z,1607891912.786 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:38:33.189Z,1607891913.189 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203831.645720,3,0,200,4000,14500,1,1,9,1,3,1,3,64*73

2020-12-13T20:38:33.270Z,1607891913.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:33.997Z,1607891913.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:34.497Z,1607891914.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:35.283Z,1607891915.283 [Micromodem](INFO): Nmea in: $SNTTA,0.235126,,,,203835.19*46

2020-12-13T20:38:36.145Z,1607891916.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:37.312Z,1607891917.312 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:38.731Z,1607891918.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:39.327Z,1607891919.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:39.745Z,1607891919.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:40.576Z,1607891920.576 [Micromodem](INFO): Nmea in: $SNTTA,0.237104,,,,203840.52*49

2020-12-13T20:38:41.427Z,1607891921.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:42.658Z,1607891922.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:43.933Z,1607891923.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:44.663Z,1607891924.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:45.053Z,1607891925.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:45.883Z,1607891925.883 [Micromodem](INFO): Nmea in: $SNTTA,0.239261,,,,203845.85*48

2020-12-13T20:38:46.715Z,1607891926.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:48.342Z,1607891928.342 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:49.218Z,1607891929.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:49.960Z,1607891929.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:50.361Z,1607891930.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:51.207Z,1607891931.207 [Micromodem](INFO): Nmea in: $SNTTA,0.241745,,,,203851.15*48

2020-12-13T20:38:51.783Z,1607891931.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:53.594Z,1607891933.594 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:38:54.432Z,1607891934.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:55.219Z,1607891935.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:38:55.652Z,1607891935.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:38:56.443Z,1607891936.443 [Micromodem](INFO): Nmea in: $SNTTA,0.243848,,,,203856.41*4E

2020-12-13T20:38:57.251Z,1607891937.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:38:58.858Z,1607891938.858 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:00.252Z,1607891940.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:00.889Z,1607891940.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:01.307Z,1607891941.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:02.111Z,1607891942.111 [Micromodem](INFO): Nmea in: $SNTTA,0.246159,,,,203902.08*4F

2020-12-13T20:39:02.938Z,1607891942.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:04.522Z,1607891944.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:04.919Z,1607891944.919 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:39:05.437Z,1607891945.437 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:39:05.438Z,1607891945.438 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:39:05.439Z,1607891945.439 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:39:05.439Z,1607891945.439 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:39:05.514Z,1607891945.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:05.728Z,1607891945.728 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:39:06.127Z,1607891946.127 [Micromodem](INFO): Nmea in: $CADRQ,203906,1,9,0,64,1*40

2020-12-13T20:39:06.128Z,1607891946.128 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:39:06.527Z,1607891946.527 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:39:06.527Z,1607891946.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:07.008Z,1607891947.008 [Micromodem](INFO): Nmea in: $CADRQ,203907,1,9,0,64,2*42

2020-12-13T20:39:07.008Z,1607891947.008 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203907,1,9,0,64,2*42

2020-12-13T20:39:07.421Z,1607891947.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:07.851Z,1607891947.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203907.72*54

2020-12-13T20:39:08.239Z,1607891948.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:09.865Z,1607891949.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:11.238Z,1607891951.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:11.867Z,1607891951.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:12.284Z,1607891952.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:13.095Z,1607891953.095 [Micromodem](INFO): Nmea in: $SNTTA,0.250543,,,,203913.06*49

2020-12-13T20:39:13.924Z,1607891953.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:15.498Z,1607891955.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:16.744Z,1607891956.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:17.511Z,1607891957.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:18.189Z,1607891958.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:18.991Z,1607891958.991 [Micromodem](INFO): Nmea in: $SNTTA,0.252676,,,,203918.70*44

2020-12-13T20:39:19.449Z,1607891959.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:20.654Z,1607891960.654 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T20:29:20.3Z
2020-12-13T20:39:20.654Z,1607891960.654 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T20:39:20.654Z,1607891960.654 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:39:20.654Z,1607891960.654 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T20:39:20.654Z,1607891960.654 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:39:20.654Z,1607891960.654 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T20:39:21.010Z,1607891961.010 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:21.083Z,1607891961.083 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:39:21.083Z,1607891961.083 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T20:39:21.083Z,1607891961.083 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T20:39:21.083Z,1607891961.083 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:39:21.083Z,1607891961.083 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T20:39:22.267Z,1607891962.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:23.055Z,1607891963.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:23.451Z,1607891963.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:24.283Z,1607891964.283 [Micromodem](INFO): Nmea in: $SNTTA,0.255149,,,,203924.24*46

2020-12-13T20:39:25.097Z,1607891965.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:26.690Z,1607891966.690 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:27.947Z,1607891967.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:28.707Z,1607891968.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:29.121Z,1607891969.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:29.943Z,1607891969.943 [Micromodem](INFO): Nmea in: $SNTTA,0.257461,,,,203929.90*49

2020-12-13T20:39:30.955Z,1607891970.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:32.350Z,1607891972.350 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:33.620Z,1607891973.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:34.373Z,1607891974.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:34.786Z,1607891974.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:35.613Z,1607891975.613 [Micromodem](INFO): Nmea in: $SNTTA,0.259805,,,,203935.56*4E

2020-12-13T20:39:36.423Z,1607891976.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:36.801Z,1607891976.801 [Micromodem](INFO): Nmea in: $CAERR,203937,DATA_TIMEOUT,2*41

2020-12-13T20:39:37.198Z,1607891977.198 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:39:38.017Z,1607891978.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:38.412Z,1607891978.412 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:39:38.823Z,1607891978.823 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,203937.357301,3,0,200,4000,14500,1,1,9,1,3,1,3,64*75

2020-12-13T20:39:39.377Z,1607891979.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:40.031Z,1607891980.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:40.430Z,1607891980.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:41.263Z,1607891981.263 [Micromodem](INFO): Nmea in: $SNTTA,0.262050,,,,203941.22*4E

2020-12-13T20:39:42.072Z,1607891982.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:43.670Z,1607891983.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:44.939Z,1607891984.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:45.688Z,1607891985.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:46.125Z,1607891986.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:46.939Z,1607891986.939 [Micromodem](INFO): Nmea in: $SNTTA,0.264600,,,,203946.88*4C

2020-12-13T20:39:47.808Z,1607891987.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:49.350Z,1607891989.350 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:39:50.330Z,1607891990.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:50.975Z,1607891990.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:51.377Z,1607891991.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:52.193Z,1607891992.193 [Micromodem](INFO): Nmea in: $SNTTA,0.266596,,,,203952.17*41

2020-12-13T20:39:52.642Z,1607891992.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 400.079987 m, bearing: 270.329270 deg, deltaT: 193.277957 s, approachRate: 0.615901 m/s, LOS rate: 0.000778 deg/s, posRepo size: 4
2020-12-13T20:39:55.055Z,1607891995.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:55.838Z,1607891995.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:39:56.217Z,1607891996.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:39:57.103Z,1607891997.103 [Micromodem](INFO): Nmea in: $SNTTA,0.268619,,,,203957.03*4B

2020-12-13T20:39:57.951Z,1607891997.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:39:59.506Z,1607891999.506 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:00.749Z,1607892000.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:01.519Z,1607892001.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:01.929Z,1607892001.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:02.757Z,1607892002.757 [Micromodem](INFO): Nmea in: $SNTTA,0.271023,,,,204002.72*44

2020-12-13T20:40:03.328Z,1607892003.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:05.158Z,1607892005.158 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:06.010Z,1607892006.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:06.771Z,1607892006.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:07.177Z,1607892007.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:08.015Z,1607892008.015 [Micromodem](INFO): Nmea in: $SNTTA,0.272934,,,,204007.96*47

2020-12-13T20:40:08.864Z,1607892008.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:10.414Z,1607892010.414 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:10.835Z,1607892010.835 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:40:11.368Z,1607892011.368 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:40:11.368Z,1607892011.368 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:40:11.369Z,1607892011.369 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:40:11.369Z,1607892011.369 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:40:11.448Z,1607892011.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:11.659Z,1607892011.659 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:40:12.043Z,1607892012.043 [Micromodem](INFO): Nmea in: $CADRQ,204012,1,9,0,64,1*4B

2020-12-13T20:40:12.044Z,1607892012.044 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:40:12.427Z,1607892012.427 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:40:12.428Z,1607892012.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:12.855Z,1607892012.855 [Micromodem](INFO): Nmea in: $CADRQ,204013,1,9,0,64,2*49

2020-12-13T20:40:12.855Z,1607892012.855 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,204013,1,9,0,64,2*49

2020-12-13T20:40:13.233Z,1607892013.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:13.671Z,1607892013.671 [Micromodem](INFO): Nmea in: $SNTTA,0.275128,,,,204013.62*4B

2020-12-13T20:40:14.065Z,1607892014.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:16.062Z,1607892016.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:16.901Z,1607892016.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:17.679Z,1607892017.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:18.081Z,1607892018.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:18.909Z,1607892018.909 [Micromodem](INFO): Nmea in: $SNTTA,0.277245,,,,204018.87*41

2020-12-13T20:40:19.355Z,1607892019.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 416.099976 m, bearing: 267.551378 deg, deltaT: 26.606985 s, approachRate: 0.602097 m/s, LOS rate: -0.104405 deg/s, posRepo size: 4
2020-12-13T20:40:21.740Z,1607892021.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:22.531Z,1607892022.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:23.042Z,1607892023.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:23.856Z,1607892023.856 [Micromodem](INFO): Nmea in: $SNTTA,0.279312,,,,204023.72*4E

2020-12-13T20:40:24.303Z,1607892024.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 419.219971 m, bearing: 268.791139 deg, deltaT: 5.000139 s, approachRate: 0.623982 m/s, LOS rate: 0.247945 deg/s, posRepo size: 4
2020-12-13T20:40:26.720Z,1607892026.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:27.495Z,1607892027.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:27.886Z,1607892027.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:28.965Z,1607892028.965 [Micromodem](INFO): Nmea in: $SNTTA,0.281363,,,,204028.69*4E

2020-12-13T20:40:29.394Z,1607892029.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:30.986Z,1607892030.986 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:32.250Z,1607892032.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:33.003Z,1607892033.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:33.414Z,1607892033.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:34.235Z,1607892034.235 [Micromodem](INFO): Nmea in: $SNTTA,0.283847,,,,204034.19*4B

2020-12-13T20:40:35.062Z,1607892035.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:36.678Z,1607892036.678 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:37.700Z,1607892037.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:38.347Z,1607892038.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:38.762Z,1607892038.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:39.577Z,1607892039.577 [Micromodem](INFO): Nmea in: $SNTTA,0.286209,,,,204039.54*4A

2020-12-13T20:40:40.385Z,1607892040.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:41.978Z,1607892041.978 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:42.383Z,1607892042.383 [Micromodem](INFO): Nmea in: $CAERR,204043,DATA_TIMEOUT,2*4C

2020-12-13T20:40:42.797Z,1607892042.797 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:40:43.248Z,1607892043.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:43.999Z,1607892043.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:44.407Z,1607892044.407 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:40:44.407Z,1607892044.407 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T20:40:44.826Z,1607892044.826 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,20404.273165,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7F

2020-12-13T20:40:44.826Z,1607892044.826 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAXST,6,20201213,20404.273165,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7F
 expected 4C
2020-12-13T20:40:44.826Z,1607892044.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:45.213Z,1607892045.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:46.035Z,1607892046.035 [Micromodem](INFO): Nmea in: $SNTTA,0.288851,,,,204046.02*48

2020-12-13T20:40:46.093Z,1607892046.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:48.073Z,1607892048.073 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:40:48.442Z,1607892048.442 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:48.639Z,1607892048.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:49.259Z,1607892049.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:49.665Z,1607892049.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:50.487Z,1607892050.487 [Micromodem](INFO): Nmea in: $SNTTA,0.290729,,,,204050.45*45

2020-12-13T20:40:51.322Z,1607892051.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:52.914Z,1607892052.914 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:54.152Z,1607892054.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:54.927Z,1607892054.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:40:55.378Z,1607892055.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:40:56.195Z,1607892056.195 [Micromodem](INFO): Nmea in: $SNTTA,0.293398,,,,204056.12*4C

2020-12-13T20:40:56.666Z,1607892056.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:40:58.626Z,1607892058.626 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:40:59.427Z,1607892059.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:00.223Z,1607892060.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:00.655Z,1607892060.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:01.475Z,1607892061.475 [Micromodem](INFO): Nmea in: $SNTTA,0.295231,,,,204101.41*4D

2020-12-13T20:41:01.929Z,1607892061.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:03.498Z,1607892063.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:04.832Z,1607892064.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:05.543Z,1607892065.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:05.945Z,1607892065.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:06.778Z,1607892066.778 [Micromodem](INFO): Nmea in: $SNTTA,0.297540,,,,204106.73*48

2020-12-13T20:41:07.633Z,1607892067.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:09.110Z,1607892069.110 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:10.515Z,1607892070.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:11.132Z,1607892071.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:11.542Z,1607892071.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:12.359Z,1607892072.359 [Micromodem](INFO): Nmea in: $SNTTA,0.299758,,,,204112.32*4D

2020-12-13T20:41:13.182Z,1607892073.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:14.762Z,1607892074.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:16.051Z,1607892076.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:16.414Z,1607892076.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:16.820Z,1607892076.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:16.833Z,1607892076.833 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:41:17.314Z,1607892077.314 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:41:17.314Z,1607892077.314 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:41:17.314Z,1607892077.314 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:41:17.315Z,1607892077.315 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:41:17.594Z,1607892077.594 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:41:17.987Z,1607892077.987 [Micromodem](INFO): Nmea in: $CADRQ,204118,1,9,0,64,1*40

2020-12-13T20:41:17.987Z,1607892077.987 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:41:18.395Z,1607892078.395 [Micromodem](INFO): Nmea in: $SNTTA,0.301960,,,,204117.61*4B

2020-12-13T20:41:18.395Z,1607892078.395 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.301960,,,,204117.61*4B

2020-12-13T20:41:18.903Z,1607892078.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:19.630Z,1607892079.630 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:41:20.014Z,1607892080.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:20.015Z,1607892080.015 [Micromodem](INFO): Nmea in: $CADRQ,204119,1,9,0,64,2*42

2020-12-13T20:41:20.015Z,1607892080.015 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:41:20.515Z,1607892080.515 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:41:20.919Z,1607892080.919 [Micromodem](INFO): Nmea in: $CADRQ,204121,1,9,0,64,3*48

2020-12-13T20:41:20.919Z,1607892080.919 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:41:21.319Z,1607892081.319 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:41:21.526Z,1607892081.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:21.730Z,1607892081.730 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:41:22.143Z,1607892082.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:24.219Z,1607892084.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:25.363Z,1607892085.363 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:41:25.363Z,1607892085.363 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:41:25.773Z,1607892085.773 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,204122.152366,3,0,200,4000,14500,1,1,9,1,3,3,3,186*47

2020-12-13T20:41:25.773Z,1607892085.773 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,204122.152366,3,0,200,4000,14500,1,1,9,1,3,3,3,186*47

2020-12-13T20:41:27.039Z,1607892087.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:28.661Z,1607892088.661 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:41:30.012Z,1607892090.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:32.718Z,1607892092.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:33.447Z,1607892093.447 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:33.877Z,1607892093.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:34.690Z,1607892094.690 [Micromodem](INFO): Nmea in: $SNTTA,0.309530,,,,204134.64*4E

2020-12-13T20:41:35.544Z,1607892095.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:37.092Z,1607892097.092 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:38.310Z,1607892098.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:39.115Z,1607892099.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:39.513Z,1607892099.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:40.347Z,1607892100.347 [Micromodem](INFO): Nmea in: $SNTTA,0.311518,,,,204140.31*4E

2020-12-13T20:41:40.933Z,1607892100.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:42.742Z,1607892102.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:43.618Z,1607892103.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:44.366Z,1607892104.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:44.773Z,1607892104.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:45.621Z,1607892105.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204145.55*58

2020-12-13T20:41:46.477Z,1607892106.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:48.006Z,1607892108.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:49.380Z,1607892109.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:50.027Z,1607892110.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:50.426Z,1607892110.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:51.255Z,1607892111.255 [Micromodem](INFO): Nmea in: $SNTTA,0.316144,,,,204151.22*46

2020-12-13T20:41:52.093Z,1607892112.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:53.658Z,1607892113.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:41:54.967Z,1607892114.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:55.684Z,1607892115.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:41:56.145Z,1607892116.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:41:56.947Z,1607892116.947 [Micromodem](INFO): Nmea in: $SNTTA,0.318581,,,,204156.87*4D

2020-12-13T20:41:57.827Z,1607892117.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:41:58.962Z,1607892118.962 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:00.374Z,1607892120.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:00.980Z,1607892120.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:01.389Z,1607892121.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:02.194Z,1607892122.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204202.19*50

2020-12-13T20:42:03.043Z,1607892123.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:04.621Z,1607892124.621 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:05.900Z,1607892125.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:06.661Z,1607892126.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:07.121Z,1607892127.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:07.932Z,1607892127.932 [Micromodem](INFO): Nmea in: $SNTTA,0.322888,,,,204207.85*45

2020-12-13T20:42:08.947Z,1607892128.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:09.942Z,1607892129.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:11.630Z,1607892131.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:12.375Z,1607892132.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:12.839Z,1607892132.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:13.624Z,1607892133.624 [Micromodem](INFO): Nmea in: $SNTTA,0.325191,,,,204213.56*48

2020-12-13T20:42:14.444Z,1607892134.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:16.006Z,1607892136.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:17.239Z,1607892137.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:18.031Z,1607892138.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:18.447Z,1607892138.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:19.274Z,1607892139.274 [Micromodem](INFO): Nmea in: $SNTTA,0.327376,,,,204219.22*48

2020-12-13T20:42:19.875Z,1607892139.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:21.308Z,1607892141.308 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:22.510Z,1607892142.510 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:42:22.526Z,1607892142.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:23.051Z,1607892143.051 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:42:23.052Z,1607892143.052 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:42:23.052Z,1607892143.052 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:42:23.053Z,1607892143.053 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:42:23.319Z,1607892143.319 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:42:23.320Z,1607892143.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:23.727Z,1607892143.727 [Micromodem](INFO): Nmea in: $CADRQ,204224,1,9,0,64,1*4C

2020-12-13T20:42:23.727Z,1607892143.727 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,204224,1,9,0,64,1*4C

2020-12-13T20:42:24.144Z,1607892144.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:24.562Z,1607892144.562 [Micromodem](INFO): Nmea in: $SNTTA,0.329470,,,,204224.51*4D

2020-12-13T20:42:25.367Z,1607892145.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:26.966Z,1607892146.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:28.048Z,1607892148.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:28.641Z,1607892148.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:29.033Z,1607892149.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:29.871Z,1607892149.871 [Micromodem](INFO): Nmea in: $SNTTA,0.331875,,,,204229.83*4F

2020-12-13T20:42:30.691Z,1607892150.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:32.273Z,1607892152.273 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:33.494Z,1607892153.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:34.289Z,1607892154.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:34.689Z,1607892154.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:35.514Z,1607892155.514 [Micromodem](INFO): Nmea in: $SNTTA,0.333855,,,,204235.48*45

2020-12-13T20:42:36.315Z,1607892156.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:37.922Z,1607892157.922 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:39.298Z,1607892159.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:39.939Z,1607892159.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:40.341Z,1607892160.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:41.156Z,1607892161.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204241.13*5D

2020-12-13T20:42:41.999Z,1607892161.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:43.570Z,1607892163.570 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:44.865Z,1607892164.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:45.593Z,1607892165.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:46.057Z,1607892166.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:46.872Z,1607892166.872 [Micromodem](INFO): Nmea in: $SNTTA,0.338518,,,,204246.78*4D

2020-12-13T20:42:47.935Z,1607892167.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:48.906Z,1607892168.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:50.538Z,1607892170.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:51.335Z,1607892171.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:51.737Z,1607892171.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:52.566Z,1607892172.566 [Micromodem](INFO): Nmea in: $SNTTA,0.340933,,,,204252.52*4A

2020-12-13T20:42:53.407Z,1607892173.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:53.747Z,1607892173.747 [Micromodem](INFO): Nmea in: $CAERR,204254,DATA_TIMEOUT,1*4B

2020-12-13T20:42:54.958Z,1607892174.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:42:56.213Z,1607892176.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:42:56.995Z,1607892176.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:42:57.399Z,1607892177.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:42:58.211Z,1607892178.211 [Micromodem](INFO): Nmea in: $SNTTA,0.343115,,,,204258.18*41

2020-12-13T20:42:58.833Z,1607892178.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:00.654Z,1607892180.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:01.516Z,1607892181.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:02.271Z,1607892182.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:02.681Z,1607892182.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:03.503Z,1607892183.503 [Micromodem](INFO): Nmea in: $SNTTA,0.345471,,,,204303.46*44

2020-12-13T20:43:04.311Z,1607892184.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:05.906Z,1607892185.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:07.334Z,1607892187.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:07.923Z,1607892187.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:08.337Z,1607892188.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:09.155Z,1607892189.155 [Micromodem](INFO): Nmea in: $SNTTA,0.347917,,,,204309.11*43

2020-12-13T20:43:09.986Z,1607892189.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:11.554Z,1607892191.554 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:12.889Z,1607892192.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:13.631Z,1607892193.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:14.089Z,1607892194.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:14.904Z,1607892194.904 [Micromodem](INFO): Nmea in: $SNTTA,0.350188,,,,204314.82*4D

2020-12-13T20:43:15.751Z,1607892195.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:16.906Z,1607892196.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:18.296Z,1607892198.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:18.931Z,1607892198.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:19.344Z,1607892199.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:20.179Z,1607892200.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204320.12*5A

2020-12-13T20:43:21.018Z,1607892201.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 528.479980 m, bearing: 267.941245 deg, deltaT: 176.592754 s, approachRate: 0.618712 m/s, LOS rate: -0.004813 deg/s, posRepo size: 4
2020-12-13T20:43:21.018Z,1607892201.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 528.48 m. Resuming terminal guidance.
2020-12-13T20:43:21.019Z,1607892201.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T20:43:23.384Z,1607892203.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:24.197Z,1607892204.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:24.584Z,1607892204.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:25.444Z,1607892205.444 [Micromodem](INFO): Nmea in: $SNTTA,0.354435,,,,204325.39*48

2020-12-13T20:43:26.236Z,1607892206.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:26.350Z,1607892206.350 [CTD_Seabird](ERROR): Failed to parse device response: 5.87,7.675821
2020-12-13T20:43:27.534Z,1607892207.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:28.331Z,1607892208.331 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:43:28.890Z,1607892208.890 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:43:28.890Z,1607892208.890 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:43:28.891Z,1607892208.891 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:43:28.891Z,1607892208.891 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:43:28.984Z,1607892208.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:29.144Z,1607892209.144 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:43:29.552Z,1607892209.552 [Micromodem](INFO): Nmea in: $CADRQ,204330,1,9,0,64,1*48

2020-12-13T20:43:29.552Z,1607892209.552 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:43:29.947Z,1607892209.947 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:43:29.947Z,1607892209.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:30.352Z,1607892210.352 [Micromodem](INFO): Nmea in: $CADRQ,204330,1,9,0,64,2*4B

2020-12-13T20:43:30.352Z,1607892210.352 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,204330,1,9,0,64,2*4B

2020-12-13T20:43:30.762Z,1607892210.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:31.191Z,1607892211.191 [Micromodem](INFO): Nmea in: $SNTTA,0.356688,,,,204331.14*44

2020-12-13T20:43:31.645Z,1607892211.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:33.624Z,1607892213.624 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:34.472Z,1607892214.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:35.235Z,1607892215.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:35.661Z,1607892215.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:36.479Z,1607892216.479 [Micromodem](INFO): Nmea in: $SNTTA,0.358890,,,,204336.43*48

2020-12-13T20:43:37.410Z,1607892217.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:38.866Z,1607892218.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:40.123Z,1607892220.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:40.883Z,1607892220.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:41.292Z,1607892221.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:42.119Z,1607892222.119 [Micromodem](INFO): Nmea in: $SNTTA,0.360953,,,,204342.07*4E

2020-12-13T20:43:42.950Z,1607892222.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:44.514Z,1607892224.514 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:45.951Z,1607892225.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:46.590Z,1607892226.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:46.941Z,1607892226.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:48.147Z,1607892228.147 [Micromodem](INFO): Nmea in: $SNTTA,0.363377,,,,204347.78*4C

2020-12-13T20:43:48.626Z,1607892228.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:50.175Z,1607892230.175 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:51.438Z,1607892231.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:52.203Z,1607892232.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:52.625Z,1607892232.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:53.423Z,1607892233.423 [Micromodem](INFO): Nmea in: $SNTTA,0.365643,,,,204353.39*48

2020-12-13T20:43:54.247Z,1607892234.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:55.858Z,1607892235.858 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:43:56.904Z,1607892236.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:57.449Z,1607892237.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:43:57.893Z,1607892237.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:43:58.679Z,1607892238.679 [Micromodem](INFO): Nmea in: $SNTTA,0.367994,,,,204358.64*4C

2020-12-13T20:43:59.491Z,1607892239.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:43:59.876Z,1607892239.876 [Micromodem](INFO): Nmea in: $CAERR,204400,DATA_TIMEOUT,2*4F

2020-12-13T20:44:00.291Z,1607892240.291 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:44:01.082Z,1607892241.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:01.886Z,1607892241.886 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:44:02.296Z,1607892242.296 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,204400.784916,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7D

2020-12-13T20:44:02.336Z,1607892242.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:03.111Z,1607892243.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:03.528Z,1607892243.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:04.339Z,1607892244.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204404.30*5B

2020-12-13T20:44:05.303Z,1607892245.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:06.738Z,1607892246.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:08.006Z,1607892248.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:08.767Z,1607892248.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:09.173Z,1607892249.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:09.983Z,1607892249.983 [Micromodem](INFO): Nmea in: $SNTTA,0.372189,,,,204409.96*42

2020-12-13T20:44:10.890Z,1607892250.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:12.398Z,1607892252.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:13.651Z,1607892253.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:14.416Z,1607892254.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:14.849Z,1607892254.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:15.667Z,1607892255.667 [Micromodem](INFO): Nmea in: $SNTTA,0.374499,,,,204415.61*45

2020-12-13T20:44:16.198Z,1607892256.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:18.059Z,1607892258.059 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:18.922Z,1607892258.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:19.679Z,1607892259.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:20.073Z,1607892260.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:20.895Z,1607892260.895 [Micromodem](INFO): Nmea in: $SNTTA,0.376632,,,,204420.87*4A

2020-12-13T20:44:21.733Z,1607892261.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:23.310Z,1607892263.310 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:24.738Z,1607892264.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:25.319Z,1607892265.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:25.724Z,1607892265.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:26.562Z,1607892266.562 [Micromodem](INFO): Nmea in: $SNTTA,0.378877,,,,204426.51*46

2020-12-13T20:44:27.382Z,1607892267.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:28.958Z,1607892268.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:30.238Z,1607892270.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:30.976Z,1607892270.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:31.382Z,1607892271.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:32.207Z,1607892272.207 [Micromodem](INFO): Nmea in: $SNTTA,0.381026,,,,204432.17*4B

2020-12-13T20:44:33.035Z,1607892273.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:34.217Z,1607892274.217 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:44:34.634Z,1607892274.634 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:34.770Z,1607892274.770 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:44:34.770Z,1607892274.770 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:44:34.772Z,1607892274.772 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:44:34.774Z,1607892274.774 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:44:35.019Z,1607892275.019 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:44:35.423Z,1607892275.423 [Micromodem](INFO): Nmea in: $CADRQ,204435,1,9,0,64,1*4A

2020-12-13T20:44:35.424Z,1607892275.424 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:44:35.851Z,1607892275.851 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:44:35.920Z,1607892275.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:36.251Z,1607892276.251 [Micromodem](INFO): Nmea in: $CADRQ,204436,1,9,0,64,2*4A

2020-12-13T20:44:36.251Z,1607892276.251 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:44:36.659Z,1607892276.659 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:44:36.660Z,1607892276.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:37.035Z,1607892277.035 [Micromodem](INFO): Nmea in: $CADRQ,204437,1,9,0,64,3*4A

2020-12-13T20:44:37.035Z,1607892277.035 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,204437,1,9,0,64,3*4A

2020-12-13T20:44:37.459Z,1607892277.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:37.872Z,1607892277.872 [Micromodem](INFO): Nmea in: $SNTTA,0.383402,,,,204437.85*45

2020-12-13T20:44:38.686Z,1607892278.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:40.271Z,1607892280.271 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:41.741Z,1607892281.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:42.287Z,1607892282.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:42.699Z,1607892282.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:43.527Z,1607892283.527 [Micromodem](INFO): Nmea in: $SNTTA,0.385570,,,,204443.48*45

2020-12-13T20:44:44.343Z,1607892284.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:45.935Z,1607892285.935 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:44:47.178Z,1607892287.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:47.943Z,1607892287.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:48.573Z,1607892288.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:49.381Z,1607892289.381 [Micromodem](INFO): Nmea in: $SNTTA,0.388007,,,,204449.13*49

2020-12-13T20:44:49.853Z,1607892289.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 582.119995 m, bearing: 272.859774 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T20:44:49.854Z,1607892289.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 272.859774deg and heading rate command to 0 deg/s.
2020-12-13T20:44:52.295Z,1607892292.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:53.007Z,1607892293.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:53.421Z,1607892293.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:54.243Z,1607892294.243 [Micromodem](INFO): Nmea in: $SNTTA,0.389954,,,,204454.20*4B

2020-12-13T20:44:55.098Z,1607892295.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 585.000000 m, bearing: 274.706384 deg, deltaT: 5.425653 s, approachRate: 0.530813 m/s, LOS rate: 0.340348 deg/s, posRepo size: 2
2020-12-13T20:44:55.100Z,1607892295.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 585.000000 m,
      bearing: 274.706384 deg,
      approachRate: 0.530813 m/s,
      LOS rate: 0.340348 deg/s,
      cmd update: 1.021044 deg/s,
      cmd heading: 272.859774 deg,
      new cmd heading: 272.859774 deg.

2020-12-13T20:44:57.507Z,1607892297.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:44:58.291Z,1607892298.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:44:58.705Z,1607892298.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:44:59.534Z,1607892299.534 [Micromodem](INFO): Nmea in: $SNTTA,0.391989,,,,204459.48*41

2020-12-13T20:45:00.352Z,1607892300.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 588.059998 m, bearing: 278.316494 deg, deltaT: 5.092876 s, approachRate: 0.600839 m/s, LOS rate: 0.708855 deg/s, posRepo size: 3
2020-12-13T20:45:00.354Z,1607892300.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 588.059998 m,
      bearing: 278.316494 deg,
      approachRate: 0.600839 m/s,
      LOS rate: 0.708855 deg/s,
      cmd update: 2.126565 deg/s,
      cmd heading: 278.059793 deg,
      new cmd heading: 278.432051 deg.

2020-12-13T20:45:01.971Z,1607892301.971 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:45:02.840Z,1607892302.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:03.543Z,1607892303.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:03.947Z,1607892303.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:04.782Z,1607892304.782 [Micromodem](INFO): Nmea in: $SNTTA,0.394132,,,,204504.73*4D

2020-12-13T20:45:05.639Z,1607892305.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 591.299988 m, bearing: 287.352151 deg, deltaT: 5.233301 s, approachRate: 0.619110 m/s, LOS rate: 1.726569 deg/s, posRepo size: 4
2020-12-13T20:45:05.657Z,1607892305.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 591.299988 m,
      bearing: 287.352151 deg,
      approachRate: 0.619110 m/s,
      LOS rate: 1.726569 deg/s,
      cmd update: 5.179708 deg/s,
      cmd heading: 289.180155 deg,
      new cmd heading: 290.077412 deg.

2020-12-13T20:45:06.386Z,1607892306.386 [Micromodem](INFO): Nmea in: $CAERR,204507,DATA_TIMEOUT,3*48

2020-12-13T20:45:06.810Z,1607892306.810 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:45:07.853Z,1607892307.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:08.391Z,1607892308.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:09.620Z,1607892309.620 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:45:09.625Z,1607892309.625 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2020-12-13T20:45:10.012Z,1607892310.012 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,204507.498126,3,0,200,4000,14500,1,1,9,1,3,2,3,128*44

2020-12-13T20:45:10.012Z,1607892310.012 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,204507.498126,3,0,200,4000,14500,1,1,9,1,3,2,3,128*44

2020-12-13T20:45:10.469Z,1607892310.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:11.673Z,1607892311.673 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:45:13.280Z,1607892313.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:16.275Z,1607892316.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:16.905Z,1607892316.905 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:45:18.957Z,1607892318.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:19.714Z,1607892319.714 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:20.195Z,1607892320.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:21.027Z,1607892321.027 [Micromodem](INFO): Nmea in: $SNTTA,0.398124,,,,204520.90*4D

2020-12-13T20:45:21.870Z,1607892321.870 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:45:21.883Z,1607892321.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 597.179993 m, bearing: 38.187246 deg, deltaT: 16.201497 s, approachRate: 0.362930 m/s, LOS rate: 6.841039 deg/s, posRepo size: 4
2020-12-13T20:45:21.885Z,1607892321.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 597.179993 m,
      bearing: 38.187246 deg,
      approachRate: 0.362930 m/s,
      LOS rate: 6.841039 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 13.120189 deg,
      new cmd heading: 15.506796 deg.

2020-12-13T20:45:24.180Z,1607892324.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:24.903Z,1607892324.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:25.319Z,1607892325.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:26.142Z,1607892326.142 [Micromodem](INFO): Nmea in: $SNTTA,0.398105,,,,204526.09*48

2020-12-13T20:45:27.098Z,1607892327.098 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:45:27.110Z,1607892327.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 597.119995 m, bearing: 323.068795 deg, deltaT: 5.221334 s, approachRate: -0.011491 m/s, LOS rate: -14.386829 deg/s, posRepo size: 4
2020-12-13T20:45:27.111Z,1607892327.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.386829 deg/s. Setting heading cmd to target bearing of 323.068795deg and heading rate command to 0 deg/s.
2020-12-13T20:45:29.379Z,1607892329.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:30.163Z,1607892330.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:30.587Z,1607892330.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:31.392Z,1607892331.392 [Micromodem](INFO): Nmea in: $SNTTA,0.397345,,,0.399852,204531.35*5A

2020-12-13T20:45:31.839Z,1607892331.839 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:45:32.216Z,1607892332.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 596.039978 m, bearing: 51.332215 deg, deltaT: 5.207956 s, approachRate: -0.207378 m/s, LOS rate: 16.947803 deg/s, posRepo size: 4
2020-12-13T20:45:32.217Z,1607892332.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.947803 deg/s. Setting heading cmd to target bearing of 51.332215deg and heading rate command to 0 deg/s.
2020-12-13T20:45:34.669Z,1607892334.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:35.411Z,1607892335.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:35.865Z,1607892335.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:36.683Z,1607892336.683 [Micromodem](INFO): Nmea in: $SNTTA,0.395920,,,,204536.60*44

2020-12-13T20:45:36.715Z,1607892336.715 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:45:37.473Z,1607892337.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 593.760010 m, bearing: 83.349912 deg, deltaT: 5.215755 s, approachRate: -0.437131 m/s, LOS rate: 6.138650 deg/s, posRepo size: 4
2020-12-13T20:45:37.475Z,1607892337.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 593.760010 m,
      bearing: 83.349912 deg,
      approachRate: -0.437131 m/s,
      LOS rate: 6.138650 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 51.332215 deg,
      new cmd heading: 51.332215 deg.

2020-12-13T20:45:39.864Z,1607892339.864 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:45:40.104Z,1607892340.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:40.414Z,1607892340.414 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:45:40.415Z,1607892340.415 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:45:40.415Z,1607892340.415 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:45:40.416Z,1607892340.416 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:45:40.690Z,1607892340.690 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:45:40.691Z,1607892340.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:41.097Z,1607892341.097 [Micromodem](INFO): Nmea in: $CADRQ,204541,1,9,0,64,1*48

2020-12-13T20:45:41.098Z,1607892341.098 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,204541,1,9,0,64,1*48

2020-12-13T20:45:41.497Z,1607892341.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:41.903Z,1607892341.903 [Micromodem](INFO): Nmea in: $SNTTA,0.393747,,,,204541.88*4B

2020-12-13T20:45:42.076Z,1607892342.076 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:45:42.737Z,1607892342.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 590.640015 m, bearing: 85.005276 deg, deltaT: 5.258103 s, approachRate: -0.593369 m/s, LOS rate: 0.314822 deg/s, posRepo size: 4
2020-12-13T20:45:42.739Z,1607892342.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 590.640015 m,
      bearing: 85.005276 deg,
      approachRate: -0.593369 m/s,
      LOS rate: 0.314822 deg/s,
      cmd update: 0.944465 deg/s,
      cmd heading: 114.428997 deg,
      new cmd heading: 119.366397 deg.

2020-12-13T20:45:45.178Z,1607892345.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:45.935Z,1607892345.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:46.333Z,1607892346.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:47.166Z,1607892347.166 [Micromodem](INFO): Nmea in: $SNTTA,0.391462,,,,204547.12*48

2020-12-13T20:45:47.996Z,1607892347.996 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:45:48.011Z,1607892348.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:49.570Z,1607892349.570 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:45:50.838Z,1607892350.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:51.633Z,1607892351.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:51.702Z,1607892351.702 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T20:45:52.001Z,1607892352.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:52.820Z,1607892352.820 [Micromodem](INFO): Nmea in: $SNTTA,0.388391,,,,204552.82*46

2020-12-13T20:45:53.665Z,1607892353.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 582.419983 m, bearing: 81.560197 deg, deltaT: 10.909034 s, approachRate: -0.753507 m/s, LOS rate: -0.315801 deg/s, posRepo size: 4
2020-12-13T20:45:53.667Z,1607892353.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 582.419983 m,
      bearing: 81.560197 deg,
      approachRate: -0.753507 m/s,
      LOS rate: -0.315801 deg/s,
      cmd update: -0.947402 deg/s,
      cmd heading: 124.732099 deg,
      new cmd heading: 125.138434 deg.

2020-12-13T20:45:56.107Z,1607892356.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:45:56.870Z,1607892356.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:45:57.245Z,1607892357.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:45:58.074Z,1607892358.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204558.06*56

2020-12-13T20:45:58.083Z,1607892358.083 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:45:58.931Z,1607892358.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 578.460022 m, bearing: 82.794897 deg, deltaT: 5.256613 s, approachRate: -0.753329 m/s, LOS rate: 0.234885 deg/s, posRepo size: 4
2020-12-13T20:45:58.933Z,1607892358.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 578.460022 m,
      bearing: 82.794897 deg,
      approachRate: -0.753329 m/s,
      LOS rate: 0.234885 deg/s,
      cmd update: 0.704655 deg/s,
      cmd heading: 119.767029 deg,
      new cmd heading: 119.335101 deg.

2020-12-13T20:46:01.468Z,1607892361.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:02.107Z,1607892362.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:02.505Z,1607892362.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:03.319Z,1607892363.319 [Micromodem](INFO): Nmea in: $SNTTA,0.383204,,,,204603.30*4E

2020-12-13T20:46:04.159Z,1607892364.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 574.619995 m, bearing: 81.265536 deg, deltaT: 5.261924 s, approachRate: -0.729776 m/s, LOS rate: -0.290647 deg/s, posRepo size: 4
2020-12-13T20:46:04.161Z,1607892364.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 574.619995 m,
      bearing: 81.265536 deg,
      approachRate: -0.729776 m/s,
      LOS rate: -0.290647 deg/s,
      cmd update: -0.871940 deg/s,
      cmd heading: 123.484399 deg,
      new cmd heading: 123.772232 deg.

2020-12-13T20:46:06.550Z,1607892366.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:07.339Z,1607892367.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:07.759Z,1607892367.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:08.594Z,1607892368.594 [Micromodem](INFO): Nmea in: $SNTTA,0.380718,,,,204608.53*4B

2020-12-13T20:46:09.429Z,1607892369.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 570.839966 m, bearing: 80.460093 deg, deltaT: 5.323415 s, approachRate: -0.710076 m/s, LOS rate: -0.151302 deg/s, posRepo size: 4
2020-12-13T20:46:09.432Z,1607892369.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 570.839966 m,
      bearing: 80.460093 deg,
      approachRate: -0.710076 m/s,
      LOS rate: -0.151302 deg/s,
      cmd update: -0.453906 deg/s,
      cmd heading: 118.840565 deg,
      new cmd heading: 118.533884 deg.

2020-12-13T20:46:10.634Z,1607892370.634 [Micromodem](INFO): Nmea in: $CAERR,204611,DATA_TIMEOUT,1*4E

2020-12-13T20:46:11.930Z,1607892371.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:12.647Z,1607892372.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:13.045Z,1607892373.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:13.867Z,1607892373.867 [Micromodem](INFO): Nmea in: $SNTTA,0.378174,,,,204613.84*40

2020-12-13T20:46:14.704Z,1607892374.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 567.059998 m, bearing: 79.894225 deg, deltaT: 5.349176 s, approachRate: -0.706645 m/s, LOS rate: -0.105786 deg/s, posRepo size: 4
2020-12-13T20:46:14.706Z,1607892374.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 567.059998 m,
      bearing: 79.894225 deg,
      approachRate: -0.706645 m/s,
      LOS rate: -0.105786 deg/s,
      cmd update: -0.317358 deg/s,
      cmd heading: 116.412828 deg,
      new cmd heading: 116.286104 deg.

2020-12-13T20:46:17.117Z,1607892377.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:17.879Z,1607892377.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:18.283Z,1607892378.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:19.122Z,1607892379.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204619.07*51

2020-12-13T20:46:19.979Z,1607892379.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 563.100037 m, bearing: 79.349354 deg, deltaT: 5.085277 s, approachRate: -0.778711 m/s, LOS rate: -0.107147 deg/s, posRepo size: 4
2020-12-13T20:46:19.981Z,1607892379.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 563.100037 m,
      bearing: 79.349354 deg,
      approachRate: -0.778711 m/s,
      LOS rate: -0.107147 deg/s,
      cmd update: -0.321441 deg/s,
      cmd heading: 114.798772 deg,
      new cmd heading: 114.650078 deg.

2020-12-13T20:46:22.346Z,1607892382.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:23.135Z,1607892383.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:23.533Z,1607892383.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:24.363Z,1607892384.363 [Micromodem](INFO): Nmea in: $SNTTA,0.372866,,,,204624.32*49

2020-12-13T20:46:25.348Z,1607892385.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 559.140015 m, bearing: 79.563685 deg, deltaT: 5.327606 s, approachRate: -0.743302 m/s, LOS rate: 0.040230 deg/s, posRepo size: 4
2020-12-13T20:46:25.350Z,1607892385.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 559.140015 m,
      bearing: 79.563685 deg,
      approachRate: -0.743302 m/s,
      LOS rate: 0.040230 deg/s,
      cmd update: 0.120691 deg/s,
      cmd heading: 113.089927 deg,
      new cmd heading: 112.922588 deg.

2020-12-13T20:46:27.345Z,1607892387.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:27.975Z,1607892387.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:28.381Z,1607892388.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:29.211Z,1607892389.211 [Micromodem](INFO): Nmea in: $SNTTA,0.370315,,,,204629.16*4F

2020-12-13T20:46:30.046Z,1607892390.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 555.239990 m, bearing: 79.769759 deg, deltaT: 4.829192 s, approachRate: -0.807594 m/s, LOS rate: 0.042672 deg/s, posRepo size: 4
2020-12-13T20:46:30.048Z,1607892390.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 555.239990 m,
      bearing: 79.769759 deg,
      approachRate: -0.807594 m/s,
      LOS rate: 0.042672 deg/s,
      cmd update: 0.128017 deg/s,
      cmd heading: 113.674140 deg,
      new cmd heading: 113.719755 deg.

2020-12-13T20:46:32.475Z,1607892392.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:33.268Z,1607892393.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:33.682Z,1607892393.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:34.503Z,1607892394.503 [Micromodem](INFO): Nmea in: $SNTTA,0.367746,,,,204634.46*42

2020-12-13T20:46:35.331Z,1607892395.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 551.459961 m, bearing: 80.067343 deg, deltaT: 5.295716 s, approachRate: -0.713790 m/s, LOS rate: 0.056193 deg/s, posRepo size: 4
2020-12-13T20:46:35.333Z,1607892395.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 551.459961 m,
      bearing: 80.067343 deg,
      approachRate: -0.713790 m/s,
      LOS rate: 0.056193 deg/s,
      cmd update: 0.168580 deg/s,
      cmd heading: 114.352088 deg,
      new cmd heading: 114.399185 deg.

2020-12-13T20:46:37.861Z,1607892397.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:38.711Z,1607892398.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:39.105Z,1607892399.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:39.939Z,1607892399.939 [Micromodem](INFO): Nmea in: $SNTTA,0.365049,,,,204639.90*4E

2020-12-13T20:46:40.789Z,1607892400.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 547.320007 m, bearing: 80.733669 deg, deltaT: 5.537603 s, approachRate: -0.747608 m/s, LOS rate: 0.120327 deg/s, posRepo size: 4
2020-12-13T20:46:40.797Z,1607892400.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 547.320007 m,
      bearing: 80.733669 deg,
      approachRate: -0.747608 m/s,
      LOS rate: 0.120327 deg/s,
      cmd update: 0.360982 deg/s,
      cmd heading: 115.285617 deg,
      new cmd heading: 115.333482 deg.

2020-12-13T20:46:43.183Z,1607892403.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:43.951Z,1607892403.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:44.365Z,1607892404.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:46:45.194Z,1607892405.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204645.14*5A

2020-12-13T20:46:45.572Z,1607892405.572 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:46:46.095Z,1607892406.095 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:46:46.096Z,1607892406.096 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:46:46.099Z,1607892406.099 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:46:46.100Z,1607892406.100 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:46:46.188Z,1607892406.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 542.940002 m, bearing: 78.410688 deg, deltaT: 5.126739 s, approachRate: -0.854345 m/s, LOS rate: -0.453111 deg/s, posRepo size: 4
2020-12-13T20:46:46.190Z,1607892406.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 542.940002 m,
      bearing: 78.410688 deg,
      approachRate: -0.854345 m/s,
      LOS rate: -0.453111 deg/s,
      cmd update: -1.359333 deg/s,
      cmd heading: 117.129455 deg,
      new cmd heading: 117.338657 deg.

2020-12-13T20:46:46.378Z,1607892406.378 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:46:46.808Z,1607892406.808 [Micromodem](INFO): Nmea in: $CADRQ,204647,1,9,0,64,1*4D

2020-12-13T20:46:46.810Z,1607892406.810 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:46:47.294Z,1607892407.294 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:46:47.697Z,1607892407.697 [Micromodem](INFO): Nmea in: $CADRQ,204647,1,9,0,64,2*4E

2020-12-13T20:46:47.699Z,1607892407.699 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:46:48.083Z,1607892408.083 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:46:48.142Z,1607892408.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:48.496Z,1607892408.496 [Micromodem](INFO): Nmea in: $CADRQ,204648,1,9,0,64,3*40

2020-12-13T20:46:48.498Z,1607892408.498 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:46:48.887Z,1607892408.887 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:46:48.888Z,1607892408.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:46:49.284Z,1607892409.284 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:46:49.284Z,1607892409.284 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:46:50.976Z,1607892410.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:52.939Z,1607892412.939 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:46:52.939Z,1607892412.939 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:46:53.351Z,1607892413.351 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,204649.731143,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4B

2020-12-13T20:46:53.351Z,1607892413.351 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,204649.731143,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4B

2020-12-13T20:46:53.526Z,1607892413.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:56.197Z,1607892416.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:46:59.060Z,1607892419.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:00.210Z,1607892420.210 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:00.631Z,1607892420.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:01.453Z,1607892421.453 [Micromodem](INFO): Nmea in: $SNTTA,0.353261,,,,204701.40*44

2020-12-13T20:47:02.257Z,1607892422.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 529.739990 m, bearing: 78.686306 deg, deltaT: 16.266186 s, approachRate: -0.811500 m/s, LOS rate: 0.016944 deg/s, posRepo size: 4
2020-12-13T20:47:02.259Z,1607892422.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 529.739990 m,
      bearing: 78.686306 deg,
      approachRate: -0.811500 m/s,
      LOS rate: 0.016944 deg/s,
      cmd update: 0.050833 deg/s,
      cmd heading: 94.992842 deg,
      new cmd heading: 94.499570 deg.

2020-12-13T20:47:04.424Z,1607892424.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:05.055Z,1607892425.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:05.466Z,1607892425.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:06.287Z,1607892426.287 [Micromodem](INFO): Nmea in: $SNTTA,0.350677,,,,204706.24*41

2020-12-13T20:47:07.127Z,1607892427.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 525.900024 m, bearing: 80.377222 deg, deltaT: 4.849275 s, approachRate: -0.791864 m/s, LOS rate: 0.348695 deg/s, posRepo size: 4
2020-12-13T20:47:07.147Z,1607892427.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 525.900024 m,
      bearing: 80.377222 deg,
      approachRate: -0.791864 m/s,
      LOS rate: 0.348695 deg/s,
      cmd update: 1.046084 deg/s,
      cmd heading: 95.239145 deg,
      new cmd heading: 95.258870 deg.

2020-12-13T20:47:09.534Z,1607892429.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:10.317Z,1607892430.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:10.705Z,1607892430.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:11.534Z,1607892431.534 [Micromodem](INFO): Nmea in: $SNTTA,0.347791,,,,204711.51*4A

2020-12-13T20:47:12.380Z,1607892432.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 521.520020 m, bearing: 81.349097 deg, deltaT: 5.235673 s, approachRate: -0.836570 m/s, LOS rate: 0.185626 deg/s, posRepo size: 4
2020-12-13T20:47:12.382Z,1607892432.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 521.520020 m,
      bearing: 81.349097 deg,
      approachRate: -0.836570 m/s,
      LOS rate: 0.185626 deg/s,
      cmd update: 0.556877 deg/s,
      cmd heading: 100.720294 deg,
      new cmd heading: 101.140122 deg.

2020-12-13T20:47:14.823Z,1607892434.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:15.555Z,1607892435.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:15.961Z,1607892435.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:16.811Z,1607892436.811 [Micromodem](INFO): Nmea in: $SNTTA,0.344747,,,,204716.74*42

2020-12-13T20:47:17.635Z,1607892437.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 516.899963 m, bearing: 80.495207 deg, deltaT: 5.356363 s, approachRate: -0.862536 m/s, LOS rate: -0.159416 deg/s, posRepo size: 4
2020-12-13T20:47:17.637Z,1607892437.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 516.899963 m,
      bearing: 80.495207 deg,
      approachRate: -0.862536 m/s,
      LOS rate: -0.159416 deg/s,
      cmd update: -0.478248 deg/s,
      cmd heading: 103.703140 deg,
      new cmd heading: 103.869945 deg.

2020-12-13T20:47:20.036Z,1607892440.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:20.815Z,1607892440.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:21.217Z,1607892441.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:22.051Z,1607892442.051 [Micromodem](INFO): Nmea in: $SNTTA,0.341784,,,,204722.01*4D

2020-12-13T20:47:22.907Z,1607892442.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 512.400024 m, bearing: 79.201726 deg, deltaT: 5.108963 s, approachRate: -0.880793 m/s, LOS rate: -0.253179 deg/s, posRepo size: 4
2020-12-13T20:47:22.909Z,1607892442.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 512.400024 m,
      bearing: 79.201726 deg,
      approachRate: -0.880793 m/s,
      LOS rate: -0.253179 deg/s,
      cmd update: -0.759536 deg/s,
      cmd heading: 101.261156 deg,
      new cmd heading: 101.038312 deg.

2020-12-13T20:47:24.949Z,1607892444.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:25.683Z,1607892445.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:26.212Z,1607892446.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:27.021Z,1607892447.021 [Micromodem](INFO): Nmea in: $SNTTA,0.339173,,,,204726.87*46

2020-12-13T20:47:27.471Z,1607892447.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 508.499969 m, bearing: 78.966508 deg, deltaT: 4.647544 s, approachRate: -0.839165 m/s, LOS rate: -0.050611 deg/s, posRepo size: 4
2020-12-13T20:47:27.473Z,1607892447.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 508.499969 m,
      bearing: 78.966508 deg,
      approachRate: -0.839165 m/s,
      LOS rate: -0.050611 deg/s,
      cmd update: -0.151834 deg/s,
      cmd heading: 97.728950 deg,
      new cmd heading: 97.440618 deg.

2020-12-13T20:47:29.909Z,1607892449.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:30.663Z,1607892450.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:31.057Z,1607892451.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:31.887Z,1607892451.887 [Micromodem](INFO): Nmea in: $SNTTA,0.336257,,,,204731.85*48

2020-12-13T20:47:32.717Z,1607892452.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 504.119965 m, bearing: 78.759157 deg, deltaT: 5.367532 s, approachRate: -0.816018 m/s, LOS rate: -0.038631 deg/s, posRepo size: 4
2020-12-13T20:47:32.719Z,1607892452.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 504.119965 m,
      bearing: 78.759157 deg,
      approachRate: -0.816018 m/s,
      LOS rate: -0.038631 deg/s,
      cmd update: -0.115892 deg/s,
      cmd heading: 96.914421 deg,
      new cmd heading: 96.874872 deg.

2020-12-13T20:47:35.142Z,1607892455.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:35.907Z,1607892455.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:36.309Z,1607892456.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:37.163Z,1607892457.163 [Micromodem](INFO): Nmea in: $SNTTA,0.333122,,,,204737.10*46

2020-12-13T20:47:37.597Z,1607892457.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 499.319977 m, bearing: 80.220032 deg, deltaT: 4.724899 s, approachRate: -1.015892 m/s, LOS rate: 0.309186 deg/s, posRepo size: 4
2020-12-13T20:47:37.604Z,1607892457.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 499.319977 m,
      bearing: 80.220032 deg,
      approachRate: -1.015892 m/s,
      LOS rate: 0.309186 deg/s,
      cmd update: 0.927560 deg/s,
      cmd heading: 96.366641 deg,
      new cmd heading: 96.319069 deg.

2020-12-13T20:47:40.062Z,1607892460.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:40.775Z,1607892460.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:41.197Z,1607892461.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:42.018Z,1607892462.018 [Micromodem](INFO): Nmea in: $SNTTA,0.330248,,,,204741.97*44

2020-12-13T20:47:42.447Z,1607892462.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 499.319977 m, bearing: 79.832023 deg, deltaT: 4.909934 s, approachRate: 0.000000 m/s, LOS rate: -0.079025 deg/s, posRepo size: 4
2020-12-13T20:47:42.451Z,1607892462.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 499.319977 m,
      bearing: 79.832023 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.079025 deg/s,
      cmd update: -0.237076 deg/s,
      cmd heading: 100.914383 deg,
      new cmd heading: 101.249187 deg.

2020-12-13T20:47:44.907Z,1607892464.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:45.662Z,1607892465.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:46.041Z,1607892466.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:46.873Z,1607892466.873 [Micromodem](INFO): Nmea in: $SNTTA,0.327479,,,,204746.85*42

2020-12-13T20:47:47.713Z,1607892467.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 491.100006 m, bearing: 79.939878 deg, deltaT: 5.174030 s, approachRate: -1.588698 m/s, LOS rate: 0.020846 deg/s, posRepo size: 4
2020-12-13T20:47:47.715Z,1607892467.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 491.100006 m,
      bearing: 79.939878 deg,
      approachRate: -1.588698 m/s,
      LOS rate: 0.020846 deg/s,
      cmd update: 0.062537 deg/s,
      cmd heading: 99.685805 deg,
      new cmd heading: 99.581229 deg.

2020-12-13T20:47:49.915Z,1607892469.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:50.503Z,1607892470.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:50.904Z,1607892470.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:47:51.299Z,1607892471.299 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:47:51.757Z,1607892471.757 [Micromodem](INFO): Nmea in: $SNTTA,0.325025,,,,204751.69*49

2020-12-13T20:47:51.927Z,1607892471.927 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:47:51.928Z,1607892471.928 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:47:51.928Z,1607892471.928 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:47:51.929Z,1607892471.929 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:47:52.375Z,1607892472.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 487.320007 m, bearing: 79.178626 deg, deltaT: 4.869248 s, approachRate: -0.776300 m/s, LOS rate: -0.156339 deg/s, posRepo size: 4
2020-12-13T20:47:52.383Z,1607892472.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 487.320007 m,
      bearing: 79.178626 deg,
      approachRate: -0.776300 m/s,
      LOS rate: -0.156339 deg/s,
      cmd update: -0.469016 deg/s,
      cmd heading: 99.990311 deg,
      new cmd heading: 100.005181 deg.

2020-12-13T20:47:53.134Z,1607892473.134 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:47:53.550Z,1607892473.550 [Micromodem](INFO): Nmea in: $CADRQ,204753,1,9,0,64,1*49

2020-12-13T20:47:53.550Z,1607892473.550 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:47:53.962Z,1607892473.962 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:47:54.335Z,1607892474.335 [Micromodem](INFO): Nmea in: $CADRQ,204754,1,9,0,64,2*4D

2020-12-13T20:47:54.336Z,1607892474.336 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:47:54.743Z,1607892474.743 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:47:54.830Z,1607892474.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:55.152Z,1607892475.152 [Micromodem](INFO): Nmea in: $CADRQ,204755,1,9,0,64,3*4D

2020-12-13T20:47:55.154Z,1607892475.154 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:47:55.555Z,1607892475.555 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:47:55.556Z,1607892475.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:47:55.968Z,1607892475.968 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:47:55.969Z,1607892475.969 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:47:57.650Z,1607892477.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:47:59.600Z,1607892479.600 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:47:59.601Z,1607892479.601 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:47:59.999Z,1607892479.999 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,204756.384721,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4C

2020-12-13T20:47:59.000Z,1607892480.000 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,204756.384721,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4C

2020-12-13T20:48:00.414Z,1607892480.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:03.055Z,1607892483.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:05.701Z,1607892485.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:06.866Z,1607892486.866 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:07.265Z,1607892487.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:08.121Z,1607892488.121 [Micromodem](INFO): Nmea in: $SNTTA,0.315495,,,,204808.06*4F

2020-12-13T20:48:08.516Z,1607892488.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.100006 m, bearing: 78.748413 deg, deltaT: 16.007892 s, approachRate: -0.888312 m/s, LOS rate: -0.026875 deg/s, posRepo size: 4
2020-12-13T20:48:08.518Z,1607892488.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.100006 m,
      bearing: 78.748413 deg,
      approachRate: -0.888312 m/s,
      LOS rate: -0.026875 deg/s,
      cmd update: -0.080625 deg/s,
      cmd heading: 92.482356 deg,
      new cmd heading: 92.308495 deg.

2020-12-13T20:48:10.957Z,1607892490.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:11.738Z,1607892491.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:12.125Z,1607892492.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:12.960Z,1607892492.960 [Micromodem](INFO): Nmea in: $SNTTA,0.312617,,,,204812.93*47

2020-12-13T20:48:13.352Z,1607892493.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.100006 m, bearing: 78.412921 deg, deltaT: 4.871074 s, approachRate: 0.000000 m/s, LOS rate: -0.068874 deg/s, posRepo size: 4
2020-12-13T20:48:13.354Z,1607892493.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.100006 m,
      bearing: 78.412921 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.068874 deg/s,
      cmd update: -0.206623 deg/s,
      cmd heading: 92.089945 deg,
      new cmd heading: 92.062565 deg.

2020-12-13T20:48:15.961Z,1607892495.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:16.559Z,1607892496.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:16.965Z,1607892496.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:17.810Z,1607892497.810 [Micromodem](INFO): Nmea in: $SNTTA,0.309793,,,,204817.75*4D

2020-12-13T20:48:18.212Z,1607892498.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 464.519989 m, bearing: 78.294534 deg, deltaT: 4.982620 s, approachRate: -1.721989 m/s, LOS rate: -0.023760 deg/s, posRepo size: 4
2020-12-13T20:48:18.214Z,1607892498.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 464.519989 m,
      bearing: 78.294534 deg,
      approachRate: -1.721989 m/s,
      LOS rate: -0.023760 deg/s,
      cmd update: -0.071280 deg/s,
      cmd heading: 91.059601 deg,
      new cmd heading: 91.015584 deg.

2020-12-13T20:48:20.661Z,1607892500.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:21.413Z,1607892501.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:21.841Z,1607892501.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:22.677Z,1607892502.677 [Micromodem](INFO): Nmea in: $SNTTA,0.307091,,,,204822.60*44

2020-12-13T20:48:23.078Z,1607892503.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 460.439972 m, bearing: 79.710623 deg, deltaT: 4.744696 s, approachRate: -0.859911 m/s, LOS rate: 0.298457 deg/s, posRepo size: 4
2020-12-13T20:48:23.079Z,1607892503.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 460.439972 m,
      bearing: 79.710623 deg,
      approachRate: -0.859911 m/s,
      LOS rate: 0.298457 deg/s,
      cmd update: 0.895372 deg/s,
      cmd heading: 90.722216 deg,
      new cmd heading: 90.697890 deg.

2020-12-13T20:48:25.514Z,1607892505.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:26.259Z,1607892506.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:26.677Z,1607892506.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:27.067Z,1607892507.067 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:48:27.497Z,1607892507.497 [Micromodem](INFO): Nmea in: $SNTTA,0.304105,,,,204827.45*49

2020-12-13T20:48:27.998Z,1607892507.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.940002 m, bearing: 79.809517 deg, deltaT: 4.795436 s, approachRate: -0.938386 m/s, LOS rate: 0.020623 deg/s, posRepo size: 4
2020-12-13T20:48:27.000Z,1607892508.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.940002 m,
      bearing: 79.809517 deg,
      approachRate: -0.938386 m/s,
      LOS rate: 0.020623 deg/s,
      cmd update: 0.061868 deg/s,
      cmd heading: 95.001154 deg,
      new cmd heading: 95.436685 deg.

2020-12-13T20:48:30.333Z,1607892510.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:31.115Z,1607892511.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:31.532Z,1607892511.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:32.349Z,1607892512.349 [Micromodem](INFO): Nmea in: $SNTTA,0.301279,,,,204832.31*43

2020-12-13T20:48:32.783Z,1607892512.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 451.800018 m, bearing: 78.264085 deg, deltaT: 4.854993 s, approachRate: -0.852727 m/s, LOS rate: -0.318318 deg/s, posRepo size: 4
2020-12-13T20:48:32.799Z,1607892512.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 451.800018 m,
      bearing: 78.264085 deg,
      approachRate: -0.852727 m/s,
      LOS rate: -0.318318 deg/s,
      cmd update: -0.954955 deg/s,
      cmd heading: 95.303084 deg,
      new cmd heading: 95.326444 deg.

2020-12-13T20:48:35.340Z,1607892515.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:35.963Z,1607892515.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:36.378Z,1607892516.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:37.193Z,1607892517.193 [Micromodem](INFO): Nmea in: $SNTTA,0.298764,,,,204837.15*48

2020-12-13T20:48:37.631Z,1607892517.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 447.659973 m, bearing: 77.366058 deg, deltaT: 4.987197 s, approachRate: -0.830135 m/s, LOS rate: -0.180066 deg/s, posRepo size: 4
2020-12-13T20:48:37.633Z,1607892517.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 447.659973 m,
      bearing: 77.366058 deg,
      approachRate: -0.830135 m/s,
      LOS rate: -0.180066 deg/s,
      cmd update: -0.540199 deg/s,
      cmd heading: 90.540337 deg,
      new cmd heading: 90.299326 deg.

2020-12-13T20:48:40.045Z,1607892520.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:40.825Z,1607892520.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:41.213Z,1607892521.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:42.081Z,1607892522.081 [Micromodem](INFO): Nmea in: $SNTTA,0.295655,,,,204842.02*42

2020-12-13T20:48:42.487Z,1607892522.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 443.399994 m, bearing: 77.656532 deg, deltaT: 4.713767 s, approachRate: -0.903731 m/s, LOS rate: 0.061623 deg/s, posRepo size: 4
2020-12-13T20:48:42.489Z,1607892522.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 443.399994 m,
      bearing: 77.656532 deg,
      approachRate: -0.903731 m/s,
      LOS rate: 0.061623 deg/s,
      cmd update: 0.184868 deg/s,
      cmd heading: 87.992591 deg,
      new cmd heading: 87.780780 deg.

2020-12-13T20:48:44.987Z,1607892524.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:45.715Z,1607892525.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:46.130Z,1607892526.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:46.957Z,1607892526.957 [Micromodem](INFO): Nmea in: $SNTTA,0.292714,,,,204846.91*4F

2020-12-13T20:48:47.356Z,1607892527.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 438.899994 m, bearing: 77.290250 deg, deltaT: 4.895281 s, approachRate: -0.919253 m/s, LOS rate: -0.074824 deg/s, posRepo size: 4
2020-12-13T20:48:47.358Z,1607892527.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 438.899994 m,
      bearing: 77.290250 deg,
      approachRate: -0.919253 m/s,
      LOS rate: -0.074824 deg/s,
      cmd update: -0.224471 deg/s,
      cmd heading: 88.897573 deg,
      new cmd heading: 88.965156 deg.

2020-12-13T20:48:49.832Z,1607892529.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:50.572Z,1607892530.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:50.969Z,1607892530.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:51.872Z,1607892531.872 [Micromodem](INFO): Nmea in: $SNTTA,0.289728,,,,204851.76*45

2020-12-13T20:48:52.227Z,1607892532.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 434.520020 m, bearing: 77.239126 deg, deltaT: 4.913865 s, approachRate: -0.891350 m/s, LOS rate: -0.010404 deg/s, posRepo size: 4
2020-12-13T20:48:52.246Z,1607892532.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 434.520020 m,
      bearing: 77.239126 deg,
      approachRate: -0.891350 m/s,
      LOS rate: -0.010404 deg/s,
      cmd update: -0.031212 deg/s,
      cmd heading: 87.794556 deg,
      new cmd heading: 87.722504 deg.

2020-12-13T20:48:54.837Z,1607892534.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:48:55.418Z,1607892535.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:48:55.853Z,1607892535.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:48:56.665Z,1607892536.665 [Micromodem](INFO): Nmea in: $SNTTA,0.286838,,,,204856.61*45

2020-12-13T20:48:57.118Z,1607892537.118 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:48:57.139Z,1607892537.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 430.140015 m, bearing: 78.313747 deg, deltaT: 5.020822 s, approachRate: -0.872368 m/s, LOS rate: 0.214033 deg/s, posRepo size: 4
2020-12-13T20:48:57.157Z,1607892537.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 430.140015 m,
      bearing: 78.313747 deg,
      approachRate: -0.872368 m/s,
      LOS rate: 0.214033 deg/s,
      cmd update: 0.642099 deg/s,
      cmd heading: 87.637850 deg,
      new cmd heading: 87.631158 deg.

2020-12-13T20:48:57.699Z,1607892537.699 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:48:57.699Z,1607892537.699 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:48:57.700Z,1607892537.700 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:48:57.700Z,1607892537.700 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:48:58.006Z,1607892538.006 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:48:58.394Z,1607892538.394 [Micromodem](INFO): Nmea in: $CADRQ,204858,1,9,0,64,1*4D

2020-12-13T20:48:58.394Z,1607892538.394 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:48:58.835Z,1607892538.835 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:48:59.195Z,1607892539.195 [Micromodem](INFO): Nmea in: $CADRQ,204859,1,9,0,64,2*4F

2020-12-13T20:48:59.195Z,1607892539.195 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:48:59.604Z,1607892539.604 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:48:59.709Z,1607892539.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:00.007Z,1607892540.007 [Micromodem](INFO): Nmea in: $CADRQ,204900,1,9,0,64,3*43

2020-12-13T20:49:00.010Z,1607892540.010 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:49:00.403Z,1607892540.403 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:49:00.404Z,1607892540.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:00.850Z,1607892540.850 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:49:00.850Z,1607892540.850 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:49:02.210Z,1607892542.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:04.559Z,1607892544.559 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:49:04.559Z,1607892544.559 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:49:04.977Z,1607892544.977 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,204901.238053,3,0,200,4000,14500,1,1,9,1,3,3,3,186*44

2020-12-13T20:49:04.977Z,1607892544.977 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,204901.238053,3,0,200,4000,14500,1,1,9,1,3,3,3,186*44

2020-12-13T20:49:05.067Z,1607892545.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:07.876Z,1607892547.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:10.726Z,1607892550.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:11.438Z,1607892551.438 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:11.873Z,1607892551.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:11.890Z,1607892551.890 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T20:49:12.688Z,1607892552.688 [Micromodem](INFO): Nmea in: $SNTTA,0.277304,,,,204912.63*4C

2020-12-13T20:49:13.081Z,1607892553.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 415.739990 m, bearing: 78.021811 deg, deltaT: 15.786653 s, approachRate: -0.912165 m/s, LOS rate: -0.018493 deg/s, posRepo size: 4
2020-12-13T20:49:13.082Z,1607892553.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 415.739990 m,
      bearing: 78.021811 deg,
      approachRate: -0.912165 m/s,
      LOS rate: -0.018493 deg/s,
      cmd update: -0.055478 deg/s,
      cmd heading: 97.774478 deg,
      new cmd heading: 98.011322 deg.

2020-12-13T20:49:15.230Z,1607892555.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:15.971Z,1607892555.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:16.409Z,1607892556.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:16.859Z,1607892556.859 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:49:17.220Z,1607892557.220 [Micromodem](INFO): Nmea in: $SNTTA,0.274803,,,,204917.16*44

2020-12-13T20:49:17.669Z,1607892557.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 412.019989 m, bearing: 78.191637 deg, deltaT: 4.582997 s, approachRate: -0.811696 m/s, LOS rate: 0.037056 deg/s, posRepo size: 4
2020-12-13T20:49:17.674Z,1607892557.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 412.019989 m,
      bearing: 78.191637 deg,
      approachRate: -0.811696 m/s,
      LOS rate: 0.037056 deg/s,
      cmd update: 0.111167 deg/s,
      cmd heading: 97.520820 deg,
      new cmd heading: 97.499465 deg.

2020-12-13T20:49:20.102Z,1607892560.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:20.920Z,1607892560.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:21.301Z,1607892561.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:21.335Z,1607892561.335 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T20:39:21.1Z
2020-12-13T20:49:21.335Z,1607892561.335 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T20:49:21.335Z,1607892561.335 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:49:21.335Z,1607892561.335 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T20:49:21.335Z,1607892561.335 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:49:21.335Z,1607892561.335 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T20:49:21.816Z,1607892561.816 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:49:21.816Z,1607892561.816 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T20:49:21.816Z,1607892561.816 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T20:49:21.825Z,1607892561.825 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:49:21.825Z,1607892561.825 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T20:49:22.213Z,1607892562.213 [Micromodem](INFO): Nmea in: $SNTTA,0.271994,,,,204922.12*4C

2020-12-13T20:49:22.228Z,1607892562.228 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T20:49:22.825Z,1607892562.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 407.579987 m, bearing: 78.061344 deg, deltaT: 4.996601 s, approachRate: -0.888605 m/s, LOS rate: -0.026076 deg/s, posRepo size: 4
2020-12-13T20:49:22.827Z,1607892562.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 407.579987 m,
      bearing: 78.061344 deg,
      approachRate: -0.888605 m/s,
      LOS rate: -0.026076 deg/s,
      cmd update: -0.078229 deg/s,
      cmd heading: 98.077024 deg,
      new cmd heading: 98.136804 deg.

2020-12-13T20:49:25.082Z,1607892565.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:25.859Z,1607892565.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:26.265Z,1607892566.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:27.077Z,1607892567.077 [Micromodem](INFO): Nmea in: $SNTTA,0.269047,,,,204927.05*41

2020-12-13T20:49:27.519Z,1607892567.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 403.319977 m, bearing: 77.863931 deg, deltaT: 4.975498 s, approachRate: -0.856198 m/s, LOS rate: -0.039677 deg/s, posRepo size: 4
2020-12-13T20:49:27.521Z,1607892567.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 403.319977 m,
      bearing: 77.863931 deg,
      approachRate: -0.856198 m/s,
      LOS rate: -0.039677 deg/s,
      cmd update: -0.119031 deg/s,
      cmd heading: 97.687663 deg,
      new cmd heading: 97.667714 deg.

2020-12-13T20:49:29.941Z,1607892569.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:30.695Z,1607892570.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:31.105Z,1607892571.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:31.949Z,1607892571.949 [Micromodem](INFO): Nmea in: $SNTTA,0.266362,,,,204931.88*48

2020-12-13T20:49:32.336Z,1607892572.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 399.119995 m, bearing: 77.697240 deg, deltaT: 4.729478 s, approachRate: -0.888043 m/s, LOS rate: -0.035245 deg/s, posRepo size: 4
2020-12-13T20:49:32.354Z,1607892572.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.119995 m,
      bearing: 77.697240 deg,
      approachRate: -0.888043 m/s,
      LOS rate: -0.035245 deg/s,
      cmd update: -0.105735 deg/s,
      cmd heading: 97.124429 deg,
      new cmd heading: 97.083994 deg.

2020-12-13T20:49:33.160Z,1607892573.160 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T20:49:34.826Z,1607892574.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:35.543Z,1607892575.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:36.045Z,1607892576.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:36.909Z,1607892576.909 [Micromodem](INFO): Nmea in: $SNTTA,0.263290,,,,204936.73*42

2020-12-13T20:49:37.289Z,1607892577.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 394.799988 m, bearing: 76.346263 deg, deltaT: 4.973971 s, approachRate: -0.868523 m/s, LOS rate: -0.271609 deg/s, posRepo size: 4
2020-12-13T20:49:37.291Z,1607892577.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.799988 m,
      bearing: 76.346263 deg,
      approachRate: -0.868523 m/s,
      LOS rate: -0.271609 deg/s,
      cmd update: -0.814828 deg/s,
      cmd heading: 96.598505 deg,
      new cmd heading: 96.564831 deg.

2020-12-13T20:49:39.881Z,1607892579.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:40.492Z,1607892580.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:40.897Z,1607892580.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:41.717Z,1607892581.717 [Micromodem](INFO): Nmea in: $SNTTA,0.260588,,,,204941.68*45

2020-12-13T20:49:42.196Z,1607892582.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 390.719971 m, bearing: 77.533719 deg, deltaT: 5.004709 s, approachRate: -0.815236 m/s, LOS rate: 0.237268 deg/s, posRepo size: 4
2020-12-13T20:49:42.198Z,1607892582.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.719971 m,
      bearing: 77.533719 deg,
      approachRate: -0.815236 m/s,
      LOS rate: 0.237268 deg/s,
      cmd update: 0.711803 deg/s,
      cmd heading: 92.520635 deg,
      new cmd heading: 92.340332 deg.

2020-12-13T20:49:44.633Z,1607892584.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:45.373Z,1607892585.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:45.786Z,1607892585.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:46.626Z,1607892586.626 [Micromodem](INFO): Nmea in: $SNTTA,0.257743,,,,204946.56*4E

2020-12-13T20:49:47.027Z,1607892587.027 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:49:47.040Z,1607892587.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 386.459991 m, bearing: 77.003833 deg, deltaT: 4.705869 s, approachRate: -0.905248 m/s, LOS rate: -0.112601 deg/s, posRepo size: 4
2020-12-13T20:49:47.042Z,1607892587.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.459991 m,
      bearing: 77.003833 deg,
      approachRate: -0.905248 m/s,
      LOS rate: -0.112601 deg/s,
      cmd update: -0.337803 deg/s,
      cmd heading: 95.867416 deg,
      new cmd heading: 96.126411 deg.

2020-12-13T20:49:49.481Z,1607892589.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:50.228Z,1607892590.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:50.665Z,1607892590.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:51.469Z,1607892591.469 [Micromodem](INFO): Nmea in: $SNTTA,0.254950,,,,204951.42*42

2020-12-13T20:49:51.944Z,1607892591.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 382.319977 m, bearing: 77.082100 deg, deltaT: 4.802349 s, approachRate: -0.862081 m/s, LOS rate: 0.016298 deg/s, posRepo size: 4
2020-12-13T20:49:51.946Z,1607892591.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.319977 m,
      bearing: 77.082100 deg,
      approachRate: -0.862081 m/s,
      LOS rate: 0.016298 deg/s,
      cmd update: 0.048893 deg/s,
      cmd heading: 94.243753 deg,
      new cmd heading: 94.087926 deg.

2020-12-13T20:49:54.321Z,1607892594.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:55.095Z,1607892595.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:49:55.505Z,1607892595.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:49:56.341Z,1607892596.341 [Micromodem](INFO): Nmea in: $SNTTA,0.252163,,,0.254657,204956.28*5E

2020-12-13T20:49:56.761Z,1607892596.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 378.119995 m, bearing: 78.225931 deg, deltaT: 4.872265 s, approachRate: -0.862018 m/s, LOS rate: 0.234764 deg/s, posRepo size: 4
2020-12-13T20:49:56.763Z,1607892596.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 378.119995 m,
      bearing: 78.225931 deg,
      approachRate: -0.862018 m/s,
      LOS rate: 0.234764 deg/s,
      cmd update: 0.704291 deg/s,
      cmd heading: 94.481975 deg,
      new cmd heading: 94.501814 deg.

2020-12-13T20:49:59.317Z,1607892599.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:49:59.943Z,1607892599.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:00.349Z,1607892600.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:01.185Z,1607892601.185 [Micromodem](INFO): Nmea in: $SNTTA,0.249281,,,,205001.13*40

2020-12-13T20:50:01.650Z,1607892601.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 373.739990 m, bearing: 76.926016 deg, deltaT: 5.036684 s, approachRate: -0.869621 m/s, LOS rate: -0.258089 deg/s, posRepo size: 4
2020-12-13T20:50:01.652Z,1607892601.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.739990 m,
      bearing: 76.926016 deg,
      approachRate: -0.869621 m/s,
      LOS rate: -0.258089 deg/s,
      cmd update: -0.774268 deg/s,
      cmd heading: 98.029056 deg,
      new cmd heading: 98.211139 deg.

2020-12-13T20:50:02.826Z,1607892602.826 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:50:03.344Z,1607892603.344 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:50:03.345Z,1607892603.345 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:50:03.346Z,1607892603.346 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:50:03.346Z,1607892603.346 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:50:03.633Z,1607892603.633 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:50:04.011Z,1607892604.011 [Micromodem](INFO): Nmea in: $CADRQ,205004,1,9,0,64,1*4D

2020-12-13T20:50:04.011Z,1607892604.011 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:50:04.159Z,1607892604.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:04.432Z,1607892604.432 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:50:04.855Z,1607892604.855 [Micromodem](INFO): Nmea in: $CADRQ,205005,1,9,0,64,2*4F

2020-12-13T20:50:04.855Z,1607892604.855 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:50:05.223Z,1607892605.223 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:50:05.223Z,1607892605.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:05.663Z,1607892605.663 [Micromodem](INFO): Nmea in: $CADRQ,205006,1,9,0,64,3*4D

2020-12-13T20:50:05.663Z,1607892605.663 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,205006,1,9,0,64,3*4D

2020-12-13T20:50:06.060Z,1607892606.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:06.481Z,1607892606.481 [Micromodem](INFO): Nmea in: $SNTTA,0.246236,,,,205006.41*43

2020-12-13T20:50:06.952Z,1607892606.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 369.180023 m, bearing: 76.076034 deg, deltaT: 5.102641 s, approachRate: -0.893648 m/s, LOS rate: -0.166577 deg/s, posRepo size: 4
2020-12-13T20:50:06.954Z,1607892606.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.180023 m,
      bearing: 76.076034 deg,
      approachRate: -0.893648 m/s,
      LOS rate: -0.166577 deg/s,
      cmd update: -0.499731 deg/s,
      cmd heading: 94.078030 deg,
      new cmd heading: 93.724104 deg.

2020-12-13T20:50:09.310Z,1607892609.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:10.095Z,1607892610.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:10.509Z,1607892610.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:11.342Z,1607892611.342 [Micromodem](INFO): Nmea in: $SNTTA,0.243641,,,,205011.28*4B

2020-12-13T20:50:11.796Z,1607892611.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 365.279999 m, bearing: 77.360184 deg, deltaT: 4.866837 s, approachRate: -0.801347 m/s, LOS rate: 0.263857 deg/s, posRepo size: 4
2020-12-13T20:50:11.854Z,1607892611.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.279999 m,
      bearing: 77.360184 deg,
      approachRate: -0.801347 m/s,
      LOS rate: 0.263857 deg/s,
      cmd update: 0.791572 deg/s,
      cmd heading: 91.648170 deg,
      new cmd heading: 91.430852 deg.

2020-12-13T20:50:14.314Z,1607892614.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:14.959Z,1607892614.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:15.375Z,1607892615.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:16.204Z,1607892616.204 [Micromodem](INFO): Nmea in: $SNTTA,0.240804,,,,205016.15*4E

2020-12-13T20:50:16.644Z,1607892616.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.080017 m, bearing: 78.501277 deg, deltaT: 4.866182 s, approachRate: -0.863096 m/s, LOS rate: 0.234494 deg/s, posRepo size: 4
2020-12-13T20:50:16.646Z,1607892616.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.080017 m,
      bearing: 78.501277 deg,
      approachRate: -0.863096 m/s,
      LOS rate: 0.234494 deg/s,
      cmd update: 0.703483 deg/s,
      cmd heading: 95.503660 deg,
      new cmd heading: 95.830353 deg.

2020-12-13T20:50:18.820Z,1607892618.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:19.413Z,1607892619.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:19.823Z,1607892619.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:20.656Z,1607892620.656 [Micromodem](INFO): Nmea in: $SNTTA,0.238180,,,,205020.60*43

2020-12-13T20:50:21.078Z,1607892621.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.119995 m, bearing: 76.869155 deg, deltaT: 4.648891 s, approachRate: -0.851821 m/s, LOS rate: -0.351078 deg/s, posRepo size: 4
2020-12-13T20:50:21.080Z,1607892621.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.119995 m,
      bearing: 76.869155 deg,
      approachRate: -0.851821 m/s,
      LOS rate: -0.351078 deg/s,
      cmd update: -1.053233 deg/s,
      cmd heading: 98.773994 deg,
      new cmd heading: 98.915558 deg.

2020-12-13T20:50:23.489Z,1607892623.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:24.263Z,1607892624.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:24.669Z,1607892624.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:25.497Z,1607892625.497 [Micromodem](INFO): Nmea in: $SNTTA,0.235483,,,,205025.45*4A

2020-12-13T20:50:25.917Z,1607892625.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.099976 m, bearing: 75.478522 deg, deltaT: 4.658580 s, approachRate: -0.862928 m/s, LOS rate: -0.298510 deg/s, posRepo size: 4
2020-12-13T20:50:25.919Z,1607892625.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.099976 m,
      bearing: 75.478522 deg,
      approachRate: -0.862928 m/s,
      LOS rate: -0.298510 deg/s,
      cmd update: -0.895530 deg/s,
      cmd heading: 93.871533 deg,
      new cmd heading: 93.465632 deg.

2020-12-13T20:50:28.350Z,1607892628.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:29.115Z,1607892629.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:29.517Z,1607892629.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:30.366Z,1607892630.366 [Micromodem](INFO): Nmea in: $SNTTA,0.232587,,,,205030.30*4E

2020-12-13T20:50:30.808Z,1607892630.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.719971 m, bearing: 74.547512 deg, deltaT: 4.845137 s, approachRate: -0.904000 m/s, LOS rate: -0.192153 deg/s, posRepo size: 4
2020-12-13T20:50:30.814Z,1607892630.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.719971 m,
      bearing: 74.547512 deg,
      approachRate: -0.904000 m/s,
      LOS rate: -0.192153 deg/s,
      cmd update: -0.576460 deg/s,
      cmd heading: 89.529170 deg,
      new cmd heading: 89.152500 deg.

2020-12-13T20:50:33.209Z,1607892633.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:33.965Z,1607892633.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:34.376Z,1607892634.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:35.180Z,1607892635.180 [Micromodem](INFO): Nmea in: $CAERR,205036,DATA_TIMEOUT,3*4E

2020-12-13T20:50:35.588Z,1607892635.588 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:50:35.639Z,1607892635.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.399963 m, bearing: 74.914198 deg, deltaT: 4.882975 s, approachRate: -0.884708 m/s, LOS rate: 0.075095 deg/s, posRepo size: 4
2020-12-13T20:50:35.641Z,1607892635.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.399963 m,
      bearing: 74.914198 deg,
      approachRate: -0.884708 m/s,
      LOS rate: 0.075095 deg/s,
      cmd update: 0.225284 deg/s,
      cmd heading: 86.716563 deg,
      new cmd heading: 86.497632 deg.

2020-12-13T20:50:38.218Z,1607892638.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:38.417Z,1607892638.417 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:50:38.813Z,1607892638.813 [Micromodem](INFO): Nmea in: $SNTTA,0.229808,,,,205035.15*4C

2020-12-13T20:50:38.814Z,1607892638.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:40.049Z,1607892640.049 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205036.097628,3,0,200,4000,14500,1,1,9,1,3,2,3,128*40

2020-12-13T20:50:40.050Z,1607892640.050 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205036.097628,3,0,200,4000,14500,1,1,9,1,3,2,3,128*40

2020-12-13T20:50:40.431Z,1607892640.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:40.885Z,1607892640.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:42.450Z,1607892642.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:50:43.718Z,1607892643.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:44.467Z,1607892644.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:44.981Z,1607892644.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:45.792Z,1607892645.792 [Micromodem](INFO): Nmea in: $SNTTA,0.223580,,,,205045.66*48

2020-12-13T20:50:46.248Z,1607892646.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.279999 m, bearing: 75.410848 deg, deltaT: 10.614190 s, approachRate: -0.859224 m/s, LOS rate: 0.046791 deg/s, posRepo size: 4
2020-12-13T20:50:46.250Z,1607892646.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.279999 m,
      bearing: 75.410848 deg,
      approachRate: -0.859224 m/s,
      LOS rate: 0.046791 deg/s,
      cmd update: 0.140374 deg/s,
      cmd heading: 89.108659 deg,
      new cmd heading: 89.192132 deg.

2020-12-13T20:50:48.657Z,1607892648.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:49.417Z,1607892649.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:49.849Z,1607892649.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:50.665Z,1607892650.665 [Micromodem](INFO): Nmea in: $SNTTA,0.220440,,,,205050.61*45

2020-12-13T20:50:51.224Z,1607892651.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 330.540009 m, bearing: 75.750377 deg, deltaT: 4.854468 s, approachRate: -0.976418 m/s, LOS rate: 0.069941 deg/s, posRepo size: 4
2020-12-13T20:50:51.254Z,1607892651.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.540009 m,
      bearing: 75.750377 deg,
      approachRate: -0.976418 m/s,
      LOS rate: 0.069941 deg/s,
      cmd update: 0.209824 deg/s,
      cmd heading: 89.789555 deg,
      new cmd heading: 89.859206 deg.

2020-12-13T20:50:53.268Z,1607892653.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:53.879Z,1607892653.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:54.299Z,1607892654.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:55.128Z,1607892655.128 [Micromodem](INFO): Nmea in: $SNTTA,0.217854,,,,205055.07*4D

2020-12-13T20:50:55.524Z,1607892655.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.399994 m, bearing: 75.517584 deg, deltaT: 4.420019 s, approachRate: -0.936651 m/s, LOS rate: -0.052668 deg/s, posRepo size: 4
2020-12-13T20:50:55.526Z,1607892655.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.399994 m,
      bearing: 75.517584 deg,
      approachRate: -0.936651 m/s,
      LOS rate: -0.052668 deg/s,
      cmd update: -0.158004 deg/s,
      cmd heading: 90.717827 deg,
      new cmd heading: 90.795874 deg.

2020-12-13T20:50:57.738Z,1607892657.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:50:58.338Z,1607892658.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:50:58.733Z,1607892658.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:50:59.557Z,1607892659.557 [Micromodem](INFO): Nmea in: $SNTTA,0.215366,,,,205059.53*48

2020-12-13T20:51:00.030Z,1607892660.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.679993 m, bearing: 74.939121 deg, deltaT: 4.670263 s, approachRate: -0.796529 m/s, LOS rate: -0.123861 deg/s, posRepo size: 4
2020-12-13T20:51:00.032Z,1607892660.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.679993 m,
      bearing: 74.939121 deg,
      approachRate: -0.796529 m/s,
      LOS rate: -0.123861 deg/s,
      cmd update: -0.371582 deg/s,
      cmd heading: 89.979906 deg,
      new cmd heading: 89.947001 deg.

2020-12-13T20:51:02.423Z,1607892662.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:03.207Z,1607892663.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:03.636Z,1607892663.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:04.448Z,1607892664.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205104.40*58

2020-12-13T20:51:04.910Z,1607892664.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.119995 m, bearing: 74.873886 deg, deltaT: 4.669604 s, approachRate: -0.976528 m/s, LOS rate: -0.013970 deg/s, posRepo size: 4
2020-12-13T20:51:04.913Z,1607892664.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.119995 m,
      bearing: 74.873886 deg,
      approachRate: -0.976528 m/s,
      LOS rate: -0.013970 deg/s,
      cmd update: -0.041910 deg/s,
      cmd heading: 88.244806 deg,
      new cmd heading: 88.089759 deg.

2020-12-13T20:51:07.314Z,1607892667.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:08.069Z,1607892668.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:08.470Z,1607892668.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:08.489Z,1607892668.489 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:51:08.985Z,1607892668.985 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:51:08.986Z,1607892668.986 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:51:08.986Z,1607892668.986 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:51:08.987Z,1607892668.987 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:51:09.288Z,1607892669.288 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:51:09.690Z,1607892669.690 [Micromodem](INFO): Nmea in: $CADRQ,205110,1,9,0,64,1*49

2020-12-13T20:51:09.690Z,1607892669.690 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:51:09.837Z,1607892669.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.799988 m, bearing: 75.041485 deg, deltaT: 4.839276 s, approachRate: -0.892697 m/s, LOS rate: 0.034633 deg/s, posRepo size: 4
2020-12-13T20:51:09.839Z,1607892669.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.799988 m,
      bearing: 75.041485 deg,
      approachRate: -0.892697 m/s,
      LOS rate: 0.034633 deg/s,
      cmd update: 0.103899 deg/s,
      cmd heading: 88.043159 deg,
      new cmd heading: 88.020938 deg.

2020-12-13T20:51:10.098Z,1607892670.098 [Micromodem](INFO): Nmea in: $SNTTA,0.209299,,,,205109.26*42

2020-12-13T20:51:10.098Z,1607892670.098 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.209299,,,,205109.26*42

2020-12-13T20:51:11.299Z,1607892671.299 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:51:11.714Z,1607892671.714 [Micromodem](INFO): Nmea in: $CADRQ,205110,1,9,0,64,2*4A

2020-12-13T20:51:11.714Z,1607892671.714 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:51:11.847Z,1607892671.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:12.108Z,1607892672.108 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:51:12.511Z,1607892672.511 [Micromodem](INFO): Nmea in: $CADRQ,205112,1,9,0,64,3*49

2020-12-13T20:51:12.512Z,1607892672.512 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:51:13.001Z,1607892673.001 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:51:13.001Z,1607892673.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:13.400Z,1607892673.400 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:51:13.400Z,1607892673.400 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:51:14.674Z,1607892674.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:17.023Z,1607892677.023 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:51:17.023Z,1607892677.023 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:51:17.198Z,1607892677.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:17.444Z,1607892677.444 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205113.740985,3,0,200,4000,14500,1,1,9,1,3,3,3,186*46

2020-12-13T20:51:17.444Z,1607892677.444 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205113.740985,3,0,200,4000,14500,1,1,9,1,3,3,3,186*46

2020-12-13T20:51:19.916Z,1607892679.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:22.716Z,1607892682.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:24.302Z,1607892684.302 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:24.705Z,1607892684.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:25.541Z,1607892685.541 [Micromodem](INFO): Nmea in: $SNTTA,0.199822,0.228473,,,205125.49*53

2020-12-13T20:51:26.028Z,1607892686.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.579987 m, bearing: 75.211837 deg, deltaT: 16.435529 s, approachRate: -0.865199 m/s, LOS rate: 0.010365 deg/s, posRepo size: 4
2020-12-13T20:51:26.030Z,1607892686.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.579987 m,
      bearing: 75.211837 deg,
      approachRate: -0.865199 m/s,
      LOS rate: 0.010365 deg/s,
      cmd update: 0.031095 deg/s,
      cmd heading: 89.753598 deg,
      new cmd heading: 89.780848 deg.

2020-12-13T20:51:28.442Z,1607892688.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:29.211Z,1607892689.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:29.641Z,1607892689.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:30.472Z,1607892690.472 [Micromodem](INFO): Nmea in: $SNTTA,0.197066,,,,205130.40*4E

2020-12-13T20:51:30.904Z,1607892690.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.500000 m, bearing: 75.445491 deg, deltaT: 4.719598 s, approachRate: -0.864478 m/s, LOS rate: 0.049507 deg/s, posRepo size: 4
2020-12-13T20:51:30.906Z,1607892690.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.500000 m,
      bearing: 75.445491 deg,
      approachRate: -0.864478 m/s,
      LOS rate: 0.049507 deg/s,
      cmd update: 0.148522 deg/s,
      cmd heading: 89.900385 deg,
      new cmd heading: 89.913369 deg.

2020-12-13T20:51:33.046Z,1607892693.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:33.679Z,1607892693.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:34.061Z,1607892694.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:34.890Z,1607892694.890 [Micromodem](INFO): Nmea in: $SNTTA,0.194565,,,,205134.87*44

2020-12-13T20:51:35.302Z,1607892695.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.479980 m, bearing: 73.852595 deg, deltaT: 4.473417 s, approachRate: -0.898646 m/s, LOS rate: -0.356080 deg/s, posRepo size: 4
2020-12-13T20:51:35.303Z,1607892695.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.479980 m,
      bearing: 73.852595 deg,
      approachRate: -0.898646 m/s,
      LOS rate: -0.356080 deg/s,
      cmd update: -1.068241 deg/s,
      cmd heading: 90.564187 deg,
      new cmd heading: 90.615554 deg.

2020-12-13T20:51:37.746Z,1607892697.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:38.500Z,1607892698.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:39.005Z,1607892699.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:39.820Z,1607892699.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205139.69*5D

2020-12-13T20:51:40.256Z,1607892700.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.739990 m, bearing: 73.687960 deg, deltaT: 4.938729 s, approachRate: -0.959759 m/s, LOS rate: -0.033335 deg/s, posRepo size: 4
2020-12-13T20:51:40.262Z,1607892700.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.739990 m,
      bearing: 73.687960 deg,
      approachRate: -0.959759 m/s,
      LOS rate: -0.033335 deg/s,
      cmd update: -0.100006 deg/s,
      cmd heading: 85.284109 deg,
      new cmd heading: 84.902014 deg.

2020-12-13T20:51:42.717Z,1607892702.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:43.443Z,1607892703.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:43.865Z,1607892703.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:44.688Z,1607892704.688 [Micromodem](INFO): Nmea in: $SNTTA,0.188480,,,,205144.63*4E

2020-12-13T20:51:45.229Z,1607892705.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.420013 m, bearing: 73.342646 deg, deltaT: 4.849760 s, approachRate: -0.890761 m/s, LOS rate: -0.071202 deg/s, posRepo size: 4
2020-12-13T20:51:45.231Z,1607892705.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.420013 m,
      bearing: 73.342646 deg,
      approachRate: -0.890761 m/s,
      LOS rate: -0.071202 deg/s,
      cmd update: -0.213607 deg/s,
      cmd heading: 84.801129 deg,
      new cmd heading: 84.751001 deg.

2020-12-13T20:51:47.527Z,1607892707.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:48.287Z,1607892708.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:48.697Z,1607892708.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:49.543Z,1607892709.543 [Micromodem](INFO): Nmea in: $SNTTA,0.185363,,,,205149.48*4D

2020-12-13T20:51:50.008Z,1607892710.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.860016 m, bearing: 73.699715 deg, deltaT: 5.008250 s, approachRate: -0.910497 m/s, LOS rate: 0.071296 deg/s, posRepo size: 4
2020-12-13T20:51:50.010Z,1607892710.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.860016 m,
      bearing: 73.699715 deg,
      approachRate: -0.910497 m/s,
      LOS rate: 0.071296 deg/s,
      cmd update: 0.213888 deg/s,
      cmd heading: 83.727929 deg,
      new cmd heading: 83.673244 deg.

2020-12-13T20:51:52.428Z,1607892712.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:53.203Z,1607892713.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:53.630Z,1607892713.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:54.449Z,1607892714.449 [Micromodem](INFO): Nmea in: $SNTTA,0.182291,,,,205154.39*4C

2020-12-13T20:51:54.919Z,1607892714.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.299988 m, bearing: 73.118958 deg, deltaT: 4.706467 s, approachRate: -0.968886 m/s, LOS rate: -0.123396 deg/s, posRepo size: 4
2020-12-13T20:51:54.925Z,1607892714.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.299988 m,
      bearing: 73.118958 deg,
      approachRate: -0.968886 m/s,
      LOS rate: -0.123396 deg/s,
      cmd update: -0.370187 deg/s,
      cmd heading: 84.735484 deg,
      new cmd heading: 84.833074 deg.

2020-12-13T20:51:57.297Z,1607892717.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:51:58.059Z,1607892718.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:51:58.517Z,1607892718.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:51:59.325Z,1607892719.325 [Micromodem](INFO): Nmea in: $SNTTA,0.179309,,,,205159.25*48

2020-12-13T20:51:59.771Z,1607892719.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.799988 m, bearing: 73.910829 deg, deltaT: 4.936616 s, approachRate: -0.911556 m/s, LOS rate: 0.160408 deg/s, posRepo size: 4
2020-12-13T20:51:59.778Z,1607892719.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.799988 m,
      bearing: 73.910829 deg,
      approachRate: -0.911556 m/s,
      LOS rate: 0.160408 deg/s,
      cmd update: 0.481223 deg/s,
      cmd heading: 82.911855 deg,
      new cmd heading: 82.771134 deg.

2020-12-13T20:52:02.214Z,1607892722.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:02.979Z,1607892722.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:03.381Z,1607892723.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:04.193Z,1607892724.193 [Micromodem](INFO): Nmea in: $SNTTA,0.176307,,,,205204.17*43

2020-12-13T20:52:04.830Z,1607892724.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.359985 m, bearing: 73.347653 deg, deltaT: 4.856774 s, approachRate: -0.914188 m/s, LOS rate: -0.115957 deg/s, posRepo size: 4
2020-12-13T20:52:04.832Z,1607892724.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.359985 m,
      bearing: 73.347653 deg,
      approachRate: -0.914188 m/s,
      LOS rate: -0.115957 deg/s,
      cmd update: -0.347871 deg/s,
      cmd heading: 85.252117 deg,
      new cmd heading: 85.530430 deg.

2020-12-13T20:52:07.081Z,1607892727.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:07.874Z,1607892727.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:08.257Z,1607892728.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:09.080Z,1607892729.080 [Micromodem](INFO): Nmea in: $SNTTA,0.173413,,,,205209.06*49

2020-12-13T20:52:09.514Z,1607892729.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.039978 m, bearing: 71.437399 deg, deltaT: 5.006102 s, approachRate: -0.862948 m/s, LOS rate: -0.381585 deg/s, posRepo size: 4
2020-12-13T20:52:09.516Z,1607892729.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.039978 m,
      bearing: 71.437399 deg,
      approachRate: -0.862948 m/s,
      LOS rate: -0.381585 deg/s,
      cmd update: -1.144755 deg/s,
      cmd heading: 83.509489 deg,
      new cmd heading: 83.421734 deg.

2020-12-13T20:52:11.990Z,1607892731.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:12.703Z,1607892732.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:13.109Z,1607892733.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:13.938Z,1607892733.938 [Micromodem](INFO): Nmea in: $SNTTA,0.170324,,,,205213.89*45

2020-12-13T20:52:14.328Z,1607892734.328 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:52:14.342Z,1607892734.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.360001 m, bearing: 72.579919 deg, deltaT: 4.754514 s, approachRate: -0.984323 m/s, LOS rate: 0.240302 deg/s, posRepo size: 4
2020-12-13T20:52:14.344Z,1607892734.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.360001 m,
      bearing: 72.579919 deg,
      approachRate: -0.984323 m/s,
      LOS rate: 0.240302 deg/s,
      cmd update: 0.720906 deg/s,
      cmd heading: 78.065827 deg,
      new cmd heading: 77.694060 deg.

2020-12-13T20:52:14.882Z,1607892734.882 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:52:14.882Z,1607892734.882 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:52:14.883Z,1607892734.883 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:52:14.883Z,1607892734.883 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:52:15.206Z,1607892735.206 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:52:15.626Z,1607892735.626 [Micromodem](INFO): Nmea in: $CADRQ,205215,1,9,0,64,1*4F

2020-12-13T20:52:15.626Z,1607892735.626 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:52:16.140Z,1607892736.140 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:52:16.507Z,1607892736.507 [Micromodem](INFO): Nmea in: $CADRQ,205216,1,9,0,64,2*4F

2020-12-13T20:52:16.507Z,1607892736.507 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:52:16.634Z,1607892736.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:16.957Z,1607892736.957 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:52:17.323Z,1607892737.323 [Micromodem](INFO): Nmea in: $CADRQ,205217,1,9,0,64,3*4F

2020-12-13T20:52:17.324Z,1607892737.324 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:52:17.723Z,1607892737.723 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:52:17.723Z,1607892737.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:18.127Z,1607892738.127 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:52:18.128Z,1607892738.128 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:52:19.379Z,1607892739.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:21.779Z,1607892741.779 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:52:21.780Z,1607892741.780 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:52:22.176Z,1607892742.176 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205218.552907,3,0,200,4000,14500,1,1,9,1,3,3,3,186*45

2020-12-13T20:52:22.176Z,1607892742.176 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205218.552907,3,0,200,4000,14500,1,1,9,1,3,3,3,186*45

2020-12-13T20:52:22.358Z,1607892742.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:25.038Z,1607892745.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:27.906Z,1607892747.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:29.046Z,1607892749.046 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:29.453Z,1607892749.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:30.280Z,1607892750.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205230.24*5E

2020-12-13T20:52:30.881Z,1607892750.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.119995 m, bearing: 73.453999 deg, deltaT: 16.294941 s, approachRate: -0.935260 m/s, LOS rate: 0.053641 deg/s, posRepo size: 4
2020-12-13T20:52:30.883Z,1607892750.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.119995 m,
      bearing: 73.453999 deg,
      approachRate: -0.935260 m/s,
      LOS rate: 0.053641 deg/s,
      cmd update: 0.160924 deg/s,
      cmd heading: 89.812974 deg,
      new cmd heading: 90.223347 deg.

2020-12-13T20:52:33.141Z,1607892753.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:33.888Z,1607892753.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:34.302Z,1607892754.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:35.134Z,1607892755.134 [Micromodem](INFO): Nmea in: $SNTTA,0.157433,,,,205235.08*4C

2020-12-13T20:52:35.954Z,1607892755.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:37.522Z,1607892757.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:52:38.799Z,1607892758.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:39.539Z,1607892759.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:39.941Z,1607892759.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:40.811Z,1607892760.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205240.73*5B

2020-12-13T20:52:41.208Z,1607892761.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.639999 m, bearing: 72.334647 deg, deltaT: 10.565071 s, approachRate: -0.897296 m/s, LOS rate: -0.105948 deg/s, posRepo size: 4
2020-12-13T20:52:41.210Z,1607892761.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.639999 m,
      bearing: 72.334647 deg,
      approachRate: -0.897296 m/s,
      LOS rate: -0.105948 deg/s,
      cmd update: -0.317845 deg/s,
      cmd heading: 91.512497 deg,
      new cmd heading: 91.566406 deg.

2020-12-13T20:52:43.863Z,1607892763.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:44.459Z,1607892764.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:44.861Z,1607892764.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:45.693Z,1607892765.693 [Micromodem](INFO): Nmea in: $SNTTA,0.150948,,,,205245.65*46

2020-12-13T20:52:46.114Z,1607892766.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.199982 m, bearing: 73.896616 deg, deltaT: 4.864662 s, approachRate: -0.912708 m/s, LOS rate: 0.321085 deg/s, posRepo size: 4
2020-12-13T20:52:46.116Z,1607892766.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.199982 m,
      bearing: 73.896616 deg,
      approachRate: -0.912708 m/s,
      LOS rate: 0.321085 deg/s,
      cmd update: 0.963254 deg/s,
      cmd heading: 89.965058 deg,
      new cmd heading: 89.846712 deg.

2020-12-13T20:52:48.282Z,1607892768.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:48.895Z,1607892768.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:49.293Z,1607892769.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:50.149Z,1607892770.149 [Micromodem](INFO): Nmea in: $SNTTA,0.148585,,,,205250.08*4D

2020-12-13T20:52:50.965Z,1607892770.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:52.538Z,1607892772.538 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:52:53.825Z,1607892773.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:54.547Z,1607892774.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:55.055Z,1607892775.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:52:55.870Z,1607892775.870 [Micromodem](INFO): Nmea in: $SNTTA,0.145295,,,,205255.74*48

2020-12-13T20:52:55.945Z,1607892775.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.800003 m, bearing: 70.024561 deg, deltaT: 9.751753 s, approachRate: -0.861381 m/s, LOS rate: -0.397062 deg/s, posRepo size: 4
2020-12-13T20:52:55.947Z,1607892775.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.800003 m,
      bearing: 70.024561 deg,
      approachRate: -0.861381 m/s,
      LOS rate: -0.397062 deg/s,
      cmd update: -1.191187 deg/s,
      cmd heading: 99.358002 deg,
      new cmd heading: 99.793889 deg.

2020-12-13T20:52:58.306Z,1607892778.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:52:59.086Z,1607892779.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:52:59.497Z,1607892779.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:00.331Z,1607892780.331 [Micromodem](INFO): Nmea in: $SNTTA,0.142716,,,,205300.27*46

2020-12-13T20:53:00.768Z,1607892780.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.779999 m, bearing: 70.099666 deg, deltaT: 4.852930 s, approachRate: -0.828366 m/s, LOS rate: 0.015476 deg/s, posRepo size: 4
2020-12-13T20:53:00.788Z,1607892780.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.779999 m,
      bearing: 70.099666 deg,
      approachRate: -0.828366 m/s,
      LOS rate: 0.015476 deg/s,
      cmd update: 0.046429 deg/s,
      cmd heading: 93.577017 deg,
      new cmd heading: 93.074331 deg.

2020-12-13T20:53:03.311Z,1607892783.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:03.927Z,1607892783.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:04.345Z,1607892784.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:05.175Z,1607892785.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205305.11*5F

2020-12-13T20:53:05.598Z,1607892785.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.399994 m, bearing: 70.428560 deg, deltaT: 4.853282 s, approachRate: -0.902483 m/s, LOS rate: 0.067767 deg/s, posRepo size: 4
2020-12-13T20:53:05.613Z,1607892785.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.399994 m,
      bearing: 70.428560 deg,
      approachRate: -0.902483 m/s,
      LOS rate: 0.067767 deg/s,
      cmd update: 0.203302 deg/s,
      cmd heading: 93.802368 deg,
      new cmd heading: 93.819999 deg.

2020-12-13T20:53:07.817Z,1607892787.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:08.379Z,1607892788.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:08.811Z,1607892788.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:09.629Z,1607892789.629 [Micromodem](INFO): Nmea in: $SNTTA,,0.139834,,,205309.57*4B

2020-12-13T20:53:10.424Z,1607892790.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:12.038Z,1607892792.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:53:13.258Z,1607892793.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:14.032Z,1607892794.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:14.497Z,1607892794.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:15.283Z,1607892795.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205315.22*5E

2020-12-13T20:53:16.245Z,1607892796.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:17.710Z,1607892797.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:53:18.962Z,1607892798.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:19.727Z,1607892799.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:20.133Z,1607892800.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:20.145Z,1607892800.145 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:53:20.690Z,1607892800.690 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:53:20.691Z,1607892800.691 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:53:20.691Z,1607892800.691 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:53:20.691Z,1607892800.691 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:53:21.168Z,1607892801.168 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:53:21.585Z,1607892801.585 [Micromodem](INFO): Nmea in: $CADRQ,205321,1,9,0,64,1*49

2020-12-13T20:53:21.586Z,1607892801.586 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:53:21.706Z,1607892801.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 68.450974 deg, deltaT: 16.007676 s, approachRate: -0.839596 m/s, LOS rate: -0.123540 deg/s, posRepo size: 4
2020-12-13T20:53:21.708Z,1607892801.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.960007 m,
      bearing: 68.450974 deg,
      approachRate: -0.839596 m/s,
      LOS rate: -0.123540 deg/s,
      cmd update: -0.370620 deg/s,
      cmd heading: 97.051872 deg,
      new cmd heading: 97.157225 deg.

2020-12-13T20:53:21.998Z,1607892801.998 [Micromodem](INFO): Nmea in: $SNTTA,0.130836,,,,205320.92*42

2020-12-13T20:53:21.998Z,1607892801.998 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.130836,,,,205320.92*42

2020-12-13T20:53:23.195Z,1607892803.195 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:53:23.619Z,1607892803.619 [Micromodem](INFO): Nmea in: $CADRQ,205322,1,9,0,64,2*49

2020-12-13T20:53:23.631Z,1607892803.631 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:53:23.758Z,1607892803.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:24.003Z,1607892804.003 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:53:24.410Z,1607892804.410 [Micromodem](INFO): Nmea in: $CADRQ,205324,1,9,0,64,3*4E

2020-12-13T20:53:24.411Z,1607892804.411 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:53:24.826Z,1607892804.826 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:53:24.826Z,1607892804.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:25.203Z,1607892805.203 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:53:25.203Z,1607892805.203 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:53:26.456Z,1607892806.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:28.859Z,1607892808.859 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:53:28.859Z,1607892808.859 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:53:28.957Z,1607892808.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:29.247Z,1607892809.247 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205325.637835,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4A

2020-12-13T20:53:29.248Z,1607892809.248 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205325.637835,3,0,200,4000,14500,1,1,9,1,3,3,3,186*4A

2020-12-13T20:53:31.700Z,1607892811.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:34.506Z,1607892814.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:36.106Z,1607892816.106 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:36.523Z,1607892816.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:37.356Z,1607892817.356 [Micromodem](INFO): Nmea in: $SNTTA,0.121721,,,,205337.29*4D

2020-12-13T20:53:37.376Z,1607892817.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 68.881877 deg, deltaT: 15.841171 s, approachRate: 0.000000 m/s, LOS rate: 0.027201 deg/s, posRepo size: 4
2020-12-13T20:53:37.379Z,1607892817.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.960007 m,
      bearing: 68.881877 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.027201 deg/s,
      cmd update: 0.081604 deg/s,
      cmd heading: 91.172055 deg,
      new cmd heading: 91.050449 deg.

2020-12-13T20:53:39.834Z,1607892819.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:40.551Z,1607892820.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:40.985Z,1607892820.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:41.801Z,1607892821.801 [Micromodem](INFO): Nmea in: $SNTTA,0.119202,,,,205341.74*4B

2020-12-13T20:53:41.877Z,1607892821.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 67.597242 deg, deltaT: 4.382931 s, approachRate: 0.000000 m/s, LOS rate: -0.293100 deg/s, posRepo size: 4
2020-12-13T20:53:41.879Z,1607892821.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.960007 m,
      bearing: 67.597242 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.293100 deg/s,
      cmd update: -0.879299 deg/s,
      cmd heading: 91.529752 deg,
      new cmd heading: 91.565777 deg.

2020-12-13T20:53:44.243Z,1607892824.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:45.020Z,1607892825.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:45.412Z,1607892825.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:46.242Z,1607892826.242 [Micromodem](INFO): Nmea in: $SNTTA,0.116422,,,,205346.21*47

2020-12-13T20:53:46.291Z,1607892826.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 67.291160 deg, deltaT: 4.468933 s, approachRate: 0.000000 m/s, LOS rate: -0.068491 deg/s, posRepo size: 4
2020-12-13T20:53:46.294Z,1607892826.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.960007 m,
      bearing: 67.291160 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.068491 deg/s,
      cmd update: -0.205473 deg/s,
      cmd heading: 87.610693 deg,
      new cmd heading: 87.257839 deg.

2020-12-13T20:53:48.876Z,1607892828.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:49.467Z,1607892829.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:49.865Z,1607892829.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:50.713Z,1607892830.713 [Micromodem](INFO): Nmea in: $SNTTA,0.113996,,,,205350.65*47

2020-12-13T20:53:50.737Z,1607892830.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 67.043559 deg, deltaT: 4.399975 s, approachRate: 0.000000 m/s, LOS rate: -0.056273 deg/s, posRepo size: 4
2020-12-13T20:53:50.739Z,1607892830.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.960007 m,
      bearing: 67.043559 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.056273 deg/s,
      cmd update: -0.168820 deg/s,
      cmd heading: 86.707713 deg,
      new cmd heading: 86.614466 deg.

2020-12-13T20:53:53.488Z,1607892833.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:54.075Z,1607892834.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:54.481Z,1607892834.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:54.942Z,1607892834.942 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:53:55.326Z,1607892835.326 [Micromodem](INFO): Nmea in: $SNTTA,0.111087,,,,205355.26*4E

2020-12-13T20:53:55.379Z,1607892835.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.440002 m, bearing: 66.654143 deg, deltaT: 4.654964 s, approachRate: -6.341618 m/s, LOS rate: -0.083656 deg/s, posRepo size: 4
2020-12-13T20:53:55.381Z,1607892835.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 66.654143 deg,
      approachRate: -6.341618 m/s,
      LOS rate: -0.083656 deg/s,
      cmd update: -0.250968 deg/s,
      cmd heading: 85.918974 deg,
      new cmd heading: 85.847421 deg.

2020-12-13T20:53:57.744Z,1607892837.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:53:58.527Z,1607892838.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:53:58.945Z,1607892838.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:53:59.773Z,1607892839.773 [Micromodem](INFO): Nmea in: $SNTTA,0.108270,,,,205359.71*42

2020-12-13T20:53:59.862Z,1607892839.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.239990 m, bearing: 68.257646 deg, deltaT: 4.404354 s, approachRate: -0.953605 m/s, LOS rate: 0.364072 deg/s, posRepo size: 4
2020-12-13T20:53:59.863Z,1607892839.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 68.257646 deg,
      approachRate: -0.953605 m/s,
      LOS rate: 0.364072 deg/s,
      cmd update: 1.092217 deg/s,
      cmd heading: 84.813614 deg,
      new cmd heading: 84.688625 deg.

2020-12-13T20:54:02.356Z,1607892842.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:02.984Z,1607892842.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:03.381Z,1607892843.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:04.214Z,1607892844.214 [Micromodem](INFO): Nmea in: $SNTTA,0.105533,,,,205404.17*40

2020-12-13T20:54:04.243Z,1607892844.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.100006 m, bearing: 66.126702 deg, deltaT: 4.488868 s, approachRate: -0.922278 m/s, LOS rate: -0.474717 deg/s, posRepo size: 4
2020-12-13T20:54:04.245Z,1607892844.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.100006 m,
      bearing: 66.126702 deg,
      approachRate: -0.922278 m/s,
      LOS rate: -0.474717 deg/s,
      cmd update: -1.424152 deg/s,
      cmd heading: 89.716521 deg,
      new cmd heading: 90.147772 deg.

2020-12-13T20:54:06.827Z,1607892846.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:07.426Z,1607892847.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:07.853Z,1607892847.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:08.686Z,1607892848.686 [Micromodem](INFO): Nmea in: $SNTTA,0.103027,,,,205408.61*4B

2020-12-13T20:54:08.897Z,1607892848.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.139999 m, bearing: 62.781473 deg, deltaT: 4.425773 s, approachRate: -0.894760 m/s, LOS rate: -0.755852 deg/s, posRepo size: 4
2020-12-13T20:54:08.899Z,1607892848.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.139999 m,
      bearing: 62.781473 deg,
      approachRate: -0.894760 m/s,
      LOS rate: -0.755852 deg/s,
      cmd update: -2.267556 deg/s,
      cmd heading: 83.413528 deg,
      new cmd heading: 82.526764 deg.

2020-12-13T20:54:11.115Z,1607892851.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:11.883Z,1607892851.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:12.289Z,1607892852.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:13.134Z,1607892853.134 [Micromodem](INFO): Nmea in: $SNTTA,0.100065,,,,205413.07*44

2020-12-13T20:54:13.296Z,1607892853.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 65.223730 deg, deltaT: 4.480565 s, approachRate: -0.937381 m/s, LOS rate: 0.545078 deg/s, posRepo size: 4
2020-12-13T20:54:13.314Z,1607892853.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 65.223730 deg,
      approachRate: -0.937381 m/s,
      LOS rate: 0.545078 deg/s,
      cmd update: 1.635234 deg/s,
      cmd heading: 73.264604 deg,
      new cmd heading: 72.025703 deg.

2020-12-13T20:54:15.286Z,1607892855.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:15.931Z,1607892855.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:16.325Z,1607892856.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:17.214Z,1607892857.214 [Micromodem](INFO): Nmea in: $SNTTA,0.097759,,,,205417.12*43

2020-12-13T20:54:17.238Z,1607892857.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 64.555786 deg, deltaT: 4.049354 s, approachRate: -0.859395 m/s, LOS rate: -0.164951 deg/s, posRepo size: 4
2020-12-13T20:54:17.240Z,1607892857.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.460007 m,
      bearing: 64.555786 deg,
      approachRate: -0.859395 m/s,
      LOS rate: -0.164951 deg/s,
      cmd update: -0.494853 deg/s,
      cmd heading: 79.836116 deg,
      new cmd heading: 80.604093 deg.

2020-12-13T20:54:19.842Z,1607892859.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:20.471Z,1607892860.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:20.885Z,1607892860.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:21.718Z,1607892861.718 [Micromodem](INFO): Nmea in: $SNTTA,0.095008,,,,205421.66*44

2020-12-13T20:54:21.939Z,1607892861.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 64.289675 deg, deltaT: 4.530175 s, approachRate: -0.887384 m/s, LOS rate: -0.058742 deg/s, posRepo size: 4
2020-12-13T20:54:21.941Z,1607892861.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.440002 m,
      bearing: 64.289675 deg,
      approachRate: -0.887384 m/s,
      LOS rate: -0.058742 deg/s,
      cmd update: -0.176226 deg/s,
      cmd heading: 77.578210 deg,
      new cmd heading: 77.277303 deg.

2020-12-13T20:54:24.169Z,1607892864.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:24.951Z,1607892864.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:25.362Z,1607892865.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:25.760Z,1607892865.760 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:54:26.210Z,1607892866.210 [Micromodem](INFO): Nmea in: $SNTTA,0.092179,,,,205426.14*46

2020-12-13T20:54:26.337Z,1607892866.337 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:54:26.338Z,1607892866.338 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:54:26.338Z,1607892866.338 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:54:26.339Z,1607892866.339 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:54:26.557Z,1607892866.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.000000 m, bearing: 63.809055 deg, deltaT: 4.507430 s, approachRate: -0.985041 m/s, LOS rate: -0.106628 deg/s, posRepo size: 4
2020-12-13T20:54:26.558Z,1607892866.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.000000 m,
      bearing: 63.809055 deg,
      approachRate: -0.985041 m/s,
      LOS rate: -0.106628 deg/s,
      cmd update: -0.319885 deg/s,
      cmd heading: 76.783802 deg,
      new cmd heading: 76.657407 deg.

2020-12-13T20:54:27.604Z,1607892867.604 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:54:28.026Z,1607892868.026 [Micromodem](INFO): Nmea in: $CADRQ,205427,1,9,0,64,1*48

2020-12-13T20:54:28.026Z,1607892868.026 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:54:28.388Z,1607892868.388 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:54:28.558Z,1607892868.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:28.831Z,1607892868.831 [Micromodem](INFO): Nmea in: $CADRQ,205429,1,9,0,64,2*45

2020-12-13T20:54:28.834Z,1607892868.834 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:54:29.207Z,1607892869.207 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:54:29.208Z,1607892869.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:29.618Z,1607892869.618 [Micromodem](INFO): Nmea in: $CADRQ,205430,1,9,0,64,3*4C

2020-12-13T20:54:29.619Z,1607892869.619 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,205430,1,9,0,64,3*4C

2020-12-13T20:54:30.019Z,1607892870.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:30.450Z,1607892870.450 [Micromodem](INFO): Nmea in: $SNTTA,0.089765,,,,205430.40*41

2020-12-13T20:54:30.480Z,1607892870.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.520004 m, bearing: 62.808029 deg, deltaT: 4.238479 s, approachRate: -0.821048 m/s, LOS rate: -0.236176 deg/s, posRepo size: 4
2020-12-13T20:54:30.482Z,1607892870.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.520004 m,
      bearing: 62.808029 deg,
      approachRate: -0.821048 m/s,
      LOS rate: -0.236176 deg/s,
      cmd update: -0.708527 deg/s,
      cmd heading: 75.427266 deg,
      new cmd heading: 75.299264 deg.

2020-12-13T20:54:33.048Z,1607892873.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:33.671Z,1607892873.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:34.067Z,1607892874.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:34.882Z,1607892874.882 [Micromodem](INFO): Nmea in: $SNTTA,0.086997,,,,205434.86*43

2020-12-13T20:54:35.065Z,1607892875.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.319992 m, bearing: 63.626661 deg, deltaT: 4.413786 s, approachRate: -0.951567 m/s, LOS rate: 0.185472 deg/s, posRepo size: 4
2020-12-13T20:54:35.067Z,1607892875.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.319992 m,
      bearing: 63.626661 deg,
      approachRate: -0.951567 m/s,
      LOS rate: 0.185472 deg/s,
      cmd update: 0.556415 deg/s,
      cmd heading: 72.299991 deg,
      new cmd heading: 71.895041 deg.

2020-12-13T20:54:37.311Z,1607892877.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:38.093Z,1607892878.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:38.509Z,1607892878.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:39.338Z,1607892879.338 [Micromodem](INFO): Nmea in: $SNTTA,0.084339,,,,205439.28*46

2020-12-13T20:54:39.520Z,1607892879.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 63.850555 deg, deltaT: 4.466378 s, approachRate: -0.886621 m/s, LOS rate: 0.050129 deg/s, posRepo size: 4
2020-12-13T20:54:39.522Z,1607892879.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.360008 m,
      bearing: 63.850555 deg,
      approachRate: -0.886621 m/s,
      LOS rate: 0.050129 deg/s,
      cmd update: 0.150386 deg/s,
      cmd heading: 74.785147 deg,
      new cmd heading: 75.096774 deg.

2020-12-13T20:54:41.510Z,1607892881.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:42.133Z,1607892882.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:42.538Z,1607892882.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:43.388Z,1607892883.388 [Micromodem](INFO): Nmea in: $SNTTA,0.081880,,,0.112549,205443.32*58

2020-12-13T20:54:43.414Z,1607892883.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.640007 m, bearing: 62.229573 deg, deltaT: 4.031546 s, approachRate: -0.922723 m/s, LOS rate: -0.402074 deg/s, posRepo size: 4
2020-12-13T20:54:43.418Z,1607892883.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.640007 m,
      bearing: 62.229573 deg,
      approachRate: -0.922723 m/s,
      LOS rate: -0.402074 deg/s,
      cmd update: -1.206223 deg/s,
      cmd heading: 75.391465 deg,
      new cmd heading: 75.454871 deg.

2020-12-13T20:54:45.972Z,1607892885.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:46.589Z,1607892886.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:46.982Z,1607892886.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:47.822Z,1607892887.822 [Micromodem](INFO): Nmea in: $SNTTA,0.079031,,,,205447.78*43

2020-12-13T20:54:48.010Z,1607892888.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 62.830958 deg, deltaT: 4.443609 s, approachRate: -0.958682 m/s, LOS rate: 0.135337 deg/s, posRepo size: 4
2020-12-13T20:54:48.012Z,1607892888.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 62.830958 deg,
      approachRate: -0.958682 m/s,
      LOS rate: 0.135337 deg/s,
      cmd update: 0.406011 deg/s,
      cmd heading: 70.031667 deg,
      new cmd heading: 69.338205 deg.

2020-12-13T20:54:50.224Z,1607892890.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:51.025Z,1607892891.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:51.434Z,1607892891.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:52.270Z,1607892892.270 [Micromodem](INFO): Nmea in: $SNTTA,0.076344,,,,205452.21*45

2020-12-13T20:54:52.435Z,1607892892.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.300003 m, bearing: 62.784615 deg, deltaT: 4.490621 s, approachRate: -0.908559 m/s, LOS rate: -0.010320 deg/s, posRepo size: 4
2020-12-13T20:54:52.437Z,1607892892.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.300003 m,
      bearing: 62.784615 deg,
      approachRate: -0.908559 m/s,
      LOS rate: -0.010320 deg/s,
      cmd update: -0.030960 deg/s,
      cmd heading: 71.851167 deg,
      new cmd heading: 72.061771 deg.

2020-12-13T20:54:54.453Z,1607892894.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:55.065Z,1607892895.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:54:55.470Z,1607892895.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:54:56.306Z,1607892896.306 [Micromodem](INFO): Nmea in: $SNTTA,0.073686,,,,205456.25*4B

2020-12-13T20:54:56.342Z,1607892896.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.519997 m, bearing: 63.019266 deg, deltaT: 4.002152 s, approachRate: -0.944493 m/s, LOS rate: 0.058631 deg/s, posRepo size: 4
2020-12-13T20:54:56.343Z,1607892896.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.519997 m,
      bearing: 63.019266 deg,
      approachRate: -0.944493 m/s,
      LOS rate: 0.058631 deg/s,
      cmd update: 0.175894 deg/s,
      cmd heading: 71.726977 deg,
      new cmd heading: 71.714178 deg.

2020-12-13T20:54:58.907Z,1607892898.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:54:59.115Z,1607892899.115 [Micromodem](INFO): Nmea in: $CAERR,205500,DATA_TIMEOUT,3*4E

2020-12-13T20:54:59.503Z,1607892899.503 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T20:54:59.504Z,1607892899.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:01.549Z,1607892901.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:02.340Z,1607892902.340 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T20:55:02.341Z,1607892902.341 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2020-12-13T20:55:02.748Z,1607892902.748 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205500.077017,3,0,200,4000,14500,1,1,9,1,3,2,3,128*44

2020-12-13T20:55:02.748Z,1607892902.748 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205500.077017,3,0,200,4000,14500,1,1,9,1,3,2,3,128*44

2020-12-13T20:55:04.411Z,1607892904.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:07.383Z,1607892907.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:10.065Z,1607892910.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:10.850Z,1607892910.850 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:11.247Z,1607892911.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:12.098Z,1607892912.098 [Micromodem](INFO): Nmea in: $SNTTA,0.064469,,,,205512.04*4C

2020-12-13T20:55:12.115Z,1607892912.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.479996 m, bearing: 61.793568 deg, deltaT: 15.945225 s, approachRate: -0.880514 m/s, LOS rate: -0.076869 deg/s, posRepo size: 4
2020-12-13T20:55:12.117Z,1607892912.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 61.793568 deg,
      approachRate: -0.880514 m/s,
      LOS rate: -0.076869 deg/s,
      cmd update: -0.230608 deg/s,
      cmd heading: 74.531677 deg,
      new cmd heading: 74.574231 deg.

2020-12-13T20:55:14.519Z,1607892914.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:15.299Z,1607892915.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:15.709Z,1607892915.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:16.559Z,1607892916.559 [Micromodem](INFO): Nmea in: $SNTTA,0.061674,,,,205516.49*4A

2020-12-13T20:55:16.633Z,1607892916.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 59.499219 deg, deltaT: 4.269397 s, approachRate: -0.969690 m/s, LOS rate: -0.537394 deg/s, posRepo size: 4
2020-12-13T20:55:16.635Z,1607892916.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.340004 m,
      bearing: 59.499219 deg,
      approachRate: -0.969690 m/s,
      LOS rate: -0.537394 deg/s,
      cmd update: -1.612183 deg/s,
      cmd heading: 73.547118 deg,
      new cmd heading: 73.435063 deg.

2020-12-13T20:55:18.971Z,1607892918.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:19.745Z,1607892919.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:20.157Z,1607892920.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:20.986Z,1607892920.986 [Micromodem](INFO): Nmea in: $SNTTA,0.059085,,,,205520.93*4B

2020-12-13T20:55:21.040Z,1607892921.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.320000 m, bearing: 59.596795 deg, deltaT: 4.432249 s, approachRate: -0.906990 m/s, LOS rate: 0.022015 deg/s, posRepo size: 4
2020-12-13T20:55:21.042Z,1607892921.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.320000 m,
      bearing: 59.596795 deg,
      approachRate: -0.906990 m/s,
      LOS rate: 0.022015 deg/s,
      cmd update: 0.066045 deg/s,
      cmd heading: 66.401504 deg,
      new cmd heading: 65.652282 deg.

2020-12-13T20:55:23.394Z,1607892923.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:24.175Z,1607892924.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:24.606Z,1607892924.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:25.434Z,1607892925.434 [Micromodem](INFO): Nmea in: $SNTTA,0.056362,,,,205525.36*44

2020-12-13T20:55:25.459Z,1607892925.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.420006 m, bearing: 60.247118 deg, deltaT: 4.485854 s, approachRate: -0.869398 m/s, LOS rate: 0.144972 deg/s, posRepo size: 4
2020-12-13T20:55:25.481Z,1607892925.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.420006 m,
      bearing: 60.247118 deg,
      approachRate: -0.869398 m/s,
      LOS rate: 0.144972 deg/s,
      cmd update: 0.434916 deg/s,
      cmd heading: 66.696646 deg,
      new cmd heading: 66.724077 deg.

2020-12-13T20:55:27.921Z,1607892927.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:28.663Z,1607892928.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:29.026Z,1607892929.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:29.882Z,1607892929.882 [Micromodem](INFO): Nmea in: $SNTTA,0.053565,,0.077383,,205529.85*52

2020-12-13T20:55:29.924Z,1607892929.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.160004 m, bearing: 60.047212 deg, deltaT: 4.417258 s, approachRate: -0.964400 m/s, LOS rate: -0.045256 deg/s, posRepo size: 4
2020-12-13T20:55:29.926Z,1607892929.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.160004 m,
      bearing: 60.047212 deg,
      approachRate: -0.964400 m/s,
      LOS rate: -0.045256 deg/s,
      cmd update: -0.135767 deg/s,
      cmd heading: 68.623451 deg,
      new cmd heading: 68.819090 deg.

2020-12-13T20:55:31.493Z,1607892931.493 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:55:31.981Z,1607892931.981 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:55:31.981Z,1607892931.981 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:55:31.982Z,1607892931.982 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:55:31.982Z,1607892931.982 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:55:32.135Z,1607892932.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:32.300Z,1607892932.300 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:55:32.695Z,1607892932.695 [Micromodem](INFO): Nmea in: $CADRQ,205533,1,9,0,64,1*4C

2020-12-13T20:55:32.695Z,1607892932.695 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:55:33.091Z,1607892933.091 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:55:33.091Z,1607892933.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:33.533Z,1607892933.533 [Micromodem](INFO): Nmea in: $CADRQ,205533,1,9,0,64,2*4F

2020-12-13T20:55:33.534Z,1607892933.534 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,205533,1,9,0,64,2*4F

2020-12-13T20:55:33.934Z,1607892933.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:34.354Z,1607892934.354 [Micromodem](INFO): Nmea in: $SNTTA,0.050810,,,,205534.28*43

2020-12-13T20:55:34.432Z,1607892934.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 58.193143 deg, deltaT: 4.535858 s, approachRate: -0.820130 m/s, LOS rate: -0.408758 deg/s, posRepo size: 4
2020-12-13T20:55:34.434Z,1607892934.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.440010 m,
      bearing: 58.193143 deg,
      approachRate: -0.820130 m/s,
      LOS rate: -0.408758 deg/s,
      cmd update: -1.226274 deg/s,
      cmd heading: 68.007629 deg,
      new cmd heading: 67.950327 deg.

2020-12-13T20:55:36.833Z,1607892936.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:37.570Z,1607892937.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:38.000Z,1607892938.000 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T20:55:38.206Z,1607892938.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:39.018Z,1607892939.018 [Micromodem](INFO): Nmea in: $SNTTA,0.047942,,,,205538.76*44

2020-12-13T20:55:39.085Z,1607892939.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 58.273986 deg, deltaT: 4.645452 s, approachRate: -1.007439 m/s, LOS rate: 0.017402 deg/s, posRepo size: 4
2020-12-13T20:55:39.087Z,1607892939.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.760002 m,
      bearing: 58.273986 deg,
      approachRate: -1.007439 m/s,
      LOS rate: 0.017402 deg/s,
      cmd update: 0.052207 deg/s,
      cmd heading: 62.311224 deg,
      new cmd heading: 61.784870 deg.

2020-12-13T20:55:41.474Z,1607892941.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:42.251Z,1607892942.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:42.677Z,1607892942.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:43.503Z,1607892943.503 [Micromodem](INFO): Nmea in: $SNTTA,0.044982,,,,205543.44*46

2020-12-13T20:55:43.518Z,1607892943.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.260002 m, bearing: 59.318902 deg, deltaT: 4.483170 s, approachRate: -1.003754 m/s, LOS rate: 0.233075 deg/s, posRepo size: 4
2020-12-13T20:55:43.519Z,1607892943.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.260002 m,
      bearing: 59.318902 deg,
      approachRate: -1.003754 m/s,
      LOS rate: 0.233075 deg/s,
      cmd update: 0.699226 deg/s,
      cmd heading: 62.544283 deg,
      new cmd heading: 62.565058 deg.

2020-12-13T20:55:45.962Z,1607892945.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:46.695Z,1607892946.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:47.129Z,1607892947.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:47.946Z,1607892947.946 [Micromodem](INFO): Nmea in: $SNTTA,0.042141,,,,205547.88*43

2020-12-13T20:55:48.007Z,1607892948.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.119999 m, bearing: 57.989051 deg, deltaT: 4.429037 s, approachRate: -0.934741 m/s, LOS rate: -0.300257 deg/s, posRepo size: 4
2020-12-13T20:55:48.011Z,1607892948.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.119999 m,
      bearing: 57.989051 deg,
      approachRate: -0.934741 m/s,
      LOS rate: -0.300257 deg/s,
      cmd update: -0.900772 deg/s,
      cmd heading: 65.656323 deg,
      new cmd heading: 65.961733 deg.

2020-12-13T20:55:50.391Z,1607892950.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:51.151Z,1607892951.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:51.558Z,1607892951.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:52.382Z,1607892952.382 [Micromodem](INFO): Nmea in: $SNTTA,0.039610,0.048567,,,205552.34*59

2020-12-13T20:55:52.422Z,1607892952.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 57.684035 deg, deltaT: 4.465592 s, approachRate: -0.873344 m/s, LOS rate: -0.068304 deg/s, posRepo size: 4
2020-12-13T20:55:52.424Z,1607892952.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.220001 m,
      bearing: 57.684035 deg,
      approachRate: -0.873344 m/s,
      LOS rate: -0.068304 deg/s,
      cmd update: -0.204911 deg/s,
      cmd heading: 61.632438 deg,
      new cmd heading: 61.286695 deg.

2020-12-13T20:55:54.859Z,1607892954.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:55:55.598Z,1607892955.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:55:56.005Z,1607892956.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:55:56.822Z,1607892956.822 [Micromodem](INFO): Nmea in: $SNTTA,0.037210,,,,205556.78*49

2020-12-13T20:55:56.874Z,1607892956.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 58.308287 deg, deltaT: 4.396135 s, approachRate: -0.818903 m/s, LOS rate: 0.142000 deg/s, posRepo size: 4
2020-12-13T20:55:56.893Z,1607892956.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 58.308287 deg,
      approachRate: -0.818903 m/s,
      LOS rate: 0.142000 deg/s,
      cmd update: 0.426001 deg/s,
      cmd heading: 60.732465 deg,
      new cmd heading: 60.641551 deg.

2020-12-13T20:55:59.397Z,1607892959.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:00.031Z,1607892960.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:00.444Z,1607892960.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:01.271Z,1607892961.271 [Micromodem](INFO): Nmea in: $SNTTA,0.034063,,,,205601.22*42

2020-12-13T20:56:01.286Z,1607892961.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.879997 m, bearing: 57.396511 deg, deltaT: 4.454751 s, approachRate: -1.064032 m/s, LOS rate: -0.204675 deg/s, posRepo size: 4
2020-12-13T20:56:01.288Z,1607892961.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.879997 m,
      bearing: 57.396511 deg,
      approachRate: -1.064032 m/s,
      LOS rate: -0.204675 deg/s,
      cmd update: -0.614025 deg/s,
      cmd heading: 62.631943 deg,
      new cmd heading: 62.801458 deg.

2020-12-13T20:56:02.866Z,1607892962.866 [Micromodem](INFO): Nmea in: $CAERR,205603,DATA_TIMEOUT,2*4F

2020-12-13T20:56:03.267Z,1607892963.267 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:56:03.868Z,1607892963.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:04.467Z,1607892964.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:04.867Z,1607892964.867 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:56:04.867Z,1607892964.867 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T20:56:05.276Z,1607892965.276 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205603.922520,3,0,200,4000,14500,1,1,9,1,3,1,3,64*76

2020-12-13T20:56:05.276Z,1607892965.276 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205603.922520,3,0,200,4000,14500,1,1,9,1,3,1,3,64*76

2020-12-13T20:56:06.518Z,1607892966.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:09.335Z,1607892969.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:12.319Z,1607892972.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:15.027Z,1607892975.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:15.778Z,1607892975.778 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:16.194Z,1607892976.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:17.077Z,1607892977.077 [Micromodem](INFO): Nmea in: $SNTTA,0.024587,,,,205616.97*44

2020-12-13T20:56:17.106Z,1607892977.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 56.390028 deg, deltaT: 16.002407 s, approachRate: -0.884867 m/s, LOS rate: -0.062896 deg/s, posRepo size: 4
2020-12-13T20:56:17.107Z,1607892977.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m.
2020-12-13T20:56:17.109Z,1607892977.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.719997 m,
      bearing: 56.390028 deg,
      approachRate: -0.884867 m/s,
      LOS rate: -0.062896 deg/s,
      cmd update: -0.188687 deg/s,
      cmd heading: 52.806128 deg,
      new cmd heading: 52.673618 deg.

2020-12-13T20:56:17.509Z,1607892977.509 [PowerOnly](INFO): Powering up loadControl
2020-12-13T20:56:19.511Z,1607892979.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:20.311Z,1607892980.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:20.697Z,1607892980.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:21.563Z,1607892981.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.180000 m, bearing: 54.955559 deg, deltaT: 4.225767 s, approachRate: -0.837717 m/s, LOS rate: -0.339458 deg/s, posRepo size: 4
2020-12-13T20:56:21.564Z,1607892981.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.18 m.
2020-12-13T20:56:21.577Z,1607892981.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.180000 m,
      bearing: 54.955559 deg,
      approachRate: -0.837717 m/s,
      LOS rate: -0.339458 deg/s,
      cmd update: -1.018373 deg/s,
      cmd heading: 52.008785 deg,
      new cmd heading: 51.924449 deg.

2020-12-13T20:56:21.910Z,1607892981.910 [Micromodem](INFO): Nmea in: $SNTTA,0.022236,,,,205621.55*45

2020-12-13T20:56:23.971Z,1607892983.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:24.731Z,1607892984.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:25.129Z,1607892985.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:25.967Z,1607892985.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205625.92*53

2020-12-13T20:56:26.816Z,1607892986.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:28.362Z,1607892988.362 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:56:29.836Z,1607892989.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:30.484Z,1607892990.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:30.906Z,1607892990.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:31.758Z,1607892991.758 [Micromodem](INFO): Nmea in: $SNTTA,0.017298,,,,205631.67*47

2020-12-13T20:56:32.003Z,1607892992.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.519999 m, bearing: 52.165232 deg, deltaT: 10.220280 s, approachRate: -0.651646 m/s, LOS rate: -0.273019 deg/s, posRepo size: 4
2020-12-13T20:56:32.003Z,1607892992.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.52 m.
2020-12-13T20:56:32.004Z,1607892992.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 26.52 m.
2020-12-13T20:56:32.004Z,1607892992.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T20:56:32.010Z,1607892992.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.519999 m,
      bearing: 52.165232 deg,
      approachRate: -0.651646 m/s,
      LOS rate: -0.273019 deg/s,
      cmd update: -0.819056 deg/s,
      cmd heading: 41.600753 deg,
      new cmd heading: 40.922120 deg.

2020-12-13T20:56:33.854Z,1607892993.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:34.622Z,1607892994.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:35.013Z,1607892995.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:35.862Z,1607892995.862 [Micromodem](INFO): Nmea in: $SNTTA,0.014683,,,,205635.81*46

2020-12-13T20:56:35.914Z,1607892995.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 53.087208 deg, deltaT: 4.099185 s, approachRate: -1.141690 m/s, LOS rate: 0.224917 deg/s, posRepo size: 4
2020-12-13T20:56:35.916Z,1607892995.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.840002 m,
      bearing: 53.087208 deg,
      approachRate: -1.141690 m/s,
      LOS rate: 0.224917 deg/s,
      cmd update: 0.674751 deg/s,
      cmd heading: 38.243194 deg,
      new cmd heading: 37.851944 deg.

2020-12-13T20:56:37.041Z,1607892997.041 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:56:37.570Z,1607892997.570 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:56:37.571Z,1607892997.571 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:56:37.571Z,1607892997.571 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:56:37.571Z,1607892997.571 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:56:37.963Z,1607892997.963 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:56:38.023Z,1607892998.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:38.375Z,1607892998.375 [Micromodem](INFO): Nmea in: $CADRQ,205638,1,9,0,64,1*44

2020-12-13T20:56:38.378Z,1607892998.378 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:56:38.859Z,1607892998.859 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:56:38.860Z,1607892998.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:39.251Z,1607892999.251 [Micromodem](INFO): Nmea in: $CADRQ,205639,1,9,0,64,2*46

2020-12-13T20:56:39.252Z,1607892999.252 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,205639,1,9,0,64,2*46

2020-12-13T20:56:39.665Z,1607892999.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:40.075Z,1607893000.075 [Micromodem](INFO): Nmea in: $SNTTA,0.012716,,,,205640.05*43

2020-12-13T20:56:40.914Z,1607893000.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:42.482Z,1607893002.482 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:56:43.731Z,1607893003.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:44.503Z,1607893004.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:44.913Z,1607893004.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:45.783Z,1607893005.783 [Micromodem](INFO): Nmea in: $SNTTA,0.010236,,,,205645.69*49

2020-12-13T20:56:45.848Z,1607893005.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 60.078672 deg, deltaT: 9.909538 s, approachRate: -0.672080 m/s, LOS rate: 0.705529 deg/s, posRepo size: 4
2020-12-13T20:56:45.854Z,1607893005.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.179998 m,
      bearing: 60.078672 deg,
      approachRate: -0.672080 m/s,
      LOS rate: 0.705529 deg/s,
      cmd update: 2.116586 deg/s,
      cmd heading: 44.929677 deg,
      new cmd heading: 45.269086 deg.

2020-12-13T20:56:48.551Z,1607893008.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:49.119Z,1607893009.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:49.513Z,1607893009.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:50.370Z,1607893010.370 [Micromodem](INFO): Nmea in: $SNTTA,0.008057,,0.050681,,205650.31*58

2020-12-13T20:56:50.386Z,1607893010.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 62.260863 deg, deltaT: 4.663267 s, approachRate: -0.707658 m/s, LOS rate: 0.467953 deg/s, posRepo size: 4
2020-12-13T20:56:50.389Z,1607893010.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 62.260863 deg,
      approachRate: -0.707658 m/s,
      LOS rate: 0.467953 deg/s,
      cmd update: 1.403860 deg/s,
      cmd heading: 54.786121 deg,
      new cmd heading: 55.595887 deg.

2020-12-13T20:56:52.846Z,1607893012.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:53.552Z,1607893013.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:53.957Z,1607893013.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:54.822Z,1607893014.822 [Micromodem](INFO): Nmea in: $SNTTA,0.006104,,,,205654.74*40

2020-12-13T20:56:54.856Z,1607893014.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 64.610584 deg, deltaT: 4.410999 s, approachRate: -0.666516 m/s, LOS rate: 0.532696 deg/s, posRepo size: 4
2020-12-13T20:56:54.858Z,1607893014.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 64.610584 deg,
      approachRate: -0.666516 m/s,
      LOS rate: 0.532696 deg/s,
      cmd update: 1.598088 deg/s,
      cmd heading: 60.967804 deg,
      new cmd heading: 61.600344 deg.

2020-12-13T20:56:57.253Z,1607893017.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:56:57.996Z,1607893017.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:56:58.419Z,1607893018.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:56:59.254Z,1607893019.254 [Micromodem](INFO): Nmea in: $SNTTA,0.004333,,,0.008378,205659.18*59

2020-12-13T20:56:59.308Z,1607893019.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.179999 m, bearing: 66.155532 deg, deltaT: 4.483900 s, approachRate: -0.615535 m/s, LOS rate: 0.344554 deg/s, posRepo size: 4
2020-12-13T20:56:59.310Z,1607893019.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.179999 m,
      bearing: 66.155532 deg,
      approachRate: -0.615535 m/s,
      LOS rate: 0.344554 deg/s,
      cmd update: 1.033663 deg/s,
      cmd heading: 68.155982 deg,
      new cmd heading: 68.802295 deg.

2020-12-13T20:57:01.716Z,1607893021.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:02.455Z,1607893022.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:02.981Z,1607893022.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:03.806Z,1607893023.806 [Micromodem](INFO): Nmea in: $SNTTA,0.002947,,,,205703.64*49

2020-12-13T20:57:03.871Z,1607893023.871 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T20:57:03.872Z,1607893023.872 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T20:57:03.873Z,1607893023.873 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T20:57:03.874Z,1607893023.874 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T20:57:03.874Z,1607893023.874 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T20:57:03.877Z,1607893023.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.380000 m 
2020-12-13T20:57:03.877Z,1607893023.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T20:57:03.877Z,1607893023.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T20:57:03.877Z,1607893023.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T20:57:03.880Z,1607893023.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 81.111597 deg, deltaT: 4.491527 s, approachRate: -0.400755 m/s, LOS rate: 3.329840 deg/s, posRepo size: 4
2020-12-13T20:57:03.882Z,1607893023.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 81.111597 deg,
      approachRate: -0.400755 m/s,
      LOS rate: 3.329840 deg/s,
      cmd update: 9.989519 deg/s,
      cmd heading: 72.796312 deg,
      new cmd heading: 73.299784 deg.

2020-12-13T20:57:04.227Z,1607893024.227 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T205704: (41.552319, -70.708603)
2020-12-13T20:57:04.227Z,1607893024.227 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T20:57:04.227Z,1607893024.227 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T20:57:04.227Z,1607893024.227 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T20:57:04.227Z,1607893024.227 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T20:57:04.228Z,1607893024.228 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T20:57:04.228Z,1607893024.228 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T20:57:04.228Z,1607893024.228 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T20:57:04.228Z,1607893024.228 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T20:57:05.961Z,1607893025.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:06.679Z,1607893026.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:07.051Z,1607893027.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:07.883Z,1607893027.883 [Micromodem](INFO): Nmea in: $SNTTA,0.003026,,,,205707.87*4F

2020-12-13T20:57:07.946Z,1607893027.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 81.955010 deg, deltaT: 4.083892 s, approachRate: 0.000000 m/s, LOS rate: 0.206522 deg/s, posRepo size: 4
2020-12-13T20:57:07.948Z,1607893027.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 81.955010 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.206522 deg/s,
      cmd update: 0.619565 deg/s,
      cmd heading: 113.616753 deg,
      new cmd heading: 118.240272 deg.

2020-12-13T20:57:09.091Z,1607893029.091 [Micromodem](INFO): Nmea in: $CAERR,205709,DATA_TIMEOUT,2*44

2020-12-13T20:57:09.481Z,1607893029.481 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:57:10.345Z,1607893030.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:10.687Z,1607893030.687 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:57:11.084Z,1607893031.084 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205709.604216,3,0,200,4000,14500,1,1,9,1,3,1,3,64*74

2020-12-13T20:57:11.085Z,1607893031.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:11.561Z,1607893031.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:12.371Z,1607893032.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205712.27*58

2020-12-13T20:57:13.201Z,1607893033.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:14.395Z,1607893034.395 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:57:15.836Z,1607893035.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:16.519Z,1607893036.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:16.921Z,1607893036.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:17.773Z,1607893037.773 [Micromodem](INFO): Nmea in: $SNTTA,0.009215,,,,205717.71*4F

2020-12-13T20:57:18.002Z,1607893038.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.640002 m, bearing: 111.799842 deg, deltaT: 9.876957 s, approachRate: 0.735044 m/s, LOS rate: 3.021663 deg/s, posRepo size: 4
2020-12-13T20:57:18.004Z,1607893038.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 111.799842 deg,
      approachRate: 0.735044 m/s,
      LOS rate: 3.021663 deg/s,
      cmd update: 9.064988 deg/s,
      cmd heading: 119.736148 deg,
      new cmd heading: 120.126338 deg.

2020-12-13T20:57:19.870Z,1607893039.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:20.631Z,1607893040.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:21.013Z,1607893041.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:21.875Z,1607893041.875 [Micromodem](INFO): Nmea in: $SNTTA,0.008022,,,,205721.82*41

2020-12-13T20:57:21.945Z,1607893041.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 145.645656 deg, deltaT: 4.077546 s, approachRate: 0.029428 m/s, LOS rate: 8.300535 deg/s, posRepo size: 4
2020-12-13T20:57:21.947Z,1607893041.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 145.645656 deg,
      approachRate: 0.029428 m/s,
      LOS rate: 8.300535 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.698935 deg,
      new cmd heading: 161.297114 deg.

2020-12-13T20:57:23.942Z,1607893043.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:24.671Z,1607893044.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:25.061Z,1607893045.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:25.890Z,1607893045.890 [Micromodem](INFO): Nmea in: $SNTTA,0.009312,,,,205725.86*40

2020-12-13T20:57:25.959Z,1607893045.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 178.403626 deg, deltaT: 4.082865 s, approachRate: 0.573128 m/s, LOS rate: 8.023280 deg/s, posRepo size: 4
2020-12-13T20:57:25.965Z,1607893045.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 178.403626 deg,
      approachRate: 0.573128 m/s,
      LOS rate: 8.023280 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 205.693268 deg,
      new cmd heading: 211.006148 deg.

2020-12-13T20:57:28.334Z,1607893048.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:29.099Z,1607893049.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:29.497Z,1607893049.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:30.350Z,1607893050.350 [Micromodem](INFO): Nmea in: $SNTTA,0.011841,,,,205730.29*45

2020-12-13T20:57:30.368Z,1607893050.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 174.043493 deg, deltaT: 4.473238 s, approachRate: 0.549937 m/s, LOS rate: -0.974715 deg/s, posRepo size: 4
2020-12-13T20:57:30.370Z,1607893050.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 174.043493 deg,
      approachRate: 0.549937 m/s,
      LOS rate: -0.974715 deg/s,
      cmd update: -2.924146 deg/s,
      cmd heading: 259.324390 deg,
      new cmd heading: 263.918410 deg.

2020-12-13T20:57:32.807Z,1607893052.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:33.550Z,1607893053.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:33.949Z,1607893053.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:34.789Z,1607893054.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205734.74*5A

2020-12-13T20:57:34.837Z,1607893054.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.540001 m, bearing: 149.593505 deg, deltaT: 4.377896 s, approachRate: 0.452272 m/s, LOS rate: -5.584872 deg/s, posRepo size: 4
2020-12-13T20:57:34.839Z,1607893054.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.540001 m,
      bearing: 149.593505 deg,
      approachRate: 0.452272 m/s,
      LOS rate: -5.584872 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 246.511018 deg,
      new cmd heading: 245.139693 deg.

2020-12-13T20:57:37.235Z,1607893057.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:37.992Z,1607893057.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:38.385Z,1607893058.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:39.230Z,1607893059.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205739.18*5D

2020-12-13T20:57:39.252Z,1607893059.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 168.335640 deg, deltaT: 4.524462 s, approachRate: 0.437620 m/s, LOS rate: 4.142401 deg/s, posRepo size: 4
2020-12-13T20:57:39.253Z,1607893059.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.52 m. Rolling out.
2020-12-13T20:57:39.253Z,1607893059.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T20:57:41.703Z,1607893061.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:42.439Z,1607893062.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:42.877Z,1607893062.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:42.892Z,1607893062.892 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:57:43.390Z,1607893063.390 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:57:43.391Z,1607893063.391 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:57:43.391Z,1607893063.391 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:57:43.392Z,1607893063.392 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:57:43.694Z,1607893063.694 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:57:43.755Z,1607893063.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 227.200956 deg, deltaT: 4.571843 s, approachRate: 0.380592 m/s, LOS rate: 12.875620 deg/s, posRepo size: 4
2020-12-13T20:57:44.090Z,1607893064.090 [Micromodem](INFO): Nmea in: $CADRQ,205744,1,9,0,64,1*4E

2020-12-13T20:57:44.090Z,1607893064.090 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:57:44.574Z,1607893064.574 [Micromodem](INFO): Nmea in: $SNTTA,0.014815,,,,205743.63*4B

2020-12-13T20:57:44.575Z,1607893064.575 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.014815,,,,205743.63*4B

2020-12-13T20:57:45.697Z,1607893065.697 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:57:46.099Z,1607893066.099 [Micromodem](INFO): Nmea in: $CADRQ,205745,1,9,0,64,2*4C

2020-12-13T20:57:46.099Z,1607893066.099 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T20:57:46.271Z,1607893066.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:46.503Z,1607893066.503 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:57:46.907Z,1607893066.907 [Micromodem](INFO): Nmea in: $CADRQ,205747,1,9,0,64,3*4F

2020-12-13T20:57:46.907Z,1607893066.907 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T20:57:47.396Z,1607893067.396 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T20:57:47.396Z,1607893067.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:47.815Z,1607893067.815 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T20:57:47.815Z,1607893067.815 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T20:57:49.172Z,1607893069.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:51.446Z,1607893071.446 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T20:57:51.446Z,1607893071.446 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T20:57:51.863Z,1607893071.863 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205748.135782,3,0,200,4000,14500,1,1,9,1,3,3,3,186*43

2020-12-13T20:57:51.863Z,1607893071.863 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205748.135782,3,0,200,4000,14500,1,1,9,1,3,3,3,186*43

2020-12-13T20:57:51.899Z,1607893071.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:52.255Z,1607893072.255 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:57:52.679Z,1607893072.679 [PowerOnly](FAULT): loadControl LCB fault:  Software Overcurrent.
2020-12-13T20:57:52.679Z,1607893072.679 [PowerOnly] Hardware Fault, FailCount= 1
2020-12-13T20:57:52.679Z,1607893072.679 [PowerOnly](ERROR): Hardware Fault
2020-12-13T20:57:52.796Z,1607893072.796 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2020-12-13T20:57:53.071Z,1607893073.071 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:57:54.036Z,1607893074.036 [CBIT](INFO): Clearing failed state for component PowerOnly
2020-12-13T20:57:54.036Z,1607893074.036 [PowerOnly] No Fault, FailCount= 1
2020-12-13T20:57:54.726Z,1607893074.726 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T20:57:54.801Z,1607893074.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:55.669Z,1607893075.669 [PowerOnly](INFO): Powering down loadControl
2020-12-13T20:57:57.530Z,1607893077.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:57:58.730Z,1607893078.730 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:57:59.130Z,1607893079.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:57:59.986Z,1607893079.986 [Micromodem](INFO): Nmea in: $SNTTA,0.018451,,,,205759.92*4E

2020-12-13T20:58:00.215Z,1607893080.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 243.794259 deg, deltaT: 16.160981 s, approachRate: 0.337851 m/s, LOS rate: 1.026751 deg/s, posRepo size: 4
2020-12-13T20:58:02.309Z,1607893082.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:02.944Z,1607893082.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:03.337Z,1607893083.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:04.166Z,1607893084.166 [Micromodem](INFO): Nmea in: $SNTTA,0.020115,,,,205804.13*4E

2020-12-13T20:58:04.241Z,1607893084.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.000002 m, bearing: 220.122872 deg, deltaT: 4.171302 s, approachRate: 0.546592 m/s, LOS rate: -5.674820 deg/s, posRepo size: 4
2020-12-13T20:58:06.346Z,1607893086.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:06.970Z,1607893086.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:07.381Z,1607893087.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:08.222Z,1607893088.222 [Micromodem](INFO): Nmea in: $SNTTA,0.021260,,,,205808.16*47

2020-12-13T20:58:08.379Z,1607893088.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.979998 m, bearing: 227.846150 deg, deltaT: 4.075113 s, approachRate: 0.485875 m/s, LOS rate: 1.895230 deg/s, posRepo size: 4
2020-12-13T20:58:10.681Z,1607893090.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:11.417Z,1607893091.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:11.837Z,1607893091.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:12.674Z,1607893092.674 [Micromodem](INFO): Nmea in: $SNTTA,0.022000,,0.051555,,205812.60*55

2020-12-13T20:58:12.893Z,1607893092.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 187.707368 deg, deltaT: 4.409226 s, approachRate: 0.353803 m/s, LOS rate: -9.103362 deg/s, posRepo size: 4
2020-12-13T20:58:14.921Z,1607893094.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:15.579Z,1607893095.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:15.992Z,1607893095.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:16.842Z,1607893096.842 [Micromodem](INFO): Nmea in: $SNTTA,0.023495,,,,205816.77*41

2020-12-13T20:58:16.898Z,1607893096.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.279999 m, bearing: 238.882806 deg, deltaT: 4.146014 s, approachRate: 0.419681 m/s, LOS rate: 12.343286 deg/s, posRepo size: 4
2020-12-13T20:58:19.384Z,1607893099.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:20.023Z,1607893100.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:20.433Z,1607893100.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:21.274Z,1607893101.274 [Micromodem](INFO): Nmea in: $SNTTA,0.025115,,,,205821.21*4D

2020-12-13T20:58:21.470Z,1607893101.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.739998 m, bearing: 227.439507 deg, deltaT: 4.488903 s, approachRate: 0.548018 m/s, LOS rate: -2.549242 deg/s, posRepo size: 4
2020-12-13T20:58:23.727Z,1607893103.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:24.505Z,1607893104.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:24.905Z,1607893104.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:25.742Z,1607893105.742 [Micromodem](INFO): Nmea in: $SNTTA,0.026849,,,,205825.70*4E

2020-12-13T20:58:25.946Z,1607893105.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 191.636270 deg, deltaT: 4.453115 s, approachRate: 0.579369 m/s, LOS rate: -8.040043 deg/s, posRepo size: 4
2020-12-13T20:58:27.947Z,1607893107.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:28.667Z,1607893108.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:29.057Z,1607893109.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:29.890Z,1607893109.890 [Micromodem](INFO): Nmea in: $SNTTA,0.028456,,,,205829.85*44

2020-12-13T20:58:29.936Z,1607893109.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 233.252982 deg, deltaT: 4.109808 s, approachRate: 0.583969 m/s, LOS rate: 10.126193 deg/s, posRepo size: 4
2020-12-13T20:58:32.083Z,1607893112.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:32.691Z,1607893112.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:33.097Z,1607893113.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:33.934Z,1607893113.934 [Micromodem](INFO): Nmea in: $SNTTA,0.030032,,,,205833.88*4D

2020-12-13T20:58:34.160Z,1607893114.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 231.794764 deg, deltaT: 4.065451 s, approachRate: 0.575582 m/s, LOS rate: -0.358685 deg/s, posRepo size: 4
2020-12-13T20:58:36.107Z,1607893116.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:36.879Z,1607893116.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:37.326Z,1607893117.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:38.146Z,1607893118.146 [Micromodem](INFO): Nmea in: $SNTTA,0.031731,,,,205838.07*44

2020-12-13T20:58:38.464Z,1607893118.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.579998 m, bearing: 225.393169 deg, deltaT: 4.273410 s, approachRate: 0.589693 m/s, LOS rate: -1.498006 deg/s, posRepo size: 4
2020-12-13T20:58:40.440Z,1607893120.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:41.051Z,1607893121.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:41.478Z,1607893121.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:42.330Z,1607893122.330 [Micromodem](INFO): Nmea in: $SNTTA,0.033686,,,,205842.24*47

2020-12-13T20:58:42.367Z,1607893122.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 226.873257 deg, deltaT: 4.097894 s, approachRate: 0.629593 m/s, LOS rate: 0.361183 deg/s, posRepo size: 4
2020-12-13T20:58:44.890Z,1607893124.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:45.495Z,1607893125.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:45.897Z,1607893125.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:46.751Z,1607893126.751 [Micromodem](INFO): Nmea in: $SNTTA,0.035351,,,,205846.68*42

2020-12-13T20:58:46.971Z,1607893126.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 226.838027 deg, deltaT: 4.432659 s, approachRate: 0.582042 m/s, LOS rate: -0.007948 deg/s, posRepo size: 4
2020-12-13T20:58:48.418Z,1607893128.418 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:58:48.967Z,1607893128.967 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:58:48.967Z,1607893128.967 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:58:48.968Z,1607893128.968 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:58:48.968Z,1607893128.968 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:58:49.066Z,1607893129.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:49.358Z,1607893129.358 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:58:49.751Z,1607893129.751 [Micromodem](INFO): Nmea in: $CADRQ,205850,1,9,0,64,1*44

2020-12-13T20:58:49.751Z,1607893129.751 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:58:50.155Z,1607893130.155 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:58:50.155Z,1607893130.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:50.551Z,1607893130.551 [Micromodem](INFO): Nmea in: $CADRQ,205850,1,9,0,64,2*47

2020-12-13T20:58:50.551Z,1607893130.551 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,205850,1,9,0,64,2*47

2020-12-13T20:58:50.962Z,1607893130.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:51.430Z,1607893131.430 [Micromodem](INFO): Nmea in: $SNTTA,0.037240,,0.064666,,205851.34*54

2020-12-13T20:58:51.467Z,1607893131.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 227.556468 deg, deltaT: 4.851241 s, approachRate: 0.593662 m/s, LOS rate: 0.148094 deg/s, posRepo size: 4
2020-12-13T20:58:53.919Z,1607893133.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:54.660Z,1607893134.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:55.057Z,1607893135.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:58:55.898Z,1607893135.898 [Micromodem](INFO): Nmea in: $SNTTA,0.064012,,,,205855.85*43

2020-12-13T20:58:55.958Z,1607893135.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.680004 m, bearing: 175.210950 deg, deltaT: 4.305458 s, approachRate: 0.710728 m/s, LOS rate: -12.157944 deg/s, posRepo size: 4
2020-12-13T20:58:58.303Z,1607893138.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:58:59.091Z,1607893139.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:58:59.510Z,1607893139.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:00.399Z,1607893140.399 [Micromodem](INFO): Nmea in: $SNTTA,0.040753,,,,205900.28*41

2020-12-13T20:59:00.439Z,1607893140.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.200008 m, bearing: 181.756566 deg, deltaT: 4.519838 s, approachRate: 0.557543 m/s, LOS rate: 1.448197 deg/s, posRepo size: 4
2020-12-13T20:59:02.884Z,1607893142.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:03.628Z,1607893143.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:04.117Z,1607893144.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:04.938Z,1607893144.938 [Micromodem](INFO): Nmea in: $SNTTA,0.043132,,,,205904.82*47

2020-12-13T20:59:05.005Z,1607893145.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.380005 m, bearing: 185.075040 deg, deltaT: 4.505845 s, approachRate: 0.705749 m/s, LOS rate: 0.736482 deg/s, posRepo size: 4
2020-12-13T20:59:07.142Z,1607893147.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:07.887Z,1607893147.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:08.297Z,1607893148.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:09.142Z,1607893149.142 [Micromodem](INFO): Nmea in: $SNTTA,0.044426,,0.081801,,205909.08*51

2020-12-13T20:59:09.166Z,1607893149.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 182.649681 deg, deltaT: 4.209260 s, approachRate: 0.555918 m/s, LOS rate: -0.576196 deg/s, posRepo size: 4
2020-12-13T20:59:11.584Z,1607893151.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:12.343Z,1607893152.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:12.741Z,1607893152.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:13.589Z,1607893153.589 [Micromodem](INFO): Nmea in: $SNTTA,0.046324,,,,205913.53*4D

2020-12-13T20:59:13.653Z,1607893153.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.600006 m, bearing: 183.470766 deg, deltaT: 4.462817 s, approachRate: 0.645332 m/s, LOS rate: 0.183983 deg/s, posRepo size: 4
2020-12-13T20:59:16.024Z,1607893156.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:17.015Z,1607893157.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:17.411Z,1607893157.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:18.274Z,1607893158.274 [Micromodem](INFO): Nmea in: $SNTTA,0.048292,,,,205918.20*40

2020-12-13T20:59:18.343Z,1607893158.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.480003 m, bearing: 185.809177 deg, deltaT: 4.768404 s, approachRate: 0.603975 m/s, LOS rate: 0.490397 deg/s, posRepo size: 4
2020-12-13T20:59:20.122Z,1607893160.122 [Micromodem](INFO): Nmea in: $CAERR,205920,DATA_TIMEOUT,2*41

2020-12-13T20:59:20.523Z,1607893160.523 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T20:59:20.539Z,1607893160.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:21.323Z,1607893161.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:21.827Z,1607893161.827 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T20:49:21.8Z
2020-12-13T20:59:21.827Z,1607893161.827 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T20:59:21.828Z,1607893161.828 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:59:21.828Z,1607893161.828 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T20:59:21.828Z,1607893161.828 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:59:21.828Z,1607893161.828 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T20:59:22.127Z,1607893162.127 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T20:59:22.127Z,1607893162.127 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T20:59:22.129Z,1607893162.129 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,205920.979055,3,0,200,4000,14500,1,1,9,1,3,1,3,64*71

2020-12-13T20:59:22.129Z,1607893162.129 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,205920.979055,3,0,200,4000,14500,1,1,9,1,3,1,3,64*71

2020-12-13T20:59:22.160Z,1607893162.160 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T20:59:22.160Z,1607893162.160 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T20:59:22.160Z,1607893162.160 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T20:59:22.160Z,1607893162.160 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T20:59:22.160Z,1607893162.160 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T20:59:23.140Z,1607893163.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:25.849Z,1607893165.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:28.668Z,1607893168.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:31.673Z,1607893171.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:32.678Z,1607893172.678 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:33.077Z,1607893173.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:33.914Z,1607893173.914 [Micromodem](INFO): Nmea in: $SNTTA,0.054885,,0.056204,,205933.86*5F

2020-12-13T20:59:33.959Z,1607893173.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.919998 m, bearing: 220.631803 deg, deltaT: 15.560914 s, approachRate: 0.670911 m/s, LOS rate: 2.237827 deg/s, posRepo size: 4
2020-12-13T20:59:36.097Z,1607893176.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:36.745Z,1607893176.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:37.118Z,1607893177.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:38.134Z,1607893178.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 191.031321 deg, deltaT: 4.032515 s, approachRate: 0.520768 m/s, LOS rate: -7.340452 deg/s, posRepo size: 4
2020-12-13T20:59:38.330Z,1607893178.330 [Micromodem](INFO): Nmea in: $SNTTA,0.056706,,,,205937.98*49

2020-12-13T20:59:40.366Z,1607893180.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:41.147Z,1607893181.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:41.553Z,1607893181.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:42.399Z,1607893182.399 [Micromodem](INFO): Nmea in: $SNTTA,0.058551,,,,205942.33*44

2020-12-13T20:59:42.584Z,1607893182.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 193.334010 deg, deltaT: 4.493104 s, approachRate: 0.640982 m/s, LOS rate: 0.512494 deg/s, posRepo size: 4
2020-12-13T20:59:44.596Z,1607893184.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:45.311Z,1607893185.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:45.721Z,1607893185.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:46.559Z,1607893186.559 [Micromodem](INFO): Nmea in: $SNTTA,0.060643,,,,205946.50*4E

2020-12-13T20:59:47.430Z,1607893187.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:48.958Z,1607893188.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T20:59:50.219Z,1607893190.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:50.967Z,1607893190.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:51.379Z,1607893191.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:52.218Z,1607893192.218 [Micromodem](INFO): Nmea in: $SNTTA,0.066224,,,,205952.16*4A

2020-12-13T20:59:52.240Z,1607893192.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 193.301539 deg, deltaT: 9.799068 s, approachRate: 0.642919 m/s, LOS rate: -0.003314 deg/s, posRepo size: 4
2020-12-13T20:59:54.201Z,1607893194.201 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T20:59:54.792Z,1607893194.792 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T20:59:54.794Z,1607893194.794 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T20:59:54.796Z,1607893194.796 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T20:59:54.798Z,1607893194.798 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T20:59:54.884Z,1607893194.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T20:59:55.055Z,1607893195.055 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T20:59:55.447Z,1607893195.447 [Micromodem](INFO): Nmea in: $CADRQ,205955,1,9,0,64,1*40

2020-12-13T20:59:55.447Z,1607893195.447 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T20:59:55.867Z,1607893195.867 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T20:59:55.867Z,1607893195.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T20:59:56.255Z,1607893196.255 [Micromodem](INFO): Nmea in: $CADRQ,205956,1,9,0,64,2*40

2020-12-13T20:59:56.255Z,1607893196.255 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,205956,1,9,0,64,2*40

2020-12-13T20:59:56.662Z,1607893196.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T20:59:57.086Z,1607893197.086 [Micromodem](INFO): Nmea in: $SNTTA,0.064854,,,,205957.05*42

2020-12-13T20:59:57.256Z,1607893197.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 191.464081 deg, deltaT: 4.879475 s, approachRate: 0.651709 m/s, LOS rate: -0.376569 deg/s, posRepo size: 4
2020-12-13T20:59:59.494Z,1607893199.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:00.299Z,1607893200.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:00.693Z,1607893200.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:01.535Z,1607893201.535 [Micromodem](INFO): Nmea in: $SNTTA,0.066784,,,,210001.49*44

2020-12-13T21:00:02.367Z,1607893202.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:03.982Z,1607893203.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:00:04.868Z,1607893204.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:05.617Z,1607893205.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:06.005Z,1607893206.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:06.834Z,1607893206.834 [Micromodem](INFO): Nmea in: $SNTTA,0.069032,,,,210006.80*43

2020-12-13T21:00:06.892Z,1607893206.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.620003 m, bearing: 194.388208 deg, deltaT: 9.693974 s, approachRate: 0.643699 m/s, LOS rate: 0.301644 deg/s, posRepo size: 4
2020-12-13T21:00:09.286Z,1607893209.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:10.031Z,1607893210.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:10.477Z,1607893210.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:11.294Z,1607893211.294 [Micromodem](INFO): Nmea in: $SNTTA,0.071052,,0.103477,,210011.22*5A

2020-12-13T21:00:11.348Z,1607893211.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.619995 m, bearing: 193.787698 deg, deltaT: 4.490938 s, approachRate: 0.668010 m/s, LOS rate: -0.133716 deg/s, posRepo size: 4
2020-12-13T21:00:13.715Z,1607893213.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:14.503Z,1607893214.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:15.058Z,1607893215.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:15.866Z,1607893215.866 [Micromodem](INFO): Nmea in: $SNTTA,0.073412,,,,210015.69*4B

2020-12-13T21:00:15.972Z,1607893215.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.040009 m, bearing: 209.591895 deg, deltaT: 4.567276 s, approachRate: 0.748808 m/s, LOS rate: 3.460311 deg/s, posRepo size: 4
2020-12-13T21:00:18.298Z,1607893218.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:19.095Z,1607893219.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:19.493Z,1607893219.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:20.338Z,1607893220.338 [Micromodem](INFO): Nmea in: $SNTTA,0.074977,,,,210020.28*41

2020-12-13T21:00:20.394Z,1607893220.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 188.516021 deg, deltaT: 4.463463 s, approachRate: 0.537698 m/s, LOS rate: -4.721866 deg/s, posRepo size: 4
2020-12-13T21:00:22.820Z,1607893222.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:23.555Z,1607893223.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:23.944Z,1607893223.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:24.782Z,1607893224.782 [Micromodem](INFO): Nmea in: $SNTTA,0.076800,,0.089243,,210024.74*55

2020-12-13T21:00:24.867Z,1607893224.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.259995 m, bearing: 192.299536 deg, deltaT: 4.467627 s, approachRate: 0.631206 m/s, LOS rate: 0.846874 deg/s, posRepo size: 4
2020-12-13T21:00:25.970Z,1607893225.970 [Micromodem](INFO): Nmea in: $CAERR,210026,DATA_TIMEOUT,2*4A

2020-12-13T21:00:26.381Z,1607893226.381 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:00:27.238Z,1607893227.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:27.599Z,1607893227.599 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:00:28.196Z,1607893228.196 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,210026.672417,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7C

2020-12-13T21:00:28.197Z,1607893228.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:28.629Z,1607893228.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:29.442Z,1607893229.442 [Micromodem](INFO): Nmea in: $SNTTA,0.078801,,0.083108,,210029.39*58

2020-12-13T21:00:29.476Z,1607893229.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.260002 m, bearing: 190.844911 deg, deltaT: 4.665597 s, approachRate: 0.643006 m/s, LOS rate: -0.311777 deg/s, posRepo size: 4
2020-12-13T21:00:31.917Z,1607893231.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:32.678Z,1607893232.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:33.046Z,1607893233.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:33.867Z,1607893233.867 [Micromodem](INFO): Nmea in: $SNTTA,0.080938,,,,210033.86*47

2020-12-13T21:00:33.941Z,1607893233.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.439995 m, bearing: 188.118532 deg, deltaT: 4.399292 s, approachRate: 0.722842 m/s, LOS rate: -0.619731 deg/s, posRepo size: 4
2020-12-13T21:00:36.492Z,1607893236.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:37.115Z,1607893237.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:37.536Z,1607893237.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:38.366Z,1607893238.366 [Micromodem](INFO): Nmea in: $SNTTA,0.082913,,,,210038.30*4A

2020-12-13T21:00:38.381Z,1607893238.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 198.860794 deg, deltaT: 4.497354 s, approachRate: 0.667061 m/s, LOS rate: 2.388574 deg/s, posRepo size: 4
2020-12-13T21:00:40.980Z,1607893240.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:41.571Z,1607893241.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:41.969Z,1607893241.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:42.834Z,1607893242.834 [Micromodem](INFO): Nmea in: $SNTTA,0.084804,,,,210042.76*44

2020-12-13T21:00:43.002Z,1607893243.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.260002 m, bearing: 185.697476 deg, deltaT: 4.447755 s, approachRate: 0.634028 m/s, LOS rate: -2.959542 deg/s, posRepo size: 4
2020-12-13T21:00:45.230Z,1607893245.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:45.666Z,1607893245.666 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T21:00:46.007Z,1607893246.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:46.425Z,1607893246.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:47.250Z,1607893247.250 [Micromodem](INFO): Nmea in: $SNTTA,0.086484,,,,210047.19*4E

2020-12-13T21:00:47.463Z,1607893247.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 190.024633 deg, deltaT: 4.481599 s, approachRate: 0.615852 m/s, LOS rate: 0.965539 deg/s, posRepo size: 4
2020-12-13T21:00:49.683Z,1607893249.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:50.463Z,1607893250.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:50.865Z,1607893250.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:51.698Z,1607893251.698 [Micromodem](INFO): Nmea in: $SNTTA,0.088436,,,,210051.65*45

2020-12-13T21:00:51.721Z,1607893251.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 186.007471 deg, deltaT: 4.375923 s, approachRate: 0.630723 m/s, LOS rate: -0.918015 deg/s, posRepo size: 4
2020-12-13T21:00:53.918Z,1607893253.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:54.487Z,1607893254.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:54.897Z,1607893254.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:00:55.738Z,1607893255.738 [Micromodem](INFO): Nmea in: $SNTTA,0.090136,,,,210055.67*4F

2020-12-13T21:00:55.954Z,1607893255.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.479996 m, bearing: 189.053762 deg, deltaT: 4.053683 s, approachRate: 0.666060 m/s, LOS rate: 0.751487 deg/s, posRepo size: 4
2020-12-13T21:00:58.162Z,1607893258.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:00:58.935Z,1607893258.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:00:59.349Z,1607893259.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:00.182Z,1607893260.182 [Micromodem](INFO): Nmea in: $SNTTA,0.092049,,0.109748,,210100.12*5A

2020-12-13T21:01:00.183Z,1607893260.183 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:01:00.356Z,1607893260.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.240005 m, bearing: 184.199861 deg, deltaT: 4.504566 s, approachRate: 0.612714 m/s, LOS rate: -1.077551 deg/s, posRepo size: 4
2020-12-13T21:01:00.734Z,1607893260.734 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T21:01:00.734Z,1607893260.734 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T21:01:00.735Z,1607893260.735 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T21:01:00.735Z,1607893260.735 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T21:01:01.439Z,1607893261.439 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T21:01:01.874Z,1607893261.874 [Micromodem](INFO): Nmea in: $CADRQ,210101,1,9,0,64,1*4D

2020-12-13T21:01:01.874Z,1607893261.874 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T21:01:02.253Z,1607893262.253 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:01:02.454Z,1607893262.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:02.670Z,1607893262.670 [Micromodem](INFO): Nmea in: $CADRQ,210103,1,9,0,64,2*4C

2020-12-13T21:01:02.673Z,1607893262.673 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T21:01:03.039Z,1607893263.039 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:01:03.040Z,1607893263.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:03.456Z,1607893263.456 [Micromodem](INFO): Nmea in: $CADRQ,210103,1,9,0,64,3*4D

2020-12-13T21:01:03.456Z,1607893263.456 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,210103,1,9,0,64,3*4D

2020-12-13T21:01:03.888Z,1607893263.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:04.290Z,1607893264.290 [Micromodem](INFO): Nmea in: $SNTTA,0.093832,,0.104143,,210104.23*59

2020-12-13T21:01:04.320Z,1607893264.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.820007 m, bearing: 181.279217 deg, deltaT: 4.116985 s, approachRate: 0.626673 m/s, LOS rate: -0.709413 deg/s, posRepo size: 4
2020-12-13T21:01:06.924Z,1607893266.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:07.504Z,1607893267.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:07.920Z,1607893267.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:08.750Z,1607893268.750 [Micromodem](INFO): Nmea in: $SNTTA,0.095741,,,,210108.69*4B

2020-12-13T21:01:08.969Z,1607893268.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.700012 m, bearing: 184.091288 deg, deltaT: 4.402486 s, approachRate: 0.654177 m/s, LOS rate: 0.638746 deg/s, posRepo size: 4
2020-12-13T21:01:11.209Z,1607893271.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:11.959Z,1607893271.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:12.391Z,1607893272.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:13.198Z,1607893273.198 [Micromodem](INFO): Nmea in: $SNTTA,0.110557,,,,210113.15*43

2020-12-13T21:01:13.415Z,1607893273.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.580002 m, bearing: 179.726797 deg, deltaT: 4.484563 s, approachRate: 0.642201 m/s, LOS rate: -0.973225 deg/s, posRepo size: 4
2020-12-13T21:01:15.371Z,1607893275.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:16.011Z,1607893276.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:16.411Z,1607893276.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:17.262Z,1607893277.262 [Micromodem](INFO): Nmea in: $SNTTA,0.099284,,,,210117.20*48

2020-12-13T21:01:17.287Z,1607893277.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 181.897240 deg, deltaT: 4.081446 s, approachRate: 0.602729 m/s, LOS rate: 0.531783 deg/s, posRepo size: 4
2020-12-13T21:01:19.888Z,1607893279.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:20.476Z,1607893280.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:20.877Z,1607893280.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:21.726Z,1607893281.726 [Micromodem](INFO): Nmea in: $SNTTA,0.101339,,,,210121.66*48

2020-12-13T21:01:21.961Z,1607893281.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 184.785481 deg, deltaT: 4.401091 s, approachRate: 0.681649 m/s, LOS rate: 0.656256 deg/s, posRepo size: 4
2020-12-13T21:01:23.898Z,1607893283.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:24.631Z,1607893284.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:25.051Z,1607893285.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:25.882Z,1607893285.882 [Micromodem](INFO): Nmea in: $SNTTA,0.103071,,,,210125.82*4B

2020-12-13T21:01:26.092Z,1607893286.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 181.512523 deg, deltaT: 4.147927 s, approachRate: 0.694320 m/s, LOS rate: -0.789059 deg/s, posRepo size: 4
2020-12-13T21:01:28.072Z,1607893288.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:28.671Z,1607893288.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:29.081Z,1607893289.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:29.918Z,1607893289.918 [Micromodem](INFO): Nmea in: $SNTTA,0.104800,,,,210129.86*4A

2020-12-13T21:01:29.967Z,1607893289.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.319992 m, bearing: 181.534598 deg, deltaT: 4.038874 s, approachRate: 0.594223 m/s, LOS rate: 0.005466 deg/s, posRepo size: 4
2020-12-13T21:01:32.502Z,1607893292.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:33.116Z,1607893293.116 [Micromodem](INFO): Nmea in: $CAERR,210133,DATA_TIMEOUT,3*4E

2020-12-13T21:01:33.117Z,1607893293.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:33.538Z,1607893293.538 [Micromodem](INFO): Nmea in: $CATXP,128*49

2020-12-13T21:01:33.539Z,1607893293.539 [Micromodem](ERROR): Response from modem unexpected: $CATXP,128*49

2020-12-13T21:01:35.174Z,1607893295.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:35.944Z,1607893295.944 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2020-12-13T21:01:35.944Z,1607893295.944 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2020-12-13T21:01:36.358Z,1607893296.358 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,210133.914158,3,0,200,4000,14500,1,1,9,1,3,2,3,128*42

2020-12-13T21:01:36.358Z,1607893296.358 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,210133.914158,3,0,200,4000,14500,1,1,9,1,3,2,3,128*42

2020-12-13T21:01:38.033Z,1607893298.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:41.003Z,1607893301.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:43.583Z,1607893303.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:44.223Z,1607893304.223 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:44.641Z,1607893304.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:45.446Z,1607893305.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210145.41*58

2020-12-13T21:01:45.464Z,1607893305.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.319992 m, bearing: 178.837234 deg, deltaT: 15.706311 s, approachRate: 0.000000 m/s, LOS rate: -0.171738 deg/s, posRepo size: 4
2020-12-13T21:01:47.903Z,1607893307.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:48.663Z,1607893308.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:49.065Z,1607893309.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:49.902Z,1607893309.902 [Micromodem](INFO): Nmea in: $SNTTA,0.113554,,,,210149.85*45

2020-12-13T21:01:49.947Z,1607893309.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.319992 m, bearing: 177.421185 deg, deltaT: 4.259468 s, approachRate: 0.000000 m/s, LOS rate: -0.332447 deg/s, posRepo size: 4
2020-12-13T21:01:52.314Z,1607893312.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:53.114Z,1607893313.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:53.513Z,1607893313.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:54.378Z,1607893314.378 [Micromodem](INFO): Nmea in: $SNTTA,0.115479,,,,210154.30*4F

2020-12-13T21:01:54.403Z,1607893314.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.399994 m, bearing: 177.079075 deg, deltaT: 4.494942 s, approachRate: 3.577355 m/s, LOS rate: -0.076110 deg/s, posRepo size: 4
2020-12-13T21:01:56.837Z,1607893316.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:01:57.575Z,1607893317.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:01:57.985Z,1607893317.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:01:58.822Z,1607893318.822 [Micromodem](INFO): Nmea in: $SNTTA,0.117460,,,,210158.76*4B

2020-12-13T21:01:58.868Z,1607893318.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.399994 m, bearing: 180.470728 deg, deltaT: 4.435695 s, approachRate: 0.000000 m/s, LOS rate: 0.764627 deg/s, posRepo size: 4
2020-12-13T21:02:01.258Z,1607893321.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:02.023Z,1607893322.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:02.449Z,1607893322.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:03.262Z,1607893323.262 [Micromodem](INFO): Nmea in: $SNTTA,0.119350,,,,210203.21*4E

2020-12-13T21:02:03.295Z,1607893323.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.159988 m, bearing: 181.091947 deg, deltaT: 4.532849 s, approachRate: 1.270723 m/s, LOS rate: 0.137048 deg/s, posRepo size: 4
2020-12-13T21:02:05.738Z,1607893325.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:06.070Z,1607893326.070 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:02:06.463Z,1607893326.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:07.049Z,1607893327.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:07.200Z,1607893327.200 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T21:02:07.201Z,1607893327.201 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T21:02:07.201Z,1607893327.201 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T21:02:07.202Z,1607893327.202 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T21:02:07.599Z,1607893327.599 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T21:02:08.006Z,1607893328.006 [Micromodem](INFO): Nmea in: $CADRQ,210208,1,9,0,64,1*47

2020-12-13T21:02:08.006Z,1607893328.006 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T21:02:08.145Z,1607893328.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.979996 m, bearing: 175.745221 deg, deltaT: 4.751152 s, approachRate: 0.593542 m/s, LOS rate: -1.125354 deg/s, posRepo size: 4
2020-12-13T21:02:08.407Z,1607893328.407 [Micromodem](INFO): Nmea in: $SNTTA,0.121268,,,,210207.65*4B

2020-12-13T21:02:08.407Z,1607893328.407 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.121268,,,,210207.65*4B

2020-12-13T21:02:09.645Z,1607893329.645 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:02:10.030Z,1607893330.030 [Micromodem](INFO): Nmea in: $CADRQ,210209,1,9,0,64,2*45

2020-12-13T21:02:10.030Z,1607893330.030 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T21:02:10.412Z,1607893330.412 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:02:10.465Z,1607893330.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:10.852Z,1607893330.852 [Micromodem](INFO): Nmea in: $CADRQ,210211,1,9,0,64,3*4D

2020-12-13T21:02:10.869Z,1607893330.869 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T21:02:11.283Z,1607893331.283 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T21:02:11.284Z,1607893331.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:11.690Z,1607893331.690 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T21:02:11.691Z,1607893331.691 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T21:02:13.069Z,1607893333.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:15.319Z,1607893335.319 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T21:02:15.319Z,1607893335.319 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T21:02:15.720Z,1607893335.720 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,210212.097539,3,0,200,4000,14500,1,1,9,1,3,3,3,186*46

2020-12-13T21:02:15.720Z,1607893335.720 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,210212.097539,3,0,200,4000,14500,1,1,9,1,3,3,3,186*46

2020-12-13T21:02:15.746Z,1607893335.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:18.620Z,1607893338.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:21.425Z,1607893341.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:22.622Z,1607893342.622 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:23.037Z,1607893343.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:23.917Z,1607893343.917 [Micromodem](INFO): Nmea in: $SNTTA,0.128166,,,,210223.81*43

2020-12-13T21:02:24.374Z,1607893344.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.359985 m, bearing: 186.463604 deg, deltaT: 16.481047 s, approachRate: 0.629814 m/s, LOS rate: 0.650346 deg/s, posRepo size: 4
2020-12-13T21:02:26.824Z,1607893346.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:27.571Z,1607893347.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:27.978Z,1607893347.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:28.816Z,1607893348.816 [Micromodem](INFO): Nmea in: $SNTTA,0.130253,,,,210228.76*4C

2020-12-13T21:02:29.231Z,1607893349.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.479996 m, bearing: 188.159199 deg, deltaT: 4.698579 s, approachRate: 0.664033 m/s, LOS rate: 0.360874 deg/s, posRepo size: 4
2020-12-13T21:02:31.682Z,1607893351.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:32.421Z,1607893352.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:32.895Z,1607893352.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:33.707Z,1607893353.707 [Micromodem](INFO): Nmea in: $SNTTA,0.132504,,,,210233.61*47

2020-12-13T21:02:33.815Z,1607893353.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.899994 m, bearing: 186.400767 deg, deltaT: 4.437961 s, approachRate: 0.770624 m/s, LOS rate: -0.396225 deg/s, posRepo size: 4
2020-12-13T21:02:36.185Z,1607893356.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:36.927Z,1607893356.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:37.415Z,1607893357.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:38.211Z,1607893358.211 [Micromodem](INFO): Nmea in: $SNTTA,0.134470,,0.142340,,210238.11*51

2020-12-13T21:02:38.279Z,1607893358.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.779999 m, bearing: 183.045136 deg, deltaT: 4.537948 s, approachRate: 0.634649 m/s, LOS rate: -0.739460 deg/s, posRepo size: 4
2020-12-13T21:02:40.672Z,1607893360.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:41.447Z,1607893361.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:41.849Z,1607893361.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:42.685Z,1607893362.685 [Micromodem](INFO): Nmea in: $SNTTA,0.136460,,,,210242.63*44

2020-12-13T21:02:43.101Z,1607893363.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.779999 m, bearing: 174.096973 deg, deltaT: 4.856059 s, approachRate: 0.617785 m/s, LOS rate: -1.842680 deg/s, posRepo size: 4
2020-12-13T21:02:45.681Z,1607893365.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:46.284Z,1607893366.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:46.706Z,1607893366.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:47.553Z,1607893367.553 [Micromodem](INFO): Nmea in: $SNTTA,0.138508,,,,210247.47*46

2020-12-13T21:02:47.970Z,1607893367.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.019989 m, bearing: 189.628413 deg, deltaT: 4.905998 s, approachRate: 0.660414 m/s, LOS rate: 3.165807 deg/s, posRepo size: 4
2020-12-13T21:02:50.128Z,1607893370.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:50.723Z,1607893370.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:51.140Z,1607893371.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:51.957Z,1607893371.957 [Micromodem](INFO): Nmea in: $SNTTA,0.140217,,,,210251.91*4C

2020-12-13T21:02:52.384Z,1607893372.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.419983 m, bearing: 180.862835 deg, deltaT: 4.549312 s, approachRate: 0.527551 m/s, LOS rate: -1.926792 deg/s, posRepo size: 4
2020-12-13T21:02:54.839Z,1607893374.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:02:55.576Z,1607893375.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:02:55.981Z,1607893375.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:02:56.846Z,1607893376.846 [Micromodem](INFO): Nmea in: $SNTTA,0.142529,,,,210256.76*4A

2020-12-13T21:02:57.237Z,1607893377.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.899994 m, bearing: 191.855178 deg, deltaT: 4.736063 s, approachRate: 0.734790 m/s, LOS rate: 2.320987 deg/s, posRepo size: 4
2020-12-13T21:02:59.710Z,1607893379.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:00.435Z,1607893380.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:00.869Z,1607893380.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:01.699Z,1607893381.699 [Micromodem](INFO): Nmea in: $SNTTA,0.144818,,,,210301.62*45

2020-12-13T21:03:02.104Z,1607893382.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.959991 m, bearing: 167.778037 deg, deltaT: 4.845855 s, approachRate: 0.631467 m/s, LOS rate: -4.968605 deg/s, posRepo size: 4
2020-12-13T21:03:04.523Z,1607893384.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:05.281Z,1607893385.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:05.681Z,1607893385.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:06.517Z,1607893386.517 [Micromodem](INFO): Nmea in: $SNTTA,0.146570,,,,210306.47*44

2020-12-13T21:03:06.973Z,1607893386.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.839996 m, bearing: 172.988556 deg, deltaT: 4.784081 s, approachRate: 0.601997 m/s, LOS rate: 1.089137 deg/s, posRepo size: 4
2020-12-13T21:03:09.506Z,1607893389.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:10.135Z,1607893390.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:10.529Z,1607893390.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:11.363Z,1607893391.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210311.32*5F

2020-12-13T21:03:12.214Z,1607893392.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:12.561Z,1607893392.561 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:03:13.071Z,1607893393.071 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T21:03:13.071Z,1607893393.071 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T21:03:13.072Z,1607893393.072 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T21:03:13.072Z,1607893393.072 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T21:03:13.359Z,1607893393.359 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T21:03:13.758Z,1607893393.758 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:03:13.759Z,1607893393.759 [Micromodem](INFO): Nmea in: $CADRQ,210314,1,9,0,64,1*4B

2020-12-13T21:03:13.760Z,1607893393.760 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T21:03:14.167Z,1607893394.167 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:03:14.571Z,1607893394.571 [Micromodem](INFO): Nmea in: $CADRQ,210314,1,9,0,64,2*48

2020-12-13T21:03:14.571Z,1607893394.571 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*7E

2020-12-13T21:03:14.979Z,1607893394.979 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:03:15.026Z,1607893395.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:15.382Z,1607893395.382 [Micromodem](INFO): Nmea in: $CADRQ,210315,1,9,0,64,3*48

2020-12-13T21:03:15.385Z,1607893395.385 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF*0A

2020-12-13T21:03:15.799Z,1607893395.799 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,58*7E

2020-12-13T21:03:15.805Z,1607893395.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:16.218Z,1607893396.218 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2020-12-13T21:03:16.219Z,1607893396.219 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2020-12-13T21:03:17.533Z,1607893397.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:19.855Z,1607893399.855 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2020-12-13T21:03:19.855Z,1607893399.855 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2020-12-13T21:03:20.252Z,1607893400.252 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,210316.615122,3,0,200,4000,14500,1,1,9,1,3,3,3,186*41

2020-12-13T21:03:20.252Z,1607893400.252 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,210316.615122,3,0,200,4000,14500,1,1,9,1,3,3,3,186*41

2020-12-13T21:03:20.298Z,1607893400.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:23.130Z,1607893403.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:25.956Z,1607893405.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:27.122Z,1607893407.122 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:27.553Z,1607893407.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:28.368Z,1607893408.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210328.31*56

2020-12-13T21:03:28.954Z,1607893408.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.239990 m, bearing: 174.890245 deg, deltaT: 21.908884 s, approachRate: 0.657267 m/s, LOS rate: 0.086800 deg/s, posRepo size: 4
2020-12-13T21:03:30.989Z,1607893410.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:31.572Z,1607893411.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:31.973Z,1607893411.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:32.833Z,1607893412.833 [Micromodem](INFO): Nmea in: $SNTTA,0.158014,,,,210332.76*49

2020-12-13T21:03:33.224Z,1607893413.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.119995 m, bearing: 183.667817 deg, deltaT: 4.509078 s, approachRate: 0.638713 m/s, LOS rate: 1.946644 deg/s, posRepo size: 4
2020-12-13T21:03:35.680Z,1607893415.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:36.417Z,1607893416.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:36.864Z,1607893416.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:37.671Z,1607893417.671 [Micromodem](INFO): Nmea in: $SNTTA,0.160036,,,,210337.60*40

2020-12-13T21:03:38.078Z,1607893418.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.119995 m, bearing: 181.603447 deg, deltaT: 4.787255 s, approachRate: 0.626664 m/s, LOS rate: -0.431222 deg/s, posRepo size: 4
2020-12-13T21:03:40.483Z,1607893420.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:41.267Z,1607893421.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:41.665Z,1607893421.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:42.544Z,1607893422.544 [Micromodem](INFO): Nmea in: $SNTTA,0.162110,,,,210342.45*42

2020-12-13T21:03:42.992Z,1607893422.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.239990 m, bearing: 183.890262 deg, deltaT: 4.831830 s, approachRate: 0.645717 m/s, LOS rate: 0.473281 deg/s, posRepo size: 4
2020-12-13T21:03:45.328Z,1607893425.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:46.111Z,1607893426.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:46.527Z,1607893426.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:47.360Z,1607893427.360 [Micromodem](INFO): Nmea in: $SNTTA,0.164220,,,,210347.30*43

2020-12-13T21:03:47.852Z,1607893427.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.479980 m, bearing: 186.234438 deg, deltaT: 4.811545 s, approachRate: 0.673378 m/s, LOS rate: 0.487198 deg/s, posRepo size: 4
2020-12-13T21:03:50.335Z,1607893430.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:50.963Z,1607893430.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:51.050Z,1607893431.050 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:03:51.369Z,1607893431.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:52.189Z,1607893432.189 [Micromodem](INFO): Nmea in: $SNTTA,0.166396,,,,210352.15*4E

2020-12-13T21:03:52.665Z,1607893432.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.659988 m, bearing: 181.004753 deg, deltaT: 4.856354 s, approachRate: 0.654814 m/s, LOS rate: -1.076875 deg/s, posRepo size: 4
2020-12-13T21:03:54.816Z,1607893434.816 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:03:54.840Z,1607893434.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:03:55.405Z,1607893435.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:03:55.821Z,1607893435.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:03:56.661Z,1607893436.661 [Micromodem](INFO): Nmea in: $SNTTA,0.168299,,,,210356.59*42

2020-12-13T21:03:57.117Z,1607893437.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.539993 m, bearing: 186.657636 deg, deltaT: 4.644745 s, approachRate: 0.620057 m/s, LOS rate: 1.217049 deg/s, posRepo size: 4
2020-12-13T21:03:59.517Z,1607893439.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:00.297Z,1607893440.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:00.693Z,1607893440.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:01.290Z,1607893441.290 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:04:01.521Z,1607893441.521 [Micromodem](INFO): Nmea in: $SNTTA,0.170399,,,,210401.48*4F

2020-12-13T21:04:01.974Z,1607893441.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.659988 m, bearing: 186.959121 deg, deltaT: 4.683079 s, approachRate: 0.666227 m/s, LOS rate: 0.064377 deg/s, posRepo size: 4
2020-12-13T21:04:04.421Z,1607893444.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:05.141Z,1607893445.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:05.167Z,1607893445.167 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:04:05.544Z,1607893445.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:06.379Z,1607893446.379 [Micromodem](INFO): Nmea in: $SNTTA,0.172518,,,,210406.33*49

2020-12-13T21:04:06.834Z,1607893446.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.899994 m, bearing: 183.807234 deg, deltaT: 4.858203 s, approachRate: 0.666914 m/s, LOS rate: -0.648776 deg/s, posRepo size: 4
2020-12-13T21:04:09.255Z,1607893449.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:09.999Z,1607893449.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:10.426Z,1607893450.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:11.246Z,1607893451.246 [Micromodem](INFO): Nmea in: $SNTTA,0.174644,,,,210411.19*4B

2020-12-13T21:04:11.709Z,1607893451.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.079987 m, bearing: 176.051295 deg, deltaT: 4.885266 s, approachRate: 0.650935 m/s, LOS rate: -1.587619 deg/s, posRepo size: 4
2020-12-13T21:04:14.228Z,1607893454.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:14.877Z,1607893454.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:15.269Z,1607893455.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:16.106Z,1607893456.106 [Micromodem](INFO): Nmea in: $SNTTA,0.176777,,,,210416.06*41

2020-12-13T21:04:16.522Z,1607893456.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.259979 m, bearing: 178.352113 deg, deltaT: 4.964751 s, approachRate: 0.640514 m/s, LOS rate: 0.463431 deg/s, posRepo size: 4
2020-12-13T21:04:18.126Z,1607893458.126 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:04:18.679Z,1607893458.679 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2020-12-13T21:04:18.679Z,1607893458.679 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2020-12-13T21:04:18.680Z,1607893458.680 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F35631980B0E124B62320809884263175EC5BA9321F316B2721F5E39FAF123F45B30AF1AF
2020-12-13T21:04:18.680Z,1607893458.680 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2020-12-13T21:04:18.923Z,1607893458.923 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2020-12-13T21:04:18.971Z,1607893458.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:19.332Z,1607893459.332 [Micromodem](INFO): Nmea in: $CADRQ,210419,1,9,0,64,1*41

2020-12-13T21:04:19.338Z,1607893459.338 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*7C

2020-12-13T21:04:19.723Z,1607893459.723 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:04:19.724Z,1607893459.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:20.129Z,1607893460.129 [Micromodem](INFO): Nmea in: $CADRQ,210420,1,9,0,64,2*48

2020-12-13T21:04:20.129Z,1607893460.129 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,210420,1,9,0,64,2*48

2020-12-13T21:04:20.542Z,1607893460.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:20.989Z,1607893460.989 [Micromodem](INFO): Nmea in: $SNTTA,0.178776,,,,210420.91*45

2020-12-13T21:04:21.430Z,1607893461.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.319977 m, bearing: 185.364490 deg, deltaT: 4.762003 s, approachRate: 0.642586 m/s, LOS rate: 1.472569 deg/s, posRepo size: 4
2020-12-13T21:04:23.930Z,1607893463.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:24.675Z,1607893464.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:25.069Z,1607893465.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:25.901Z,1607893465.901 [Micromodem](INFO): Nmea in: $SNTTA,0.181041,,,,210425.86*43

2020-12-13T21:04:26.344Z,1607893466.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.619995 m, bearing: 174.998025 deg, deltaT: 4.938056 s, approachRate: 0.668283 m/s, LOS rate: -2.099301 deg/s, posRepo size: 4
2020-12-13T21:04:28.665Z,1607893468.665 [CTD_Seabird](ERROR): Failed to parse device response: .99
2020-12-13T21:04:28.917Z,1607893468.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:04:29.511Z,1607893469.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:04:29.588Z,1607893469.588 [lineCaptureDepth](INFO): Timed out from 2020-12-13T20:04:29.6Z
2020-12-13T21:04:29.597Z,1607893469.597 [MissionManager](INFO): lineCaptureDepth is completed.
2020-12-13T21:04:29.598Z,1607893469.598 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2020-12-13T21:04:29.598Z,1607893469.598 [lineCaptureDepth] Stopped
2020-12-13T21:04:29.598Z,1607893469.598 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2020-12-13T21:04:29.599Z,1607893469.599 [lineCaptureDepth:Science] Stopped
2020-12-13T21:04:29.599Z,1607893469.599 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2020-12-13T21:04:29.599Z,1607893469.599 [lineCaptureDepth:Science:B] Stopped
2020-12-13T21:04:29.599Z,1607893469.599 [lineCaptureDepth:Science:C] Stopped
2020-12-13T21:04:29.599Z,1607893469.599 [lineCaptureDepth:Science:Read_Oil] Stopped
2020-12-13T21:04:29.600Z,1607893469.600 [lineCaptureDepth:Science:OceanCurrent] Stopped
2020-12-13T21:04:29.600Z,1607893469.600 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2020-12-13T21:04:29.621Z,1607893469.621 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2020-12-13T21:04:29.622Z,1607893469.622 [lineCaptureDepth:StandardEnvelopes] Stopped
2020-12-13T21:04:29.622Z,1607893469.622 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2020-12-13T21:04:29.622Z,1607893469.622 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-13T21:04:29.623Z,1607893469.623 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-13T21:04:29.623Z,1607893469.623 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-13T21:04:29.623Z,1607893469.623 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-13T21:04:29.623Z,1607893469.623 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-13T21:04:29.624Z,1607893469.624 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-13T21:04:29.624Z,1607893469.624 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T21:04:29.624Z,1607893469.624 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:J.] Stopped
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture] Stopped
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-13T21:04:29.629Z,1607893469.629 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:G] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:H] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-13T21:04:29.630Z,1607893469.630 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2020-12-13T21:04:29.631Z,1607893469.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T21:04:29.632Z,1607893469.632 [lineCaptureDepth:Lap] Stopped
2020-12-13T21:04:29.632Z,1607893469.632 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2020-12-13T21:04:29.632Z,1607893469.632 [lineCaptureDepth:Lap:B] Stopped
2020-12-13T21:04:29.632Z,1607893469.632 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2020-12-13T21:04:29.893Z,1607893469.893 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-13T21:04:29.945Z,1607893469.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:04:30.022Z,1607893470.022 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-13T21:04:30.022Z,1607893470.022 [DefaultWithUndock] Running Loop=1
2020-12-13T21:04:30.022Z,1607893470.022 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-13T21:04:30.022Z,1607893470.022 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-13T21:04:30.022Z,1607893470.022 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-13T21:04:30.743Z,1607893470.743 [Micromodem](INFO): Nmea in: $SNTTA,0.183082,,,,210430.70*43

2020-12-13T21:04:49.733Z,1607893489.733 [Micromodem](INFO): Nmea in: $CAERR,210450,DATA_TIMEOUT,2*4F

2020-12-13T21:04:50.135Z,1607893490.135 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:04:51.350Z,1607893491.350 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:04:51.761Z,1607893491.761 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,210450.580690,3,0,200,4000,14500,1,1,9,1,3,1,3,64*7A

2020-12-13T21:05:00.245Z,1607893500.245 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-13T21:05:00.245Z,1607893500.245 [DefaultWithUndock:A.Wait] Stopped
2020-12-13T21:05:00.245Z,1607893500.245 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T21:05:00.245Z,1607893500.245 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-13T21:05:00.246Z,1607893500.246 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-13T21:05:00.246Z,1607893500.246 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T21:05:00.246Z,1607893500.246 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-13T21:05:00.246Z,1607893500.246 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-13T21:05:00.246Z,1607893500.246 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-13T21:05:00.246Z,1607893500.246 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T21:05:01.043Z,1607893501.043 [PowerOnly](INFO): Powering up loadControl
2020-12-13T21:05:03.112Z,1607893503.112 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T21:05:03.903Z,1607893503.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:05:03.906Z,1607893503.906 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T21:05:04.341Z,1607893504.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:05:04.364Z,1607893504.364 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-13T21:05:04.727Z,1607893504.727 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-12-13T21:05:05.129Z,1607893505.129 [Micromodem](INFO): Nmea in: $SNTTA,0.189240,,,,210505.09*4C

2020-12-13T21:05:05.171Z,1607893505.171 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-12-13T21:05:05.545Z,1607893505.545 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T21:05:07.981Z,1607893507.981 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T21:05:08.739Z,1607893508.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:05:09.153Z,1607893509.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:05:09.973Z,1607893509.973 [Micromodem](INFO): Nmea in: $SNTTA,0.189644,,,,210509.93*43

2020-12-13T21:05:12.843Z,1607893512.843 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T21:05:13.626Z,1607893513.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:05:13.998Z,1607893513.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:05:14.853Z,1607893514.853 [Micromodem](INFO): Nmea in: $SNTTA,0.189921,,,,210514.81*40

2020-12-13T21:05:17.702Z,1607893517.702 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T21:05:18.443Z,1607893518.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:05:18.849Z,1607893518.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:05:19.685Z,1607893519.685 [Micromodem](INFO): Nmea in: $SNTTA,0.190268,,,,210519.63*4F

2020-12-13T21:05:22.503Z,1607893522.503 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T21:05:23.291Z,1607893523.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:05:23.690Z,1607893523.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:05:24.517Z,1607893524.517 [Micromodem](INFO): Nmea in: $SNTTA,0.190872,,,,210524.48*49

2020-12-13T21:05:25.759Z,1607893525.759 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 286.20 m. Transitioning DDM to standby.
2020-12-13T21:05:27.354Z,1607893527.354 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T21:05:28.147Z,1607893528.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:05:28.546Z,1607893528.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:05:29.000Z,1607893529.000 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-13T21:05:29.363Z,1607893529.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,210529.34*54

2020-12-13T21:05:29.392Z,1607893529.392 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T21:05:29.392Z,1607893529.392 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:LeaveDock] Stopped
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-13T21:05:29.393Z,1607893529.393 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-13T21:05:29.394Z,1607893529.394 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T21:05:29.394Z,1607893529.394 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T21:05:29.394Z,1607893529.394 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T21:05:29.394Z,1607893529.394 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T21:05:29.395Z,1607893529.395 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T21:05:29.395Z,1607893529.395 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T21:05:29.756Z,1607893529.756 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-13T21:05:29.756Z,1607893529.756 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-13T21:05:29.756Z,1607893529.756 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-13T21:05:29.757Z,1607893529.757 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2020-12-13T21:05:30.183Z,1607893530.183 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators).
2020-12-13T21:05:30.257Z,1607893530.257 [Radio_Surface](INFO): Powering up
2020-12-13T21:05:35.697Z,1607893535.697 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-13T21:05:37.879Z,1607893537.879 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:05:42.698Z,1607893542.698 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:05:47.719Z,1607893547.719 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:05:52.831Z,1607893552.831 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:05:57.685Z,1607893557.685 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:06:02.909Z,1607893562.909 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:06:05.825Z,1607893565.825 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T21:06:32.379Z,1607893592.379 [PowerOnly](INFO): Powering down loadControl
2020-12-13T21:06:37.685Z,1607893597.685 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:06:40.973Z,1607893600.973 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T21:07:16.113Z,1607893636.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T21:07:17.237Z,1607893637.237 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -1.73
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-13T21:07:30.562Z,1607893650.562 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-13T21:07:32.172Z,1607893652.172 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-12-13T21:07:32.172Z,1607893652.172 [NAL9602] Data Fault, FailCount= 1
2020-12-13T21:07:32.172Z,1607893652.172 [NAL9602](ERROR): Data Fault
2020-12-13T21:07:32.321Z,1607893652.321 [CBIT](ERROR): Data Fault in component: NAL9602
2020-12-13T21:07:32.571Z,1607893652.571 [NAL9602](INFO): Powering down
2020-12-13T21:07:33.466Z,1607893653.466 [CBIT](INFO): Clearing failed state for component NAL9602
2020-12-13T21:07:33.466Z,1607893653.466 [NAL9602] No Fault, FailCount= 1
2020-12-13T21:07:51.269Z,1607893671.269 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T21:08:03.030Z,1607893683.030 [NAL9602](INFO): Powering up NAL9602
2020-12-13T21:08:14.152Z,1607893694.152 [NAL9602](INFO): NAL9602 initialized
2020-12-13T21:08:26.429Z,1607893706.429 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T21:08:43.737Z,1607893723.737 [NAL9602](INFO): SBD MO Status=2, MOMSN=12862, MT Status=2, MTMSN=0
2020-12-13T21:08:43.738Z,1607893723.738 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T21:08:53.751Z,1607893733.751 [NAL9602](INFO): SBD MO Status=0, MOMSN=12862, MT Status=0, MTMSN=0
2020-12-13T21:08:53.751Z,1607893733.751 [NAL9602](INFO): No messages in MT queue
2020-12-13T21:08:55.549Z,1607893735.549 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003207
2020-12-13T21:09:43.051Z,1607893783.051 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:09:45.755Z,1607893785.755 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T210946
2020-12-13T21:09:49.798Z,1607893789.798 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutDistance 300 m persist
2020-12-13T21:09:50.146Z,1607893790.146 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutDistance 300.000000 meter persist
2020-12-13T21:10:24.650Z,1607893824.650 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211024.00,A,4132.95864,N,07042.44645,W,0.797,0.00,131220,,,A*76
2020-12-13T21:10:24.653Z,1607893824.653 [NAL9602](INFO): GPS fix at 20201213T211024: (41.549311, -70.707441)
2020-12-13T21:10:24.674Z,1607893824.674 [UniversalFixResidualReporter](INFO): Fix residual: 4.3 %DT, over the last 1570.9 m. Residual distance 67.2 m at bearing -13.1 degrees. Fix at (41.5493, -70.7074) with 348.2 m made good.
2020-12-13T21:10:24.675Z,1607893824.675 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T21:10:24.676Z,1607893824.676 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T21:10:25.098Z,1607893825.098 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T21:10:25.453Z,1607893825.453 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:10:29.961Z,1607893829.961 [DataOverHttps](INFO): Sending 178 bytes from file Logs/20201213T195538/Courier0004.lzma
2020-12-13T21:10:30.962Z,1607893830.962 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0004.lzma.bak
2020-12-13T21:10:30.963Z,1607893830.963 [DataOverHttps](INFO): SBD MOMSN=64915
2020-12-13T21:10:39.000Z,1607893840.000 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0007.lzma
2020-12-13T21:10:41.002Z,1607893841.002 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0007.lzma.bak
2020-12-13T21:10:41.003Z,1607893841.003 [DataOverHttps](INFO): SBD MOMSN=64917
2020-12-13T21:10:50.041Z,1607893850.041 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20201213T195538/Courier0010.lzma
2020-12-13T21:10:51.042Z,1607893851.042 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0010.lzma.bak
2020-12-13T21:10:51.043Z,1607893851.043 [DataOverHttps](INFO): SBD MOMSN=64919
2020-12-13T21:10:56.985Z,1607893856.985 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T21:11:00.080Z,1607893860.080 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0013.lzma
2020-12-13T21:11:01.082Z,1607893861.082 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0013.lzma.bak
2020-12-13T21:11:01.083Z,1607893861.083 [DataOverHttps](INFO): SBD MOMSN=64921
2020-12-13T21:11:10.128Z,1607893870.128 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0016.lzma
2020-12-13T21:11:11.130Z,1607893871.130 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0016.lzma.bak
2020-12-13T21:11:11.131Z,1607893871.131 [DataOverHttps](INFO): SBD MOMSN=64923
2020-12-13T21:11:20.169Z,1607893880.169 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0019.lzma
2020-12-13T21:11:21.170Z,1607893881.170 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0019.lzma.bak
2020-12-13T21:11:21.171Z,1607893881.171 [DataOverHttps](INFO): SBD MOMSN=64925
2020-12-13T21:11:30.208Z,1607893890.208 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20201213T195538/Courier0022.lzma
2020-12-13T21:11:31.211Z,1607893891.211 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0022.lzma.bak
2020-12-13T21:11:31.211Z,1607893891.211 [DataOverHttps](INFO): SBD MOMSN=64927
2020-12-13T21:11:36.990Z,1607893896.990 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-13T21:11:36.992Z,1607893896.992 [BPC1](INFO): Received data from all battery sticks.
2020-12-13T21:11:40.252Z,1607893900.252 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0025.lzma
2020-12-13T21:11:41.255Z,1607893901.255 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0025.lzma.bak
2020-12-13T21:11:41.255Z,1607893901.255 [DataOverHttps](INFO): SBD MOMSN=64930
2020-12-13T21:11:50.310Z,1607893910.310 [DataOverHttps](INFO): Sending 1009 bytes from file Logs/20201213T195538/Express0001.lzma
2020-12-13T21:11:51.310Z,1607893911.310 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0001.lzma.bak
2020-12-13T21:11:51.311Z,1607893911.311 [DataOverHttps](INFO): SBD MOMSN=64932
2020-12-13T21:12:00.350Z,1607893920.350 [DataOverHttps](INFO): Sending 734 bytes from file Logs/20201213T195538/Express0005.lzma
2020-12-13T21:12:01.350Z,1607893921.350 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0005.lzma.bak
2020-12-13T21:12:01.351Z,1607893921.351 [DataOverHttps](INFO): SBD MOMSN=64957
2020-12-13T21:12:10.389Z,1607893930.389 [DataOverHttps](INFO): Sending 227 bytes from file Logs/20201213T195538/Express0008.lzma
2020-12-13T21:12:11.390Z,1607893931.390 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0008.lzma.bak
2020-12-13T21:12:11.391Z,1607893931.391 [DataOverHttps](INFO): SBD MOMSN=64980
2020-12-13T21:12:20.428Z,1607893940.428 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20201213T195538/Express0011.lzma
2020-12-13T21:12:21.430Z,1607893941.430 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0011.lzma.bak
2020-12-13T21:12:21.431Z,1607893941.431 [DataOverHttps](INFO): SBD MOMSN=64983
2020-12-13T21:12:30.481Z,1607893950.481 [DataOverHttps](INFO): Sending 197 bytes from file Logs/20201213T195538/Express0014.lzma
2020-12-13T21:12:31.482Z,1607893951.482 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0014.lzma.bak
2020-12-13T21:12:31.482Z,1607893951.482 [DataOverHttps](INFO): SBD MOMSN=64985
2020-12-13T21:12:40.520Z,1607893960.520 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20201213T195538/Express0017.lzma
2020-12-13T21:12:41.526Z,1607893961.526 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0017.lzma.bak
2020-12-13T21:12:41.526Z,1607893961.526 [DataOverHttps](INFO): SBD MOMSN=64988
2020-12-13T21:12:50.561Z,1607893970.561 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20201213T195538/Express0020.lzma
2020-12-13T21:12:51.562Z,1607893971.562 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0020.lzma.bak
2020-12-13T21:12:51.563Z,1607893971.563 [DataOverHttps](INFO): SBD MOMSN=64990
2020-12-13T21:13:00.610Z,1607893980.610 [DataOverHttps](INFO): Sending 350 bytes from file Logs/20201213T195538/Express0023.lzma
2020-12-13T21:13:01.602Z,1607893981.602 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0023.lzma.bak
2020-12-13T21:13:01.603Z,1607893981.603 [DataOverHttps](INFO): SBD MOMSN=64993
2020-12-13T21:13:10.640Z,1607893990.640 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Express0026.lzma
2020-12-13T21:13:11.646Z,1607893991.646 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0026.lzma.bak
2020-12-13T21:13:11.647Z,1607893991.647 [DataOverHttps](INFO): SBD MOMSN=65000
2020-12-13T21:13:13.175Z,1607893993.175 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T21:13:13.175Z,1607893993.175 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-13T21:13:13.176Z,1607893993.176 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-13T21:13:36.994Z,1607894016.994 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:15:03.107Z,1607894103.107 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T211503
2020-12-13T21:15:07.125Z,1607894107.125 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 6 count;set lineCaptureDepth.MinAltitude 3 meter" ib0p 1 2
2020-12-13T21:15:07.158Z,1607894107.158 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 6 count;set lineCaptureDepth.MinAltitude 3 meter" ib0p 1 2.000000
2020-12-13T21:15:07.159Z,1607894107.159 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=ib0p
2020-12-13T21:15:07.160Z,1607894107.160 [CommandLine](IMPORTANT): Scheduled #3 (#1 of 2 with id='ib0p'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 6 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP
2020-12-13T21:15:08.126Z,1607894108.126 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T211508
2020-12-13T21:15:12.144Z,1607894112.144 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ib0p 2 2
2020-12-13T21:15:12.162Z,1607894112.162 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ib0p 2 2.000000
2020-12-13T21:15:12.163Z,1607894112.163 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=ib0p
2020-12-13T21:15:12.163Z,1607894112.163 [CommandLine](IMPORTANT): Scheduled #4 (#2 of 2 with id='ib0p'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2020-12-13T21:15:12.327Z,1607894112.327 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T21:15:12.328Z,1607894112.328 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T21:15:12.466Z,1607894112.466 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2020-12-13T21:15:12.473Z,1607894112.473 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2020-12-13T21:15:12.475Z,1607894112.475 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2020-12-13T21:15:12.491Z,1607894112.491 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2020-12-13T21:15:12.494Z,1607894112.494 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2020-12-13T21:15:12.496Z,1607894112.496 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2020-12-13T21:15:12.498Z,1607894112.498 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2020-12-13T21:15:12.501Z,1607894112.501 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2020-12-13T21:15:12.503Z,1607894112.503 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2020-12-13T21:15:12.505Z,1607894112.505 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2020-12-13T21:15:12.507Z,1607894112.507 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2020-12-13T21:15:12.510Z,1607894112.510 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2020-12-13T21:15:12.510Z,1607894112.510 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-13T21:15:12.687Z,1607894112.687 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2020-12-13T21:15:12.689Z,1607894112.689 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2020-12-13T21:15:12.691Z,1607894112.691 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2020-12-13T21:15:12.693Z,1607894112.693 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2020-12-13T21:15:12.695Z,1607894112.695 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2020-12-13T21:15:12.697Z,1607894112.697 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-13T21:15:12.699Z,1607894112.699 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-13T21:15:12.701Z,1607894112.701 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2020-12-13T21:15:12.703Z,1607894112.703 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2020-12-13T21:15:12.705Z,1607894112.705 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2020-12-13T21:15:12.707Z,1607894112.707 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-13T21:15:12.709Z,1607894112.709 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-13T21:15:12.712Z,1607894112.712 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2020-12-13T21:15:12.714Z,1607894112.714 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2020-12-13T21:15:12.717Z,1607894112.717 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-12-13T21:15:12.719Z,1607894112.719 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-12-13T21:15:12.722Z,1607894112.722 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-13T21:15:12.724Z,1607894112.724 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2020-12-13T21:15:12.726Z,1607894112.726 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2020-12-13T21:15:12.732Z,1607894112.732 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2020-12-13T21:15:12.734Z,1607894112.734 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2020-12-13T21:15:12.736Z,1607894112.736 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2020-12-13T21:15:12.832Z,1607894112.832 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2020-12-13T21:15:12.834Z,1607894112.834 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2020-12-13T21:15:12.836Z,1607894112.836 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2020-12-13T21:15:12.855Z,1607894112.855 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2020-12-13T21:15:12.865Z,1607894112.865 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2020-12-13T21:15:12.877Z,1607894112.877 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2020-12-13T21:15:12.880Z,1607894112.880 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2020-12-13T21:15:12.890Z,1607894112.890 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2020-12-13T21:15:12.892Z,1607894112.892 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2020-12-13T21:15:12.900Z,1607894112.900 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2020-12-13T21:15:12.918Z,1607894112.918 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2020-12-13T21:15:12.928Z,1607894112.928 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2020-12-13T21:15:12.934Z,1607894112.934 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2020-12-13T21:15:12.936Z,1607894112.936 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2020-12-13T21:15:12.943Z,1607894112.943 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2020-12-13T21:15:12.953Z,1607894112.953 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2020-12-13T21:15:12.959Z,1607894112.959 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2020-12-13T21:15:12.969Z,1607894112.969 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2020-12-13T21:15:12.971Z,1607894112.971 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2020-12-13T21:15:12.978Z,1607894112.978 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2020-12-13T21:15:12.980Z,1607894112.980 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2020-12-13T21:15:12.991Z,1607894112.991 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2020-12-13T21:15:13.038Z,1607894113.038 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T21:15:13.077Z,1607894113.077 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-13T21:15:13.103Z,1607894113.103 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T21:15:13.125Z,1607894113.125 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T21:15:13.143Z,1607894113.143 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T21:15:13.168Z,1607894113.168 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T21:15:13.244Z,1607894113.244 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T21:15:13.254Z,1607894113.254 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T21:15:13.256Z,1607894113.256 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T21:15:13.271Z,1607894113.271 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T21:15:13.285Z,1607894113.285 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T21:15:13.311Z,1607894113.311 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T21:15:13.328Z,1607894113.328 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-13T21:15:13.406Z,1607894113.406 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2020-12-13T21:15:13.408Z,1607894113.408 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-13T21:15:13.418Z,1607894113.418 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-13T21:15:13.420Z,1607894113.420 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2020-12-13T21:15:13.422Z,1607894113.422 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-13T21:15:13.424Z,1607894113.424 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2020-12-13T21:15:13.431Z,1607894113.431 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2020-12-13T21:15:13.440Z,1607894113.440 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T21:15:13.470Z,1607894113.470 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2020-12-13T21:15:13.498Z,1607894113.498 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2020-12-13T21:15:13.500Z,1607894113.500 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2020-12-13T21:15:13.504Z,1607894113.504 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2020-12-13T21:15:13.534Z,1607894113.534 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-12-13T21:15:13.807Z,1607894113.807 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2020-12-13T21:15:13.815Z,1607894113.815 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2020-12-13T21:15:13.821Z,1607894113.821 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2020-12-13T21:15:13.827Z,1607894113.827 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2020-12-13T21:15:13.831Z,1607894113.831 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-12-13T21:15:13.834Z,1607894113.834 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2020-12-13T21:15:13.838Z,1607894113.838 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2020-12-13T21:15:13.841Z,1607894113.841 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2020-12-13T21:15:13.843Z,1607894113.843 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2020-12-13T21:15:13.866Z,1607894113.866 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2020-12-13T21:15:13.868Z,1607894113.868 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2020-12-13T21:15:13.874Z,1607894113.874 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2020-12-13T21:15:13.876Z,1607894113.876 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2020-12-13T21:15:13.882Z,1607894113.882 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-12-13T21:15:13.889Z,1607894113.889 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2020-12-13T21:15:13.891Z,1607894113.891 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2020-12-13T21:15:13.898Z,1607894113.898 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2020-12-13T21:15:13.900Z,1607894113.900 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2020-12-13T21:15:13.907Z,1607894113.907 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2020-12-13T21:15:13.915Z,1607894113.915 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2020-12-13T21:15:13.926Z,1607894113.926 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2020-12-13T21:15:13.936Z,1607894113.936 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2020-12-13T21:15:13.951Z,1607894113.951 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2020-12-13T21:15:13.972Z,1607894113.972 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2020-12-13T21:15:13.974Z,1607894113.974 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2020-12-13T21:15:14.025Z,1607894114.025 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2020-12-13T21:15:14.037Z,1607894114.037 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T21:15:14.086Z,1607894114.086 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T21:15:14.093Z,1607894114.093 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T21:15:14.095Z,1607894114.095 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T21:15:14.096Z,1607894114.096 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T21:15:14.114Z,1607894114.114 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T21:15:14.123Z,1607894114.123 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T21:15:14.152Z,1607894114.152 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2020-12-13T21:15:14.167Z,1607894114.167 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-13T21:15:14.181Z,1607894114.181 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-12-13T21:15:14.181Z,1607894114.181 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T21:15:14.213Z,1607894114.213 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2020-12-13T21:15:14.216Z,1607894114.216 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2020-12-13T21:15:14.224Z,1607894114.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-12-13T21:15:14.240Z,1607894114.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-12-13T21:15:14.270Z,1607894114.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2020-12-13T21:15:14.298Z,1607894114.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2020-12-13T21:15:14.311Z,1607894114.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-13T21:15:14.311Z,1607894114.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T21:15:14.322Z,1607894114.322 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-12-13T21:15:14.337Z,1607894114.337 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-12-13T21:15:14.369Z,1607894114.369 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2020-12-13T21:15:14.371Z,1607894114.371 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2020-12-13T21:15:14.374Z,1607894114.374 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2020-12-13T21:15:14.376Z,1607894114.376 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-12-13T21:15:14.425Z,1607894114.425 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-12-13T21:15:14.452Z,1607894114.452 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2020-12-13T21:15:14.452Z,1607894114.452 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2020-12-13T21:15:14.476Z,1607894114.476 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2020-12-13T21:15:14.476Z,1607894114.476 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T21:15:14.543Z,1607894114.543 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureDepth">

    <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 (4) Dock: final approach using fixed heading.
    </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>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></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="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>

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

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description> 
    </Insert>

    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

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

    <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>

    <!-- Add LineCapture directives. -->

    <Insert Filename="Insert/LineCapture.xml"/>

    <Assign><Sequence/><Arg Name="LineCapture:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinAltitude"/><Arg Name="MinAltitude"/></Assign>
    
    <!-- Add SetNav directives. -->

    <Insert Filename="Insert/SetNavAcoustic.xml"/>

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

        <!-- Execute the LineCapture sequence. -->
        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Docked">
            <Sequence/>

            <Break>
                <Arg Name="Mode"/><Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked>
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">
                <Sequence/>

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2020-12-13T21:15:14.543Z,1607894114.543 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T21:15:24.409Z,1607894124.409 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2020-12-13T21:15:24.409Z,1607894124.409 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2020-12-13T21:15:24.410Z,1607894124.410 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 6.000000 count
2020-12-13T21:15:24.411Z,1607894124.411 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2020-12-13T21:15:29.003Z,1607894129.003 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2020-12-13T21:15:29.004Z,1607894129.004 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2020-12-13T21:15:29.004Z,1607894129.004 [CommandLine](IMPORTANT): got command run
2020-12-13T21:15:29.010Z,1607894129.010 [CommandLine](IMPORTANT): Running 
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock] Stopped
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T21:15:29.024Z,1607894129.024 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T21:15:29.041Z,1607894129.041 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T21:15:29.041Z,1607894129.041 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-13T21:15:29.041Z,1607894129.041 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T21:15:29.041Z,1607894129.041 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2020-12-13T21:15:29.041Z,1607894129.041 [lineCaptureDepth] Running Loop=1
2020-12-13T21:15:29.041Z,1607894129.041 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2020-12-13T21:15:29.041Z,1607894129.041 [lineCaptureDepth:Science] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:A] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:D] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:E] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:F] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T21:15:29.042Z,1607894129.042 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T21:15:29.044Z,1607894129.044 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2020-12-13T21:15:29.044Z,1607894129.044 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-13T21:15:29.044Z,1607894129.044 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-12-13T21:15:29.044Z,1607894129.044 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-12-13T21:15:29.053Z,1607894129.053 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2020-12-13T21:15:29.053Z,1607894129.053 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-13T21:15:29.053Z,1607894129.053 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T21:15:29.053Z,1607894129.053 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T21:15:29.054Z,1607894129.054 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2020-12-13T21:15:29.054Z,1607894129.054 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2020-12-13T21:15:29.054Z,1607894129.054 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T21:15:29.055Z,1607894129.055 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T21:15:29.056Z,1607894129.056 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2020-12-13T21:15:29.056Z,1607894129.056 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-13T21:15:29.056Z,1607894129.056 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T21:15:29.056Z,1607894129.056 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T21:15:29.061Z,1607894129.061 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T21:15:29.062Z,1607894129.062 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:J.] Running Loop=1
2020-12-13T21:15:29.063Z,1607894129.063 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2020-12-13T21:15:29.064Z,1607894129.064 [lineCaptureDepth:C] Running Loop=1
2020-12-13T21:15:29.069Z,1607894129.069 [lineCaptureDepth:J.] Running Loop=1
2020-12-13T21:15:29.069Z,1607894129.069 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T21:15:29.069Z,1607894129.069 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T21:15:29.069Z,1607894129.069 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:15:29.069Z,1607894129.069 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:15:29.070Z,1607894129.070 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:15:29.070Z,1607894129.070 [lineCaptureDepth:C] Stopped
2020-12-13T21:15:29.070Z,1607894129.070 [lineCaptureDepth:D] Running Loop=1
2020-12-13T21:15:29.070Z,1607894129.070 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-13T21:15:29.070Z,1607894129.070 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T21:15:29.070Z,1607894129.070 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T21:15:29.071Z,1607894129.071 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T21:15:29.071Z,1607894129.071 [lineCaptureDepth:Science] Running Loop=1
2020-12-13T21:15:29.072Z,1607894129.072 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2020-12-13T21:15:29.072Z,1607894129.072 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-13T21:15:29.072Z,1607894129.072 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-12-13T21:15:29.072Z,1607894129.072 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T21:15:29.072Z,1607894129.072 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-12-13T21:15:29.077Z,1607894129.077 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2020-12-13T21:15:29.078Z,1607894129.078 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2020-12-13T21:15:29.078Z,1607894129.078 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-12-13T21:15:29.078Z,1607894129.078 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T21:15:29.078Z,1607894129.078 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-13T21:15:29.079Z,1607894129.079 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-13T21:15:29.079Z,1607894129.079 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-12-13T21:15:29.079Z,1607894129.079 [lineCaptureDepth:Science:F] Stopped
2020-12-13T21:15:29.080Z,1607894129.080 [lineCaptureDepth:Science:E] Stopped
2020-12-13T21:15:29.080Z,1607894129.080 [lineCaptureDepth:Science:D] Stopped
2020-12-13T21:15:29.080Z,1607894129.080 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-13T21:15:29.080Z,1607894129.080 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-12-13T21:15:29.085Z,1607894129.085 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-12-13T21:15:29.085Z,1607894129.085 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-13T21:15:29.085Z,1607894129.085 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-12-13T21:15:29.086Z,1607894129.086 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-12-13T21:15:29.086Z,1607894129.086 [lineCaptureDepth:Science:A] Stopped
2020-12-13T21:15:29.257Z,1607894129.257 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-12-13T21:15:29.359Z,1607894129.359 [lineCaptureDepth:D] Stopped
2020-12-13T21:15:29.359Z,1607894129.359 [lineCaptureDepth:E] Running Loop=1
2020-12-13T21:15:29.798Z,1607894129.798 [lineCaptureDepth:E] Stopped
2020-12-13T21:15:29.799Z,1607894129.799 [lineCaptureDepth:G] Running Loop=1
2020-12-13T21:15:30.194Z,1607894130.194 [lineCaptureDepth:G] Stopped
2020-12-13T21:15:30.195Z,1607894130.195 [lineCaptureDepth:H] Running Loop=1
2020-12-13T21:15:30.650Z,1607894130.650 [lineCaptureDepth:H] Stopped
2020-12-13T21:15:30.651Z,1607894130.651 [lineCaptureDepth:L] Running Loop=1
2020-12-13T21:15:31.055Z,1607894131.055 [lineCaptureDepth:L] Stopped
2020-12-13T21:15:31.055Z,1607894131.055 [lineCaptureDepth:M] Running Loop=1
2020-12-13T21:15:31.393Z,1607894131.393 [lineCaptureDepth:M] Stopped
2020-12-13T21:15:31.393Z,1607894131.393 [lineCaptureDepth:N] Running Loop=1
2020-12-13T21:15:31.868Z,1607894131.868 [lineCaptureDepth:N] Stopped
2020-12-13T21:15:31.868Z,1607894131.868 [lineCaptureDepth:Lap] Running Loop=1
2020-12-13T21:15:31.868Z,1607894131.868 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2020-12-13T21:15:31.877Z,1607894131.877 [lineCaptureDepth:Lap:A] Running Loop=1
2020-12-13T21:15:31.877Z,1607894131.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:15:32.240Z,1607894132.240 [lineCaptureDepth:Lap:A] Stopped
2020-12-13T21:15:32.240Z,1607894132.240 [lineCaptureDepth:Lap:B] Running Loop=1
2020-12-13T21:15:32.240Z,1607894132.240 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2020-12-13T21:15:32.474Z,1607894132.474 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-12-13T21:15:32.620Z,1607894132.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture] Running Loop=1
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T21:15:32.741Z,1607894132.741 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T21:15:32.742Z,1607894132.742 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:A] Running Loop=1
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-13T21:15:32.743Z,1607894132.743 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-13T21:15:32.744Z,1607894132.744 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-13T21:15:32.744Z,1607894132.744 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-13T21:15:32.744Z,1607894132.744 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T21:15:32.745Z,1607894132.745 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T21:15:32.746Z,1607894132.746 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T21:15:32.746Z,1607894132.746 [lineCaptureDepth:LineCapture:A] Stopped
2020-12-13T21:15:32.746Z,1607894132.746 [lineCaptureDepth:LineCapture:B] Running Loop=1
2020-12-13T21:15:32.999Z,1607894132.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:15:33.136Z,1607894133.136 [lineCaptureDepth:LineCapture:B] Stopped
2020-12-13T21:15:33.136Z,1607894133.136 [lineCaptureDepth:LineCapture:D] Running Loop=1
2020-12-13T21:15:33.425Z,1607894133.425 [lineCaptureDepth:LineCapture:D] Stopped
2020-12-13T21:15:33.426Z,1607894133.426 [lineCaptureDepth:LineCapture:E] Running Loop=1
2020-12-13T21:15:33.851Z,1607894133.851 [Micromodem](INFO): Nmea in: $SNTTA,0.230471,,,,211533.81*4D

2020-12-13T21:15:33.946Z,1607894133.946 [lineCaptureDepth:LineCapture:E] Stopped
2020-12-13T21:15:33.946Z,1607894133.946 [lineCaptureDepth:LineCapture:F] Running Loop=1
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:F] Stopped
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-12-13T21:15:34.219Z,1607894134.219 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T21:15:34.220Z,1607894134.220 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-12-13T21:15:34.220Z,1607894134.220 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-12-13T21:15:34.220Z,1607894134.220 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T21:15:34.220Z,1607894134.220 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T21:15:34.220Z,1607894134.220 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-13T21:15:34.221Z,1607894134.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T21:15:34.222Z,1607894134.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-13T21:15:34.679Z,1607894134.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T21:15:34.680Z,1607894134.680 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-13T21:15:34.681Z,1607894134.681 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T21:15:34.681Z,1607894134.681 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-13T21:15:34.681Z,1607894134.681 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-13T21:15:34.681Z,1607894134.681 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-13T21:15:34.681Z,1607894134.681 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-13T21:15:34.681Z,1607894134.681 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-13T21:15:35.018Z,1607894135.018 [PowerOnly](INFO): Powering up loadControl
2020-12-13T21:15:35.947Z,1607894135.947 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-12-13T21:15:36.275Z,1607894136.275 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T21:15:36.674Z,1607894136.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:15:37.459Z,1607894137.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:15:37.885Z,1607894137.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:15:38.710Z,1607894138.710 [Micromodem](INFO): Nmea in: $SNTTA,0.231238,,,,211538.64*47

2020-12-13T21:15:41.530Z,1607894141.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:15:42.308Z,1607894142.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:15:42.709Z,1607894142.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:15:43.545Z,1607894143.545 [Micromodem](INFO): Nmea in: $SNTTA,0.231680,,,,211543.49*43

2020-12-13T21:15:46.462Z,1607894146.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:15:47.151Z,1607894147.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:15:47.581Z,1607894147.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:15:48.423Z,1607894148.423 [Micromodem](INFO): Nmea in: $SNTTA,0.231445,,,0.234327,211548.34*54

2020-12-13T21:15:51.248Z,1607894151.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:15:52.011Z,1607894152.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:15:52.437Z,1607894152.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:15:53.245Z,1607894153.245 [Micromodem](INFO): Nmea in: $SNTTA,0.232330,,,,211553.20*40

2020-12-13T21:15:56.091Z,1607894156.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:15:56.487Z,1607894156.487 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 349.02 m. Transitioning DDM to standby.
2020-12-13T21:15:56.883Z,1607894156.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:15:57.257Z,1607894157.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:15:58.086Z,1607894158.086 [Micromodem](INFO): Nmea in: $SNTTA,0.232407,,,,211558.07*4D

2020-12-13T21:15:59.741Z,1607894159.741 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2020-12-13T21:16:00.125Z,1607894160.125 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T21:16:00.125Z,1607894160.125 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-12-13T21:16:00.125Z,1607894160.125 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2020-12-13T21:16:00.486Z,1607894160.486 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2020-12-13T21:16:00.487Z,1607894160.487 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2020-12-13T21:16:00.487Z,1607894160.487 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2020-12-13T21:16:00.923Z,1607894160.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2020-12-13T21:16:00.923Z,1607894160.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T21:16:00.923Z,1607894160.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-12-13T21:16:00.923Z,1607894160.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T21:16:00.923Z,1607894160.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T21:16:00.925Z,1607894160.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T21:16:01.311Z,1607894161.311 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-13T21:16:01.312Z,1607894161.312 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-13T21:16:01.312Z,1607894161.312 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T21:16:01.312Z,1607894161.312 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T21:16:01.317Z,1607894161.317 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T21:16:01.317Z,1607894161.317 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2020-12-13T21:16:01.317Z,1607894161.317 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T21:16:01.317Z,1607894161.317 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2020-12-13T21:16:01.318Z,1607894161.318 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 349.139984 m 
2020-12-13T21:16:01.318Z,1607894161.318 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2020-12-13T21:16:01.318Z,1607894161.318 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2020-12-13T21:16:01.319Z,1607894161.319 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2020-12-13T21:16:01.319Z,1607894161.319 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-13T21:16:01.319Z,1607894161.319 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2020-12-13T21:16:01.319Z,1607894161.319 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2020-12-13T21:16:01.691Z,1607894161.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:01.818Z,1607894161.818 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2020-12-13T21:16:01.818Z,1607894161.818 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T21:16:01.819Z,1607894161.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2020-12-13T21:16:01.819Z,1607894161.819 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T21:16:01.819Z,1607894161.819 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T21:16:01.820Z,1607894161.820 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T21:16:01.820Z,1607894161.820 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T21:16:01.831Z,1607894161.831 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T21:16:01.832Z,1607894161.832 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-13T21:16:01.832Z,1607894161.832 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T21:16:01.832Z,1607894161.832 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T21:16:01.832Z,1607894161.832 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T21:16:01.832Z,1607894161.832 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T21:16:01.832Z,1607894161.832 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T21:16:01.841Z,1607894161.841 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T21:16:02.086Z,1607894162.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T21:16:02.157Z,1607894162.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-13T21:16:02.158Z,1607894162.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T21:16:02.158Z,1607894162.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T21:16:02.158Z,1607894162.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T21:16:02.158Z,1607894162.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T21:16:02.159Z,1607894162.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2020-12-13T21:16:02.159Z,1607894162.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-13T21:16:02.159Z,1607894162.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2020-12-13T21:16:02.159Z,1607894162.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2020-12-13T21:16:02.159Z,1607894162.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-13T21:16:02.159Z,1607894162.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T21:16:02.160Z,1607894162.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2020-12-13T21:16:02.160Z,1607894162.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-13T21:16:02.165Z,1607894162.165 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2020-12-13T21:16:02.166Z,1607894162.166 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-12-13T21:16:02.491Z,1607894162.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.139984 m, bearing: 294.041119 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T21:16:02.491Z,1607894162.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 294.041119deg and heading rate command to 0 deg/s.
2020-12-13T21:16:02.903Z,1607894162.903 [Micromodem](INFO): Nmea in: $SNTTA,0.232924,,,,211602.88*4A

2020-12-13T21:16:03.436Z,1607894163.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.379974 m, bearing: 292.197050 deg, deltaT: 4.800082 s, approachRate: 0.049997 m/s, LOS rate: -0.384175 deg/s, posRepo size: 2
2020-12-13T21:16:03.437Z,1607894163.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.384175 deg/s. Setting heading cmd to target bearing of 292.197050deg and heading rate command to 0 deg/s.
2020-12-13T21:16:05.780Z,1607894165.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:06.551Z,1607894166.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:06.965Z,1607894166.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:07.853Z,1607894167.853 [Micromodem](INFO): Nmea in: $SNTTA,0.232711,,,,211607.74*44

2020-12-13T21:16:08.319Z,1607894168.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.559998 m, bearing: 290.764377 deg, deltaT: 5.045576 s, approachRate: 0.035679 m/s, LOS rate: -0.283946 deg/s, posRepo size: 3
2020-12-13T21:16:08.322Z,1607894168.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.559998 m,
      bearing: 290.764377 deg,
      approachRate: 0.035679 m/s,
      LOS rate: -0.283946 deg/s,
      cmd update: -0.851839 deg/s,
      cmd heading: 292.197050 deg,
      new cmd heading: 292.197050 deg.

2020-12-13T21:16:10.764Z,1607894170.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:11.503Z,1607894171.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:12.001Z,1607894172.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:12.838Z,1607894172.838 [Micromodem](INFO): Nmea in: $SNTTA,0.233808,,,,211612.69*4A

2020-12-13T21:16:13.240Z,1607894173.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.699982 m, bearing: 292.712893 deg, deltaT: 4.863628 s, approachRate: 0.234390 m/s, LOS rate: 0.400630 deg/s, posRepo size: 4
2020-12-13T21:16:13.242Z,1607894173.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.699982 m,
      bearing: 292.712893 deg,
      approachRate: 0.234390 m/s,
      LOS rate: 0.400630 deg/s,
      cmd update: 1.201891 deg/s,
      cmd heading: 288.053824 deg,
      new cmd heading: 287.753740 deg.

2020-12-13T21:16:15.696Z,1607894175.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:16.439Z,1607894176.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:16.881Z,1607894176.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:17.673Z,1607894177.673 [Micromodem](INFO): Nmea in: $SNTTA,0.234299,,0.235661,,211617.62*5A

2020-12-13T21:16:18.161Z,1607894178.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.419983 m, bearing: 210.195356 deg, deltaT: 4.800628 s, approachRate: 0.149981 m/s, LOS rate: -17.188905 deg/s, posRepo size: 4
2020-12-13T21:16:18.162Z,1607894178.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.188905 deg/s. Setting heading cmd to target bearing of 210.195356deg and heading rate command to 0 deg/s.
2020-12-13T21:16:20.498Z,1607894180.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:21.283Z,1607894181.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:21.697Z,1607894181.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:22.532Z,1607894182.532 [Micromodem](INFO): Nmea in: $SNTTA,0.234174,,,,211622.47*40

2020-12-13T21:16:23.029Z,1607894183.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.240021 m, bearing: 222.745952 deg, deltaT: 4.860371 s, approachRate: -0.037026 m/s, LOS rate: 2.582230 deg/s, posRepo size: 4
2020-12-13T21:16:23.031Z,1607894183.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.240021 m,
      bearing: 222.745952 deg,
      approachRate: -0.037026 m/s,
      LOS rate: 2.582230 deg/s,
      cmd update: 7.746690 deg/s,
      cmd heading: 210.195356 deg,
      new cmd heading: 210.195356 deg.

2020-12-13T21:16:25.057Z,1607894185.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:25.814Z,1607894185.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:26.279Z,1607894186.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:27.093Z,1607894187.093 [Micromodem](INFO): Nmea in: $SNTTA,0.233804,,,,211627.00*4F

2020-12-13T21:16:27.507Z,1607894187.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.179962 m, bearing: 226.173491 deg, deltaT: 4.616056 s, approachRate: -0.013011 m/s, LOS rate: 0.742525 deg/s, posRepo size: 4
2020-12-13T21:16:27.509Z,1607894187.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.179962 m,
      bearing: 226.173491 deg,
      approachRate: -0.013011 m/s,
      LOS rate: 0.742525 deg/s,
      cmd update: 2.227577 deg/s,
      cmd heading: 245.936893 deg,
      new cmd heading: 248.616736 deg.

2020-12-13T21:16:29.972Z,1607894189.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:30.716Z,1607894190.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:31.129Z,1607894191.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:31.949Z,1607894191.949 [Micromodem](INFO): Nmea in: $SNTTA,0.234505,,,0.238735,211631.90*5C

2020-12-13T21:16:32.368Z,1607894192.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.779968 m, bearing: 208.520307 deg, deltaT: 4.865943 s, approachRate: 0.123307 m/s, LOS rate: -3.627906 deg/s, posRepo size: 4
2020-12-13T21:16:32.370Z,1607894192.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.779968 m,
      bearing: 208.520307 deg,
      approachRate: 0.123307 m/s,
      LOS rate: -3.627906 deg/s,
      cmd update: -10.883719 deg/s,
      cmd heading: 256.776479 deg,
      new cmd heading: 257.536581 deg.

2020-12-13T21:16:34.806Z,1607894194.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:35.559Z,1607894195.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:35.971Z,1607894195.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:36.835Z,1607894196.835 [Micromodem](INFO): Nmea in: $SNTTA,0.234889,,,,211636.75*4F

2020-12-13T21:16:37.231Z,1607894197.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.380005 m, bearing: 254.434000 deg, deltaT: 4.874457 s, approachRate: 0.123098 m/s, LOS rate: 9.419242 deg/s, posRepo size: 4
2020-12-13T21:16:37.233Z,1607894197.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.380005 m,
      bearing: 254.434000 deg,
      approachRate: 0.123098 m/s,
      LOS rate: 9.419242 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 203.768872 deg,
      new cmd heading: 200.134766 deg.

2020-12-13T21:16:39.671Z,1607894199.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:40.417Z,1607894200.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:40.835Z,1607894200.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:41.665Z,1607894201.665 [Micromodem](INFO): Nmea in: $SNTTA,0.234778,,,,211641.60*4A

2020-12-13T21:16:42.059Z,1607894202.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.980011 m, bearing: 264.016454 deg, deltaT: 4.783515 s, approachRate: 0.125432 m/s, LOS rate: 2.003225 deg/s, posRepo size: 4
2020-12-13T21:16:42.081Z,1607894202.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.980011 m,
      bearing: 264.016454 deg,
      approachRate: 0.125432 m/s,
      LOS rate: 2.003225 deg/s,
      cmd update: 6.009674 deg/s,
      cmd heading: 261.268446 deg,
      new cmd heading: 265.704582 deg.

2020-12-13T21:16:44.519Z,1607894204.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:45.319Z,1607894205.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:45.743Z,1607894205.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:46.553Z,1607894206.553 [Micromodem](INFO): Nmea in: $SNTTA,0.235353,,,,211646.50*42

2020-12-13T21:16:47.005Z,1607894207.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.980011 m, bearing: 292.615604 deg, deltaT: 4.900088 s, approachRate: 0.000000 m/s, LOS rate: 5.836456 deg/s, posRepo size: 4
2020-12-13T21:16:47.007Z,1607894207.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.980011 m,
      bearing: 292.615604 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.836456 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.715315 deg,
      new cmd heading: 293.191542 deg.

2020-12-13T21:16:49.363Z,1607894209.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:50.167Z,1607894210.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:50.586Z,1607894210.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:51.390Z,1607894211.390 [Micromodem](INFO): Nmea in: $SNTTA,0.235974,,,,211651.35*48

2020-12-13T21:16:51.850Z,1607894211.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.419983 m, bearing: 207.555488 deg, deltaT: 4.859243 s, approachRate: 0.296337 m/s, LOS rate: -17.504808 deg/s, posRepo size: 4
2020-12-13T21:16:51.850Z,1607894211.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.504808 deg/s. Setting heading cmd to target bearing of 207.555488deg and heading rate command to 0 deg/s.
2020-12-13T21:16:54.239Z,1607894214.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:55.011Z,1607894215.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:16:55.423Z,1607894215.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:16:56.261Z,1607894216.261 [Micromodem](INFO): Nmea in: $SNTTA,0.235908,,,,211656.20*40

2020-12-13T21:16:57.066Z,1607894217.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:16:58.658Z,1607894218.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:16:59.929Z,1607894219.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:00.663Z,1607894220.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:01.121Z,1607894221.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:01.932Z,1607894221.932 [Micromodem](INFO): Nmea in: $SNTTA,0.235259,,,,211701.85*43

2020-12-13T21:17:02.366Z,1607894222.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.739990 m, bearing: 326.094077 deg, deltaT: 10.551521 s, approachRate: -0.159218 m/s, LOS rate: 11.234265 deg/s, posRepo size: 4
2020-12-13T21:17:02.367Z,1607894222.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.739990 m,
      bearing: 326.094077 deg,
      approachRate: -0.159218 m/s,
      LOS rate: 11.234265 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 207.555488 deg,
      new cmd heading: 207.555488 deg.

2020-12-13T21:17:04.839Z,1607894224.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:05.555Z,1607894225.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:05.980Z,1607894225.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:06.367Z,1607894226.367 [PowerOnly](INFO): Powering down loadControl
2020-12-13T21:17:06.834Z,1607894226.834 [Micromodem](INFO): Nmea in: $SNTTA,0.234252,,,,211706.74*40

2020-12-13T21:17:07.234Z,1607894227.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.779968 m, bearing: 332.343017 deg, deltaT: 4.926816 s, approachRate: -0.194856 m/s, LOS rate: 1.268353 deg/s, posRepo size: 4
2020-12-13T21:17:07.236Z,1607894227.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.779968 m,
      bearing: 332.343017 deg,
      approachRate: -0.194856 m/s,
      LOS rate: 1.268353 deg/s,
      cmd update: 3.805058 deg/s,
      cmd heading: 266.629450 deg,
      new cmd heading: 270.361138 deg.

2020-12-13T21:17:09.645Z,1607894229.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:10.435Z,1607894230.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:10.873Z,1607894230.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:11.673Z,1607894231.673 [Micromodem](INFO): Nmea in: $SNTTA,0.233684,,,0.236184,211711.62*5D

2020-12-13T21:17:12.107Z,1607894232.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.519958 m, bearing: 228.352922 deg, deltaT: 4.760902 s, approachRate: -0.264658 m/s, LOS rate: -21.842520 deg/s, posRepo size: 4
2020-12-13T21:17:12.108Z,1607894232.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.842520 deg/s. Setting heading cmd to target bearing of 228.352922deg and heading rate command to 0 deg/s.
2020-12-13T21:17:14.505Z,1607894234.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:15.275Z,1607894235.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:15.692Z,1607894235.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:16.522Z,1607894236.522 [Micromodem](INFO): Nmea in: $SNTTA,0.233412,,,,211716.46*45

2020-12-13T21:17:17.318Z,1607894237.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:18.906Z,1607894238.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:17:20.149Z,1607894240.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:20.939Z,1607894240.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:21.345Z,1607894241.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:22.187Z,1607894242.187 [Micromodem](INFO): Nmea in: $SNTTA,0.233606,,,,211722.12*44

2020-12-13T21:17:23.018Z,1607894243.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:24.570Z,1607894244.570 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:17:25.856Z,1607894245.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:26.591Z,1607894246.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:27.026Z,1607894247.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:27.849Z,1607894247.849 [Micromodem](INFO): Nmea in: $SNTTA,0.234736,,,,211727.78*48

2020-12-13T21:17:28.275Z,1607894248.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.139984 m, bearing: 290.748312 deg, deltaT: 16.215259 s, approachRate: 0.099907 m/s, LOS rate: 3.847943 deg/s, posRepo size: 4
2020-12-13T21:17:28.277Z,1607894248.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.139984 m,
      bearing: 290.748312 deg,
      approachRate: 0.099907 m/s,
      LOS rate: 3.847943 deg/s,
      cmd update: 11.543829 deg/s,
      cmd heading: 228.352922 deg,
      new cmd heading: 228.352922 deg.

2020-12-13T21:17:30.675Z,1607894250.675 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T21:17:30.689Z,1607894250.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:31.464Z,1607894251.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:31.949Z,1607894251.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:32.741Z,1607894252.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211732.65*59

2020-12-13T21:17:33.243Z,1607894253.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.679993 m, bearing: 263.737865 deg, deltaT: 4.966450 s, approachRate: 0.108731 m/s, LOS rate: -5.438583 deg/s, posRepo size: 4
2020-12-13T21:17:33.245Z,1607894253.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.679993 m,
      bearing: 263.737865 deg,
      approachRate: 0.108731 m/s,
      LOS rate: -5.438583 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.821254 deg,
      new cmd heading: 290.228838 deg.

2020-12-13T21:17:35.595Z,1607894255.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:36.375Z,1607894256.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:36.790Z,1607894256.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:37.647Z,1607894257.647 [Micromodem](INFO): Nmea in: $SNTTA,0.235681,,,,211737.56*49

2020-12-13T21:17:38.070Z,1607894258.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.519989 m, bearing: 203.460708 deg, deltaT: 4.874810 s, approachRate: 0.172314 m/s, LOS rate: -12.365027 deg/s, posRepo size: 4
2020-12-13T21:17:38.071Z,1607894258.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.365027 deg/s. Setting heading cmd to target bearing of 203.460708deg and heading rate command to 0 deg/s.
2020-12-13T21:17:40.455Z,1607894260.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:41.227Z,1607894261.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:41.653Z,1607894261.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:42.469Z,1607894262.469 [Micromodem](INFO): Nmea in: $SNTTA,0.235891,,,,211742.41*42

2020-12-13T21:17:42.984Z,1607894262.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.300018 m, bearing: 273.552737 deg, deltaT: 4.743697 s, approachRate: 0.164435 m/s, LOS rate: 14.775823 deg/s, posRepo size: 4
2020-12-13T21:17:42.993Z,1607894262.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.775823 deg/s. Setting heading cmd to target bearing of 273.552737deg and heading rate command to 0 deg/s.
2020-12-13T21:17:45.315Z,1607894265.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:46.067Z,1607894266.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:46.477Z,1607894266.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:47.307Z,1607894267.307 [Micromodem](INFO): Nmea in: $SNTTA,0.235431,,,,211747.25*43

2020-12-13T21:17:48.133Z,1607894268.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:49.698Z,1607894269.698 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:17:50.987Z,1607894270.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:51.723Z,1607894271.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:52.145Z,1607894272.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:53.010Z,1607894273.010 [Micromodem](INFO): Nmea in: $SNTTA,0.236530,,,,211752.91*4B

2020-12-13T21:17:53.366Z,1607894273.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.779999 m, bearing: 293.930169 deg, deltaT: 10.616775 s, approachRate: 0.045210 m/s, LOS rate: 1.919362 deg/s, posRepo size: 4
2020-12-13T21:17:53.368Z,1607894273.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.779999 m,
      bearing: 293.930169 deg,
      approachRate: 0.045210 m/s,
      LOS rate: 1.919362 deg/s,
      cmd update: 5.758085 deg/s,
      cmd heading: 273.552737 deg,
      new cmd heading: 273.552737 deg.

2020-12-13T21:17:55.865Z,1607894275.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:17:56.571Z,1607894276.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:17:57.029Z,1607894277.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:17:57.835Z,1607894277.835 [Micromodem](INFO): Nmea in: $SNTTA,0.236931,,,,211757.76*4A

2020-12-13T21:17:58.241Z,1607894278.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.219971 m, bearing: 192.797908 deg, deltaT: 4.812151 s, approachRate: 0.299237 m/s, LOS rate: -21.016021 deg/s, posRepo size: 4
2020-12-13T21:17:58.242Z,1607894278.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.016021 deg/s. Setting heading cmd to target bearing of 192.797908deg and heading rate command to 0 deg/s.
2020-12-13T21:17:59.840Z,1607894279.840 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:18:00.683Z,1607894280.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:01.427Z,1607894281.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:01.858Z,1607894281.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:02.669Z,1607894282.669 [Micromodem](INFO): Nmea in: $SNTTA,0.237196,,,,211802.61*47

2020-12-13T21:18:03.088Z,1607894283.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.219971 m, bearing: 229.476406 deg, deltaT: 4.821627 s, approachRate: 0.000000 m/s, LOS rate: 7.607079 deg/s, posRepo size: 4
2020-12-13T21:18:03.091Z,1607894283.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.219971 m,
      bearing: 229.476406 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.607079 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 192.797908 deg,
      new cmd heading: 192.797908 deg.

2020-12-13T21:18:05.487Z,1607894285.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:06.274Z,1607894286.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:06.686Z,1607894286.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:07.505Z,1607894287.505 [Micromodem](INFO): Nmea in: $SNTTA,0.236944,,,,211807.46*41

2020-12-13T21:18:07.951Z,1607894287.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.859985 m, bearing: 290.133267 deg, deltaT: 4.803930 s, approachRate: -0.074936 m/s, LOS rate: 12.626508 deg/s, posRepo size: 4
2020-12-13T21:18:07.952Z,1607894287.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.626508 deg/s. Setting heading cmd to target bearing of 290.133267deg and heading rate command to 0 deg/s.
2020-12-13T21:18:10.327Z,1607894290.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:11.115Z,1607894291.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:11.525Z,1607894291.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:12.351Z,1607894292.351 [Micromodem](INFO): Nmea in: $SNTTA,0.236829,,,,211812.30*4E

2020-12-13T21:18:13.176Z,1607894293.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:13.185Z,1607894293.185 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:18:13.185Z,1607894293.185 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:18:13.185Z,1607894293.185 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:18:13.185Z,1607894293.185 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:18:13.185Z,1607894293.185 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:18:13.185Z,1607894293.185 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:18:13.186Z,1607894293.186 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T21:18:13.598Z,1607894293.598 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T21:18:13.598Z,1607894293.598 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T21:18:13.598Z,1607894293.598 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:18:13.599Z,1607894293.599 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:18:13.599Z,1607894293.599 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:18:14.785Z,1607894294.785 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:18:16.051Z,1607894296.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:16.798Z,1607894296.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:17.208Z,1607894297.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:18.029Z,1607894298.029 [Micromodem](INFO): Nmea in: $SNTTA,0.236641,,,,211817.98*49

2020-12-13T21:18:18.445Z,1607894298.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.960022 m, bearing: 231.787114 deg, deltaT: 10.531670 s, approachRate: -0.085453 m/s, LOS rate: -5.540067 deg/s, posRepo size: 4
2020-12-13T21:18:18.446Z,1607894298.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.960022 m,
      bearing: 231.787114 deg,
      approachRate: -0.085453 m/s,
      LOS rate: -5.540067 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 290.133267 deg,
      new cmd heading: 290.133267 deg.

2020-12-13T21:18:20.895Z,1607894300.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:21.651Z,1607894301.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:22.041Z,1607894302.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:22.969Z,1607894302.969 [Micromodem](INFO): Nmea in: $SNTTA,0.236876,,0.238251,,211822.84*59

2020-12-13T21:18:23.326Z,1607894303.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.620026 m, bearing: 290.035678 deg, deltaT: 4.962242 s, approachRate: 0.133005 m/s, LOS rate: 11.738356 deg/s, posRepo size: 4
2020-12-13T21:18:23.327Z,1607894303.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.738356 deg/s. Setting heading cmd to target bearing of 290.035678deg and heading rate command to 0 deg/s.
2020-12-13T21:18:25.694Z,1607894305.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:26.501Z,1607894306.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:26.901Z,1607894306.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:27.711Z,1607894307.711 [Micromodem](INFO): Nmea in: $SNTTA,0.235925,,,,211827.69*4A

2020-12-13T21:18:28.175Z,1607894308.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.879974 m, bearing: 289.433637 deg, deltaT: 4.723154 s, approachRate: -0.368409 m/s, LOS rate: -0.127466 deg/s, posRepo size: 4
2020-12-13T21:18:28.181Z,1607894308.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.879974 m,
      bearing: 289.433637 deg,
      approachRate: -0.368409 m/s,
      LOS rate: -0.127466 deg/s,
      cmd update: -0.382397 deg/s,
      cmd heading: 290.035678 deg,
      new cmd heading: 290.035678 deg.

2020-12-13T21:18:30.564Z,1607894310.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:31.351Z,1607894311.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:31.738Z,1607894311.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:32.568Z,1607894312.568 [Micromodem](INFO): Nmea in: $SNTTA,0.235806,,,,211832.54*40

2020-12-13T21:18:33.034Z,1607894313.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.539978 m, bearing: 225.005774 deg, deltaT: 4.878919 s, approachRate: 0.135277 m/s, LOS rate: -13.205356 deg/s, posRepo size: 4
2020-12-13T21:18:33.035Z,1607894313.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.205356 deg/s. Setting heading cmd to target bearing of 225.005774deg and heading rate command to 0 deg/s.
2020-12-13T21:18:35.416Z,1607894315.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:36.187Z,1607894316.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:36.594Z,1607894316.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:37.429Z,1607894317.429 [Micromodem](INFO): Nmea in: $SNTTA,0.236137,,,,211837.37*48

2020-12-13T21:18:37.852Z,1607894317.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.179993 m, bearing: 211.110697 deg, deltaT: 4.805615 s, approachRate: -0.074909 m/s, LOS rate: -2.891425 deg/s, posRepo size: 4
2020-12-13T21:18:37.854Z,1607894317.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.179993 m,
      bearing: 211.110697 deg,
      approachRate: -0.074909 m/s,
      LOS rate: -2.891425 deg/s,
      cmd update: -8.674276 deg/s,
      cmd heading: 225.005774 deg,
      new cmd heading: 225.005774 deg.

2020-12-13T21:18:40.234Z,1607894320.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:41.027Z,1607894321.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:41.441Z,1607894321.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:42.269Z,1607894322.269 [Micromodem](INFO): Nmea in: $SNTTA,0.235772,,,,211842.21*49

2020-12-13T21:18:42.680Z,1607894322.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.179993 m, bearing: 226.449444 deg, deltaT: 4.877209 s, approachRate: 0.000000 m/s, LOS rate: 3.144985 deg/s, posRepo size: 4
2020-12-13T21:18:42.682Z,1607894322.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.179993 m,
      bearing: 226.449444 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.144985 deg/s,
      cmd update: 9.434954 deg/s,
      cmd heading: 182.734465 deg,
      new cmd heading: 179.583994 deg.

2020-12-13T21:18:45.114Z,1607894325.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:45.879Z,1607894325.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:46.293Z,1607894326.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:47.117Z,1607894327.117 [Micromodem](INFO): Nmea in: $SNTTA,0.236383,,,,211847.06*40

2020-12-13T21:18:47.524Z,1607894327.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.079987 m, bearing: 195.147507 deg, deltaT: 4.840755 s, approachRate: 0.185920 m/s, LOS rate: -6.466334 deg/s, posRepo size: 4
2020-12-13T21:18:47.526Z,1607894327.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.079987 m,
      bearing: 195.147507 deg,
      approachRate: 0.185920 m/s,
      LOS rate: -6.466334 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 228.443427 deg,
      new cmd heading: 231.862673 deg.

2020-12-13T21:18:49.963Z,1607894329.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:50.727Z,1607894330.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:51.133Z,1607894331.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:51.963Z,1607894331.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211851.91*58

2020-12-13T21:18:52.366Z,1607894332.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.799988 m, bearing: 265.662721 deg, deltaT: 4.861705 s, approachRate: 0.148096 m/s, LOS rate: 14.504216 deg/s, posRepo size: 4
2020-12-13T21:18:52.366Z,1607894332.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.504216 deg/s. Setting heading cmd to target bearing of 265.662721deg and heading rate command to 0 deg/s.
2020-12-13T21:18:54.787Z,1607894334.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:18:55.571Z,1607894335.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:18:56.009Z,1607894336.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:18:56.814Z,1607894336.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,211856.76*56

2020-12-13T21:18:57.226Z,1607894337.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.839996 m, bearing: 270.727826 deg, deltaT: 4.843387 s, approachRate: 0.421195 m/s, LOS rate: 1.045777 deg/s, posRepo size: 4
2020-12-13T21:18:57.231Z,1607894337.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.839996 m,
      bearing: 270.727826 deg,
      approachRate: 0.421195 m/s,
      LOS rate: 1.045777 deg/s,
      cmd update: 3.137332 deg/s,
      cmd heading: 265.662721 deg,
      new cmd heading: 265.662721 deg.

2020-12-13T21:18:59.659Z,1607894339.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:00.426Z,1607894340.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:00.845Z,1607894340.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:01.673Z,1607894341.673 [Micromodem](INFO): Nmea in: $SNTTA,0.239105,,,,211901.61*41

2020-12-13T21:19:02.080Z,1607894342.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.739990 m, bearing: 277.683171 deg, deltaT: 4.863315 s, approachRate: 0.185058 m/s, LOS rate: 1.430166 deg/s, posRepo size: 4
2020-12-13T21:19:02.082Z,1607894342.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.739990 m,
      bearing: 277.683171 deg,
      approachRate: 0.185058 m/s,
      LOS rate: 1.430166 deg/s,
      cmd update: 4.290496 deg/s,
      cmd heading: 280.908021 deg,
      new cmd heading: 282.018602 deg.

2020-12-13T21:19:04.499Z,1607894344.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:05.271Z,1607894345.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:05.690Z,1607894345.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:06.525Z,1607894346.525 [Micromodem](INFO): Nmea in: $SNTTA,0.239407,,,,211906.46*44

2020-12-13T21:19:06.954Z,1607894346.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.040009 m, bearing: 205.100008 deg, deltaT: 4.809443 s, approachRate: 0.062381 m/s, LOS rate: -15.091803 deg/s, posRepo size: 4
2020-12-13T21:19:06.955Z,1607894346.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.091803 deg/s. Setting heading cmd to target bearing of 205.100008deg and heading rate command to 0 deg/s.
2020-12-13T21:19:08.139Z,1607894348.139 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:19:09.347Z,1607894349.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:10.131Z,1607894350.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:10.533Z,1607894350.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:11.374Z,1607894351.374 [Micromodem](INFO): Nmea in: $SNTTA,0.239627,,,,211911.32*41

2020-12-13T21:19:11.798Z,1607894351.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.340027 m, bearing: 232.128214 deg, deltaT: 4.852189 s, approachRate: 0.061832 m/s, LOS rate: 5.570312 deg/s, posRepo size: 4
2020-12-13T21:19:11.814Z,1607894351.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.340027 m,
      bearing: 232.128214 deg,
      approachRate: 0.061832 m/s,
      LOS rate: 5.570312 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 205.100008 deg,
      new cmd heading: 205.100008 deg.

2020-12-13T21:19:14.201Z,1607894354.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:14.976Z,1607894354.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:15.390Z,1607894355.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:16.213Z,1607894356.213 [Micromodem](INFO): Nmea in: $SNTTA,0.239359,,,,211916.16*4C

2020-12-13T21:19:16.651Z,1607894356.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.040009 m, bearing: 298.882576 deg, deltaT: 4.868158 s, approachRate: -0.061629 m/s, LOS rate: 13.712447 deg/s, posRepo size: 4
2020-12-13T21:19:16.652Z,1607894356.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.712447 deg/s. Setting heading cmd to target bearing of 298.882576deg and heading rate command to 0 deg/s.
2020-12-13T21:19:19.070Z,1607894359.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:19.855Z,1607894359.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:20.247Z,1607894360.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:20.668Z,1607894360.668 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -0.36 mm (2 active estimators).
2020-12-13T21:19:21.055Z,1607894361.055 [Micromodem](INFO): Nmea in: $SNTTA,0.239260,,,,211921.04*40

2020-12-13T21:19:21.500Z,1607894361.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.919983 m, bearing: 222.124691 deg, deltaT: 4.854224 s, approachRate: -0.024726 m/s, LOS rate: -15.812597 deg/s, posRepo size: 4
2020-12-13T21:19:21.501Z,1607894361.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.812597 deg/s. Setting heading cmd to target bearing of 222.124691deg and heading rate command to 0 deg/s.
2020-12-13T21:19:23.919Z,1607894363.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:24.679Z,1607894364.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:25.089Z,1607894365.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:25.960Z,1607894365.960 [Micromodem](INFO): Nmea in: $SNTTA,0.239233,,,,211925.87*49

2020-12-13T21:19:26.336Z,1607894366.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.279968 m, bearing: 313.848668 deg, deltaT: 4.906382 s, approachRate: 0.073371 m/s, LOS rate: 18.694831 deg/s, posRepo size: 4
2020-12-13T21:19:26.337Z,1607894366.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.694831 deg/s. Setting heading cmd to target bearing of 313.848668deg and heading rate command to 0 deg/s.
2020-12-13T21:19:28.767Z,1607894368.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:29.539Z,1607894369.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:29.937Z,1607894369.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:30.763Z,1607894370.763 [Micromodem](INFO): Nmea in: $SNTTA,0.238825,,,,211930.73*4A

2020-12-13T21:19:31.190Z,1607894371.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.079987 m, bearing: 332.105053 deg, deltaT: 4.808428 s, approachRate: -0.249558 m/s, LOS rate: 3.796747 deg/s, posRepo size: 4
2020-12-13T21:19:31.192Z,1607894371.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.079987 m,
      bearing: 332.105053 deg,
      approachRate: -0.249558 m/s,
      LOS rate: 3.796747 deg/s,
      cmd update: 11.390242 deg/s,
      cmd heading: 313.848668 deg,
      new cmd heading: 313.848668 deg.

2020-12-13T21:19:33.607Z,1607894373.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:34.379Z,1607894374.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:34.810Z,1607894374.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:35.628Z,1607894375.628 [Micromodem](INFO): Nmea in: $SNTTA,0.238918,,,,211935.56*47

2020-12-13T21:19:36.064Z,1607894376.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.059998 m, bearing: 334.619956 deg, deltaT: 4.818523 s, approachRate: -0.211681 m/s, LOS rate: 0.521924 deg/s, posRepo size: 4
2020-12-13T21:19:36.066Z,1607894376.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.059998 m,
      bearing: 334.619956 deg,
      approachRate: -0.211681 m/s,
      LOS rate: 0.521924 deg/s,
      cmd update: 1.565772 deg/s,
      cmd heading: 8.778486 deg,
      new cmd heading: 13.521166 deg.

2020-12-13T21:19:38.459Z,1607894378.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:39.236Z,1607894379.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:39.669Z,1607894379.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:40.469Z,1607894380.469 [Micromodem](INFO): Nmea in: $SNTTA,0.237198,,,,211940.42*4F

2020-12-13T21:19:40.914Z,1607894380.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.559967 m, bearing: 338.412569 deg, deltaT: 4.867919 s, approachRate: -0.308146 m/s, LOS rate: 0.779104 deg/s, posRepo size: 4
2020-12-13T21:19:40.916Z,1607894380.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.559967 m,
      bearing: 338.412569 deg,
      approachRate: -0.308146 m/s,
      LOS rate: 0.779104 deg/s,
      cmd update: 2.337311 deg/s,
      cmd heading: 16.394472 deg,
      new cmd heading: 17.023709 deg.

2020-12-13T21:19:43.016Z,1607894383.016 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:19:43.061Z,1607894383.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:43.739Z,1607894383.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:44.141Z,1607894384.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:19:44.378Z,1607894384.378 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.263672
2020-12-13T21:19:44.559Z,1607894384.559 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:19:44.559Z,1607894384.559 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:19:44.559Z,1607894384.559 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:19:44.559Z,1607894384.559 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:19:44.559Z,1607894384.559 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:19:45.019Z,1607894385.019 [Micromodem](INFO): Nmea in: $SNTTA,0.235843,,,,211944.92*4B

2020-12-13T21:19:45.179Z,1607894385.179 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:19:45.180Z,1607894385.180 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:19:45.180Z,1607894385.180 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:19:45.503Z,1607894385.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.519989 m, bearing: 340.976840 deg, deltaT: 4.750928 s, approachRate: -0.429385 m/s, LOS rate: 0.539741 deg/s, posRepo size: 4
2020-12-13T21:19:45.521Z,1607894385.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.519989 m,
      bearing: 340.976840 deg,
      approachRate: -0.429385 m/s,
      LOS rate: 0.539741 deg/s,
      cmd update: 1.619224 deg/s,
      cmd heading: 27.505754 deg,
      new cmd heading: 28.061667 deg.

2020-12-13T21:19:46.282Z,1607894386.282 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:19:46.698Z,1607894386.698 [Micromodem](INFO): Nmea in: $CADRQ,211946,1,9,0,64,1*47

2020-12-13T21:19:46.698Z,1607894386.698 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:19:47.249Z,1607894387.249 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:19:47.643Z,1607894387.643 [Micromodem](INFO): Nmea in: $CADRQ,211947,1,9,0,64,2*45

2020-12-13T21:19:47.644Z,1607894387.644 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:19:48.031Z,1607894388.031 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:19:48.115Z,1607894388.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:48.454Z,1607894388.454 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:19:48.843Z,1607894388.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:19:50.859Z,1607894390.859 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:19:50.859Z,1607894390.859 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:19:51.039Z,1607894391.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:51.272Z,1607894391.272 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,211948.802724,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T21:19:51.272Z,1607894391.272 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,211948.802724,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T21:19:53.741Z,1607894393.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:56.527Z,1607894396.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:19:59.027Z,1607894399.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:00.166Z,1607894400.166 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:00.580Z,1607894400.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:01.412Z,1607894401.412 [Micromodem](INFO): Nmea in: $SNTTA,0.229806,,,,212001.35*41

2020-12-13T21:20:01.849Z,1607894401.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.579987 m, bearing: 330.215850 deg, deltaT: 16.165189 s, approachRate: -0.553040 m/s, LOS rate: -0.665689 deg/s, posRepo size: 4
2020-12-13T21:20:01.851Z,1607894401.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.579987 m,
      bearing: 330.215850 deg,
      approachRate: -0.553040 m/s,
      LOS rate: -0.665689 deg/s,
      cmd update: -1.997067 deg/s,
      cmd heading: 53.682487 deg,
      new cmd heading: 54.358036 deg.

2020-12-13T21:20:04.251Z,1607894404.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:05.019Z,1607894405.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:05.433Z,1607894405.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:06.369Z,1607894406.369 [Micromodem](INFO): Nmea in: $SNTTA,0.228859,,,,212006.20*49

2020-12-13T21:20:06.861Z,1607894406.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.140015 m, bearing: 334.416280 deg, deltaT: 4.968170 s, approachRate: -0.289840 m/s, LOS rate: 0.845468 deg/s, posRepo size: 4
2020-12-13T21:20:06.863Z,1607894406.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.140015 m,
      bearing: 334.416280 deg,
      approachRate: -0.289840 m/s,
      LOS rate: 0.845468 deg/s,
      cmd update: 2.536405 deg/s,
      cmd heading: 43.767306 deg,
      new cmd heading: 42.839449 deg.

2020-12-13T21:20:09.248Z,1607894409.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:10.111Z,1607894410.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:10.519Z,1607894410.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:11.349Z,1607894411.349 [Micromodem](INFO): Nmea in: $SNTTA,0.228633,,,,212011.30*4C

2020-12-13T21:20:11.962Z,1607894411.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 342.959991 m, bearing: 83.603462 deg, deltaT: 5.024070 s, approachRate: -0.035832 m/s, LOS rate: 21.732813 deg/s, posRepo size: 4
2020-12-13T21:20:11.962Z,1607894411.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.732813 deg/s. Setting heading cmd to target bearing of 83.603462deg and heading rate command to 0 deg/s.
2020-12-13T21:20:14.171Z,1607894414.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:14.967Z,1607894414.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:15.361Z,1607894415.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:16.241Z,1607894416.241 [Micromodem](INFO): Nmea in: $SNTTA,0.228734,,,,212016.15*4A

2020-12-13T21:20:16.709Z,1607894416.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.200012 m, bearing: 1.802160 deg, deltaT: 4.860294 s, approachRate: 0.049384 m/s, LOS rate: -16.830525 deg/s, posRepo size: 4
2020-12-13T21:20:16.710Z,1607894416.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.830525 deg/s. Setting heading cmd to target bearing of 1.802160deg and heading rate command to 0 deg/s.
2020-12-13T21:20:19.155Z,1607894419.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:19.884Z,1607894419.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:20.292Z,1607894420.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:20.521Z,1607894420.521 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T21:20:21.013Z,1607894421.013 [Radio_Surface](INFO): Powering down
2020-12-13T21:20:21.139Z,1607894421.139 [Micromodem](INFO): Nmea in: $SNTTA,0.229608,,,,212021.07*42

2020-12-13T21:20:21.525Z,1607894421.525 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-13T21:20:21.552Z,1607894421.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.519989 m, bearing: 35.658836 deg, deltaT: 4.924718 s, approachRate: 0.268031 m/s, LOS rate: 6.874846 deg/s, posRepo size: 4
2020-12-13T21:20:21.554Z,1607894421.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.519989 m,
      bearing: 35.658836 deg,
      approachRate: 0.268031 m/s,
      LOS rate: 6.874846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.802160 deg,
      new cmd heading: 1.802160 deg.

2020-12-13T21:20:24.144Z,1607894424.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:24.843Z,1607894424.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:25.221Z,1607894425.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:26.049Z,1607894426.049 [Micromodem](INFO): Nmea in: $SNTTA,0.230662,,,,212026.03*45

2020-12-13T21:20:26.489Z,1607894426.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.959991 m, bearing: 20.724893 deg, deltaT: 4.897659 s, approachRate: 0.294019 m/s, LOS rate: -3.049200 deg/s, posRepo size: 4
2020-12-13T21:20:26.490Z,1607894426.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.959991 m,
      bearing: 20.724893 deg,
      approachRate: 0.294019 m/s,
      LOS rate: -3.049200 deg/s,
      cmd update: -9.147601 deg/s,
      cmd heading: 60.538753 deg,
      new cmd heading: 65.169529 deg.

2020-12-13T21:20:28.910Z,1607894428.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:29.691Z,1607894429.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:30.117Z,1607894430.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:30.945Z,1607894430.945 [Micromodem](INFO): Nmea in: $SNTTA,0.231190,,,,212030.88*4A

2020-12-13T21:20:31.391Z,1607894431.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.799957 m, bearing: 22.217762 deg, deltaT: 4.893408 s, approachRate: 0.171653 m/s, LOS rate: 0.305078 deg/s, posRepo size: 4
2020-12-13T21:20:31.394Z,1607894431.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.799957 m,
      bearing: 22.217762 deg,
      approachRate: 0.171653 m/s,
      LOS rate: 0.305078 deg/s,
      cmd update: 0.915233 deg/s,
      cmd heading: 15.741174 deg,
      new cmd heading: 12.177881 deg.

2020-12-13T21:20:33.834Z,1607894433.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:34.560Z,1607894434.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:35.049Z,1607894435.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:35.874Z,1607894435.874 [Micromodem](INFO): Nmea in: $SNTTA,0.231324,,,,212035.74*41

2020-12-13T21:20:36.305Z,1607894436.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.099976 m, bearing: 46.828258 deg, deltaT: 4.948710 s, approachRate: 0.060626 m/s, LOS rate: 4.973114 deg/s, posRepo size: 4
2020-12-13T21:20:36.306Z,1607894436.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.099976 m,
      bearing: 46.828258 deg,
      approachRate: 0.060626 m/s,
      LOS rate: 4.973114 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.270596 deg,
      new cmd heading: 20.596112 deg.

2020-12-13T21:20:38.829Z,1607894438.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:39.579Z,1607894439.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:39.977Z,1607894439.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:40.834Z,1607894440.834 [Micromodem](INFO): Nmea in: $SNTTA,0.230735,,,,212040.76*44

2020-12-13T21:20:41.306Z,1607894441.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.959991 m, bearing: 324.590069 deg, deltaT: 5.057363 s, approachRate: -0.225411 m/s, LOS rate: -16.261084 deg/s, posRepo size: 4
2020-12-13T21:20:41.308Z,1607894441.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.261084 deg/s. Setting heading cmd to target bearing of 324.590069deg and heading rate command to 0 deg/s.
2020-12-13T21:20:43.713Z,1607894443.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:44.472Z,1607894444.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:44.878Z,1607894444.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:45.701Z,1607894445.701 [Micromodem](INFO): Nmea in: $SNTTA,0.230102,,,,212045.66*42

2020-12-13T21:20:46.132Z,1607894446.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.059967 m, bearing: 32.446349 deg, deltaT: 4.718544 s, approachRate: -0.190742 m/s, LOS rate: 14.380767 deg/s, posRepo size: 4
2020-12-13T21:20:46.133Z,1607894446.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.380767 deg/s. Setting heading cmd to target bearing of 32.446349deg and heading rate command to 0 deg/s.
2020-12-13T21:20:48.570Z,1607894448.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:49.316Z,1607894449.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:49.885Z,1607894449.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:20:50.262Z,1607894450.262 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:20:50.677Z,1607894450.677 [Micromodem](INFO): Nmea in: $SNTTA,0.230146,,,,212050.50*43

2020-12-13T21:20:50.866Z,1607894450.866 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:20:50.867Z,1607894450.867 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:20:50.868Z,1607894450.868 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:20:51.212Z,1607894451.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.179993 m, bearing: 91.476874 deg, deltaT: 5.254725 s, approachRate: 0.022841 m/s, LOS rate: 11.233799 deg/s, posRepo size: 4
2020-12-13T21:20:51.214Z,1607894451.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.179993 m,
      bearing: 91.476874 deg,
      approachRate: 0.022841 m/s,
      LOS rate: 11.233799 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 32.446349 deg,
      new cmd heading: 32.446349 deg.

2020-12-13T21:20:52.014Z,1607894452.014 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:20:52.402Z,1607894452.402 [Micromodem](INFO): Nmea in: $CADRQ,212051,1,9,0,64,1*4B

2020-12-13T21:20:52.403Z,1607894452.403 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:20:52.862Z,1607894452.862 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:20:53.303Z,1607894453.303 [Micromodem](INFO): Nmea in: $CADRQ,212053,1,9,0,64,2*4A

2020-12-13T21:20:53.304Z,1607894453.304 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:20:53.495Z,1607894453.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:53.707Z,1607894453.707 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:20:54.171Z,1607894454.171 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:20:54.172Z,1607894454.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:20:55.998Z,1607894455.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:20:56.587Z,1607894456.587 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:20:56.587Z,1607894456.587 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:20:56.985Z,1607894456.985 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212054.465846,3,0,200,4000,14500,1,1,9,1,2,2,3,70*70

2020-12-13T21:20:56.985Z,1607894456.985 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212054.465846,3,0,200,4000,14500,1,1,9,1,2,2,3,70*70

2020-12-13T21:20:58.659Z,1607894458.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:01.527Z,1607894461.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:04.308Z,1607894464.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:05.509Z,1607894465.509 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:05.897Z,1607894465.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:06.729Z,1607894466.729 [Micromodem](INFO): Nmea in: $SNTTA,0.231290,,,,212106.69*42

2020-12-13T21:21:07.180Z,1607894467.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.979980 m, bearing: 25.754716 deg, deltaT: 15.985580 s, approachRate: 0.112601 m/s, LOS rate: -4.111340 deg/s, posRepo size: 4
2020-12-13T21:21:07.182Z,1607894467.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.979980 m,
      bearing: 25.754716 deg,
      approachRate: 0.112601 m/s,
      LOS rate: -4.111340 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 224.321146 deg,
      new cmd heading: 226.906522 deg.

2020-12-13T21:21:09.716Z,1607894469.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:10.491Z,1607894470.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:10.901Z,1607894470.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:11.731Z,1607894471.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212111.68*50

2020-12-13T21:21:12.581Z,1607894472.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:14.158Z,1607894474.158 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:21:15.124Z,1607894475.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:15.763Z,1607894475.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:16.173Z,1607894476.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:17.003Z,1607894477.003 [Micromodem](INFO): Nmea in: $SNTTA,0.235218,,0.236601,,212116.95*5A

2020-12-13T21:21:17.892Z,1607894477.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:19.402Z,1607894479.402 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:21:20.693Z,1607894480.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:21.429Z,1607894481.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:21.981Z,1607894481.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:22.807Z,1607894482.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212122.61*59

2020-12-13T21:21:23.209Z,1607894483.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:24.819Z,1607894484.819 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:21:25.827Z,1607894485.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:26.434Z,1607894486.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:26.860Z,1607894486.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:27.665Z,1607894487.665 [Micromodem](INFO): Nmea in: $SNTTA,0.240468,,,,212127.62*4D

2020-12-13T21:21:28.119Z,1607894488.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 360.839996 m, bearing: 76.206961 deg, deltaT: 20.917221 s, approachRate: 0.662613 m/s, LOS rate: 2.411996 deg/s, posRepo size: 4
2020-12-13T21:21:28.122Z,1607894488.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.839996 m,
      bearing: 76.206961 deg,
      approachRate: 0.662613 m/s,
      LOS rate: 2.411996 deg/s,
      cmd update: 7.235986 deg/s,
      cmd heading: 333.317871 deg,
      new cmd heading: 330.466706 deg.

2020-12-13T21:21:30.499Z,1607894490.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:31.291Z,1607894491.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:31.701Z,1607894491.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:32.525Z,1607894492.525 [Micromodem](INFO): Nmea in: $SNTTA,0.242499,,,,212132.48*4D

2020-12-13T21:21:33.023Z,1607894493.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 363.839996 m, bearing: 98.390828 deg, deltaT: 4.657314 s, approachRate: 0.644148 m/s, LOS rate: 4.763232 deg/s, posRepo size: 4
2020-12-13T21:21:33.041Z,1607894493.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.839996 m,
      bearing: 98.390828 deg,
      approachRate: 0.644148 m/s,
      LOS rate: 4.763232 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 7.020199 deg,
      new cmd heading: 10.516418 deg.

2020-12-13T21:21:35.378Z,1607894495.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:36.151Z,1607894496.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:36.557Z,1607894496.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:37.373Z,1607894497.373 [Micromodem](INFO): Nmea in: $SNTTA,0.244160,,,,212137.34*46

2020-12-13T21:21:37.859Z,1607894497.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 366.299988 m, bearing: 40.870148 deg, deltaT: 4.849771 s, approachRate: 0.507239 m/s, LOS rate: -11.860495 deg/s, posRepo size: 4
2020-12-13T21:21:37.860Z,1607894497.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.860495 deg/s. Setting heading cmd to target bearing of 40.870148deg and heading rate command to 0 deg/s.
2020-12-13T21:21:39.906Z,1607894499.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:40.658Z,1607894500.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:41.185Z,1607894501.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:41.993Z,1607894501.993 [Micromodem](INFO): Nmea in: $SNTTA,0.245209,,,0.247728,212141.84*53

2020-12-13T21:21:42.438Z,1607894502.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 367.800018 m, bearing: 354.577304 deg, deltaT: 4.691768 s, approachRate: 0.319715 m/s, LOS rate: -9.866825 deg/s, posRepo size: 4
2020-12-13T21:21:42.439Z,1607894502.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.800018 m,
      bearing: 354.577304 deg,
      approachRate: 0.319715 m/s,
      LOS rate: -9.866825 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 40.870148 deg,
      new cmd heading: 40.870148 deg.

2020-12-13T21:21:45.028Z,1607894505.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:45.651Z,1607894505.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:46.040Z,1607894506.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:46.871Z,1607894506.871 [Micromodem](INFO): Nmea in: $SNTTA,0.246137,,,,212146.83*4C

2020-12-13T21:21:47.359Z,1607894507.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 369.299988 m, bearing: 357.063739 deg, deltaT: 4.970879 s, approachRate: 0.301751 m/s, LOS rate: 0.500200 deg/s, posRepo size: 4
2020-12-13T21:21:47.361Z,1607894507.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.299988 m,
      bearing: 357.063739 deg,
      approachRate: 0.301751 m/s,
      LOS rate: 0.500200 deg/s,
      cmd update: 1.500601 deg/s,
      cmd heading: 341.171646 deg,
      new cmd heading: 337.486878 deg.

2020-12-13T21:21:49.824Z,1607894509.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:50.563Z,1607894510.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:50.981Z,1607894510.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:51.814Z,1607894511.814 [Micromodem](INFO): Nmea in: $SNTTA,0.246404,,,,212151.75*46

2020-12-13T21:21:52.260Z,1607894512.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 369.540009 m, bearing: 327.294879 deg, deltaT: 4.813400 s, approachRate: 0.049865 m/s, LOS rate: -6.184580 deg/s, posRepo size: 4
2020-12-13T21:21:52.262Z,1607894512.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.540009 m,
      bearing: 327.294879 deg,
      approachRate: 0.049865 m/s,
      LOS rate: -6.184580 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 348.394652 deg,
      new cmd heading: 348.986799 deg.

2020-12-13T21:21:54.623Z,1607894514.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:55.412Z,1607894515.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:21:55.826Z,1607894515.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:21:56.211Z,1607894516.211 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:21:56.666Z,1607894516.666 [Micromodem](INFO): Nmea in: $SNTTA,0.245923,,,,212156.60*4E

2020-12-13T21:21:56.848Z,1607894516.848 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:21:56.849Z,1607894516.849 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:21:56.849Z,1607894516.849 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:21:57.230Z,1607894517.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 368.699982 m, bearing: 309.599771 deg, deltaT: 5.091275 s, approachRate: -0.164993 m/s, LOS rate: -3.475575 deg/s, posRepo size: 4
2020-12-13T21:21:57.232Z,1607894517.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 368.699982 m,
      bearing: 309.599771 deg,
      approachRate: -0.164993 m/s,
      LOS rate: -3.475575 deg/s,
      cmd update: -10.426724 deg/s,
      cmd heading: 287.347578 deg,
      new cmd heading: 284.013810 deg.

2020-12-13T21:21:57.894Z,1607894517.894 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:21:58.286Z,1607894518.286 [Micromodem](INFO): Nmea in: $CADRQ,212157,1,9,0,64,1*4C

2020-12-13T21:21:58.286Z,1607894518.286 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:21:58.698Z,1607894518.698 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:21:59.098Z,1607894519.098 [Micromodem](INFO): Nmea in: $CADRQ,212159,1,9,0,64,2*41

2020-12-13T21:21:59.098Z,1607894519.098 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:21:59.543Z,1607894519.543 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:21:59.560Z,1607894519.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:21:59.958Z,1607894519.958 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:22:00.339Z,1607894520.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:02.359Z,1607894522.359 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:22:02.359Z,1607894522.359 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:22:02.375Z,1607894522.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:02.769Z,1607894522.769 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212200.255321,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:22:02.770Z,1607894522.770 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212200.255321,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:22:04.887Z,1607894524.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:07.652Z,1607894527.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:10.212Z,1607894530.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:11.654Z,1607894531.654 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:12.061Z,1607894532.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:12.889Z,1607894532.889 [Micromodem](INFO): Nmea in: $SNTTA,0.241086,,,,212212.84*45

2020-12-13T21:22:12.897Z,1607894532.897 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:22:13.336Z,1607894533.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.380005 m, bearing: 320.967965 deg, deltaT: 15.989741 s, approachRate: -0.457792 m/s, LOS rate: 0.710968 deg/s, posRepo size: 4
2020-12-13T21:22:13.338Z,1607894533.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.380005 m,
      bearing: 320.967965 deg,
      approachRate: -0.457792 m/s,
      LOS rate: 0.710968 deg/s,
      cmd update: 2.132904 deg/s,
      cmd heading: 120.584938 deg,
      new cmd heading: 116.519965 deg.

2020-12-13T21:22:15.753Z,1607894535.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:16.499Z,1607894536.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:16.949Z,1607894536.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:17.761Z,1607894537.761 [Micromodem](INFO): Nmea in: $SNTTA,0.239556,,,,212217.68*45

2020-12-13T21:22:18.220Z,1607894538.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.160004 m, bearing: 319.081385 deg, deltaT: 4.905245 s, approachRate: -0.452577 m/s, LOS rate: -0.384605 deg/s, posRepo size: 4
2020-12-13T21:22:18.222Z,1607894538.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.160004 m,
      bearing: 319.081385 deg,
      approachRate: -0.452577 m/s,
      LOS rate: -0.384605 deg/s,
      cmd update: -1.153814 deg/s,
      cmd heading: 131.047352 deg,
      new cmd heading: 131.832508 deg.

2020-12-13T21:22:20.634Z,1607894540.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:21.427Z,1607894541.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:21.853Z,1607894541.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:22.667Z,1607894542.667 [Micromodem](INFO): Nmea in: $SNTTA,0.237990,,,,212222.61*42

2020-12-13T21:22:23.221Z,1607894543.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.760010 m, bearing: 322.356078 deg, deltaT: 4.907418 s, approachRate: -0.489054 m/s, LOS rate: 0.667295 deg/s, posRepo size: 4
2020-12-13T21:22:23.225Z,1607894543.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.760010 m,
      bearing: 322.356078 deg,
      approachRate: -0.489054 m/s,
      LOS rate: 0.667295 deg/s,
      cmd update: 2.001884 deg/s,
      cmd heading: 125.396212 deg,
      new cmd heading: 124.852456 deg.

2020-12-13T21:22:25.498Z,1607894545.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:26.267Z,1607894546.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:26.681Z,1607894546.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:27.523Z,1607894547.523 [Micromodem](INFO): Nmea in: $SNTTA,0.236329,,,,212227.45*48

2020-12-13T21:22:27.951Z,1607894547.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.300018 m, bearing: 317.477547 deg, deltaT: 4.778614 s, approachRate: -0.514792 m/s, LOS rate: -1.020909 deg/s, posRepo size: 4
2020-12-13T21:22:27.959Z,1607894547.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.300018 m,
      bearing: 317.477547 deg,
      approachRate: -0.514792 m/s,
      LOS rate: -1.020909 deg/s,
      cmd update: -3.062728 deg/s,
      cmd heading: 134.981694 deg,
      new cmd heading: 135.809216 deg.

2020-12-13T21:22:30.334Z,1607894550.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:31.119Z,1607894551.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:31.534Z,1607894551.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:32.372Z,1607894552.372 [Micromodem](INFO): Nmea in: $SNTTA,0.235118,,,,212232.30*4D

2020-12-13T21:22:32.854Z,1607894552.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.619995 m, bearing: 326.199972 deg, deltaT: 4.849800 s, approachRate: -0.346411 m/s, LOS rate: 1.798512 deg/s, posRepo size: 4
2020-12-13T21:22:32.856Z,1607894552.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.619995 m,
      bearing: 326.199972 deg,
      approachRate: -0.346411 m/s,
      LOS rate: 1.798512 deg/s,
      cmd update: 5.395537 deg/s,
      cmd heading: 120.131308 deg,
      new cmd heading: 118.700426 deg.

2020-12-13T21:22:33.182Z,1607894553.182 [Micromodem](INFO): Nmea in: PROC,0.10.0.46*43

2020-12-13T21:22:33.182Z,1607894553.182 [Micromodem](ERROR): Response from modem failed NMEA checksum: PROC,0.10.0.46*43
 expected 0
2020-12-13T21:22:35.199Z,1607894555.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:36.003Z,1607894556.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:36.449Z,1607894556.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:37.257Z,1607894557.257 [Micromodem](INFO): Nmea in: $SNTTA,0.234981,,,,212237.19*4A

2020-12-13T21:22:37.735Z,1607894557.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.559967 m, bearing: 224.183543 deg, deltaT: 4.951576 s, approachRate: -0.012123 m/s, LOS rate: -20.602820 deg/s, posRepo size: 4
2020-12-13T21:22:37.736Z,1607894557.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.602820 deg/s. Setting heading cmd to target bearing of 224.183543deg and heading rate command to 0 deg/s.
2020-12-13T21:22:40.106Z,1607894560.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:40.889Z,1607894560.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:41.306Z,1607894561.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:42.122Z,1607894562.122 [Micromodem](INFO): Nmea in: $SNTTA,0.235351,,,,212242.08*4E

2020-12-13T21:22:42.714Z,1607894562.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.980011 m, bearing: 279.846101 deg, deltaT: 4.846257 s, approachRate: 0.086674 m/s, LOS rate: 11.485680 deg/s, posRepo size: 4
2020-12-13T21:22:42.715Z,1607894562.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.485680 deg/s. Setting heading cmd to target bearing of 279.846101deg and heading rate command to 0 deg/s.
2020-12-13T21:22:44.984Z,1607894564.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:45.615Z,1607894565.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:45.989Z,1607894565.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:46.824Z,1607894566.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212246.80*57

2020-12-13T21:22:47.224Z,1607894567.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.359985 m, bearing: 245.977488 deg, deltaT: 4.688960 s, approachRate: 0.294303 m/s, LOS rate: -7.223055 deg/s, posRepo size: 4
2020-12-13T21:22:47.226Z,1607894567.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.359985 m,
      bearing: 245.977488 deg,
      approachRate: 0.294303 m/s,
      LOS rate: -7.223055 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 279.846101 deg,
      new cmd heading: 279.846101 deg.

2020-12-13T21:22:49.401Z,1607894569.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:50.027Z,1607894570.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:50.441Z,1607894570.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:51.265Z,1607894571.265 [Micromodem](INFO): Nmea in: $SNTTA,0.237400,,,,212251.21*46

2020-12-13T21:22:51.698Z,1607894571.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.100006 m, bearing: 275.861696 deg, deltaT: 4.578751 s, approachRate: 0.380021 m/s, LOS rate: 6.526716 deg/s, posRepo size: 4
2020-12-13T21:22:51.700Z,1607894571.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.100006 m,
      bearing: 275.861696 deg,
      approachRate: 0.380021 m/s,
      LOS rate: 6.526716 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 224.715904 deg,
      new cmd heading: 221.769652 deg.

2020-12-13T21:22:54.125Z,1607894574.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:54.875Z,1607894574.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:22:55.285Z,1607894575.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:22:56.147Z,1607894576.147 [Micromodem](INFO): Nmea in: $SNTTA,0.238225,,,,212256.06*4A

2020-12-13T21:22:56.563Z,1607894576.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.360016 m, bearing: 197.845582 deg, deltaT: 4.716242 s, approachRate: 0.267164 m/s, LOS rate: -16.542008 deg/s, posRepo size: 4
2020-12-13T21:22:56.563Z,1607894576.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.542008 deg/s. Setting heading cmd to target bearing of 197.845582deg and heading rate command to 0 deg/s.
2020-12-13T21:22:59.019Z,1607894579.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:22:59.755Z,1607894579.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:00.170Z,1607894580.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:00.989Z,1607894580.989 [Micromodem](INFO): Nmea in: $SNTTA,0.238434,,,,212300.94*45

2020-12-13T21:23:01.426Z,1607894581.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.599976 m, bearing: 292.800456 deg, deltaT: 4.889360 s, approachRate: 0.049078 m/s, LOS rate: 19.420716 deg/s, posRepo size: 4
2020-12-13T21:23:01.426Z,1607894581.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.420716 deg/s. Setting heading cmd to target bearing of 292.800456deg and heading rate command to 0 deg/s.
2020-12-13T21:23:02.189Z,1607894582.189 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:23:02.736Z,1607894582.736 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:23:02.737Z,1607894582.737 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:23:02.737Z,1607894582.737 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:23:03.026Z,1607894583.026 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:23:03.430Z,1607894583.430 [Micromodem](INFO): Nmea in: $CADRQ,212303,1,9,0,64,1*4F

2020-12-13T21:23:03.430Z,1607894583.430 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:23:03.607Z,1607894583.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:03.849Z,1607894583.849 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:23:04.235Z,1607894584.235 [Micromodem](INFO): Nmea in: $CADRQ,212304,1,9,0,64,2*4B

2020-12-13T21:23:04.235Z,1607894584.235 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:23:04.657Z,1607894584.657 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:23:04.658Z,1607894584.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:05.034Z,1607894585.034 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:23:05.035Z,1607894585.035 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:23:06.274Z,1607894586.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:07.471Z,1607894587.471 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:23:07.471Z,1607894587.471 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:23:07.872Z,1607894587.872 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212305.420932,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T21:23:07.872Z,1607894587.872 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212305.420932,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T21:23:08.909Z,1607894588.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:11.519Z,1607894591.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:14.366Z,1607894594.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:15.942Z,1607894595.942 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:16.357Z,1607894596.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:17.188Z,1607894597.188 [Micromodem](INFO): Nmea in: $SNTTA,0.237105,,,,212317.13*44

2020-12-13T21:23:17.669Z,1607894597.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.559967 m, bearing: 324.945375 deg, deltaT: 16.322506 s, approachRate: -0.124981 m/s, LOS rate: 1.969362 deg/s, posRepo size: 4
2020-12-13T21:23:17.671Z,1607894597.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.559967 m,
      bearing: 324.945375 deg,
      approachRate: -0.124981 m/s,
      LOS rate: 1.969362 deg/s,
      cmd update: 5.908085 deg/s,
      cmd heading: 292.800456 deg,
      new cmd heading: 292.800456 deg.

2020-12-13T21:23:20.078Z,1607894600.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:20.852Z,1607894600.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:21.245Z,1607894601.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:22.113Z,1607894602.113 [Micromodem](INFO): Nmea in: $SNTTA,0.236040,,,,212322.04*45

2020-12-13T21:23:22.536Z,1607894602.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.359985 m, bearing: 323.842163 deg, deltaT: 4.749563 s, approachRate: -0.252651 m/s, LOS rate: -0.232277 deg/s, posRepo size: 4
2020-12-13T21:23:22.538Z,1607894602.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.359985 m,
      bearing: 323.842163 deg,
      approachRate: -0.252651 m/s,
      LOS rate: -0.232277 deg/s,
      cmd update: -0.696830 deg/s,
      cmd heading: 320.872379 deg,
      new cmd heading: 323.268646 deg.

2020-12-13T21:23:24.731Z,1607894604.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:25.519Z,1607894605.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:25.937Z,1607894605.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:26.757Z,1607894606.757 [Micromodem](INFO): Nmea in: $SNTTA,0.234575,,,,212326.70*43

2020-12-13T21:23:27.174Z,1607894607.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.660004 m, bearing: 325.971980 deg, deltaT: 4.706114 s, approachRate: -0.573718 m/s, LOS rate: 0.452564 deg/s, posRepo size: 4
2020-12-13T21:23:27.176Z,1607894607.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.660004 m,
      bearing: 325.971980 deg,
      approachRate: -0.573718 m/s,
      LOS rate: 0.452564 deg/s,
      cmd update: 1.357691 deg/s,
      cmd heading: 317.595828 deg,
      new cmd heading: 317.357872 deg.

2020-12-13T21:23:29.649Z,1607894609.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:30.363Z,1607894610.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:30.794Z,1607894610.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:31.625Z,1607894611.625 [Micromodem](INFO): Nmea in: $SNTTA,0.232922,,,,212331.55*4A

2020-12-13T21:23:32.018Z,1607894612.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.139984 m, bearing: 323.982319 deg, deltaT: 4.837489 s, approachRate: -0.520935 m/s, LOS rate: -0.411300 deg/s, posRepo size: 4
2020-12-13T21:23:32.020Z,1607894612.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.139984 m,
      bearing: 323.982319 deg,
      approachRate: -0.520935 m/s,
      LOS rate: -0.411300 deg/s,
      cmd update: -1.233901 deg/s,
      cmd heading: 324.141506 deg,
      new cmd heading: 324.635345 deg.

2020-12-13T21:23:34.583Z,1607894614.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:35.220Z,1607894615.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:35.653Z,1607894615.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:36.470Z,1607894616.470 [Micromodem](INFO): Nmea in: $SNTTA,0.230995,,,,212336.41*46

2020-12-13T21:23:37.272Z,1607894617.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:38.874Z,1607894618.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:23:40.112Z,1607894620.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:40.891Z,1607894620.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:41.325Z,1607894621.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:42.139Z,1607894622.139 [Micromodem](INFO): Nmea in: $SNTTA,0.228705,,,,212342.08*46

2020-12-13T21:23:42.622Z,1607894622.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 342.899994 m, bearing: 323.790145 deg, deltaT: 10.534593 s, approachRate: -0.592333 m/s, LOS rate: -0.018242 deg/s, posRepo size: 4
2020-12-13T21:23:42.630Z,1607894622.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.899994 m,
      bearing: 323.790145 deg,
      approachRate: -0.592333 m/s,
      LOS rate: -0.018242 deg/s,
      cmd update: -0.054727 deg/s,
      cmd heading: 311.117819 deg,
      new cmd heading: 310.623852 deg.

2020-12-13T21:23:45.020Z,1607894625.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:45.769Z,1607894625.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:46.169Z,1607894626.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:47.399Z,1607894627.399 [Micromodem](INFO): Nmea in: $SNTTA,0.226587,,,,212347.03*4E

2020-12-13T21:23:47.564Z,1607894627.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.720001 m, bearing: 324.206677 deg, deltaT: 4.856718 s, approachRate: -0.654762 m/s, LOS rate: 0.085764 deg/s, posRepo size: 4
2020-12-13T21:23:47.571Z,1607894627.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.720001 m,
      bearing: 324.206677 deg,
      approachRate: -0.654762 m/s,
      LOS rate: 0.085764 deg/s,
      cmd update: 0.257292 deg/s,
      cmd heading: 310.852356 deg,
      new cmd heading: 310.824783 deg.

2020-12-13T21:23:49.581Z,1607894629.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:50.203Z,1607894630.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:50.638Z,1607894630.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:51.458Z,1607894631.458 [Micromodem](INFO): Nmea in: $SNTTA,0.224818,,,,212351.39*49

2020-12-13T21:23:51.888Z,1607894631.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.080017 m, bearing: 324.444449 deg, deltaT: 4.406747 s, approachRate: -0.599078 m/s, LOS rate: 0.053956 deg/s, posRepo size: 4
2020-12-13T21:23:51.890Z,1607894631.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.080017 m,
      bearing: 324.444449 deg,
      approachRate: -0.599078 m/s,
      LOS rate: 0.053956 deg/s,
      cmd update: 0.161869 deg/s,
      cmd heading: 311.987731 deg,
      new cmd heading: 312.094803 deg.

2020-12-13T21:23:54.039Z,1607894634.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:54.679Z,1607894634.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:55.057Z,1607894635.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:23:55.887Z,1607894635.887 [Micromodem](INFO): Nmea in: $SNTTA,0.223005,,,,212355.86*4A

2020-12-13T21:23:56.292Z,1607894636.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.319977 m, bearing: 324.488736 deg, deltaT: 4.595108 s, approachRate: -0.600648 m/s, LOS rate: 0.009638 deg/s, posRepo size: 4
2020-12-13T21:23:56.316Z,1607894636.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.319977 m,
      bearing: 324.488736 deg,
      approachRate: -0.600648 m/s,
      LOS rate: 0.009638 deg/s,
      cmd update: 0.028914 deg/s,
      cmd heading: 312.731526 deg,
      new cmd heading: 312.767944 deg.

2020-12-13T21:23:58.727Z,1607894638.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:23:59.503Z,1607894639.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:23:59.905Z,1607894639.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:00.748Z,1607894640.748 [Micromodem](INFO): Nmea in: $SNTTA,0.221064,,,,212400.69*49

2020-12-13T21:24:01.162Z,1607894641.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.439972 m, bearing: 323.850168 deg, deltaT: 4.761346 s, approachRate: -0.604872 m/s, LOS rate: -0.134115 deg/s, posRepo size: 4
2020-12-13T21:24:01.164Z,1607894641.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.439972 m,
      bearing: 323.850168 deg,
      approachRate: -0.604872 m/s,
      LOS rate: -0.134115 deg/s,
      cmd update: -0.402345 deg/s,
      cmd heading: 312.869080 deg,
      new cmd heading: 312.878825 deg.

2020-12-13T21:24:03.632Z,1607894643.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:04.355Z,1607894644.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:04.778Z,1607894644.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:05.615Z,1607894645.615 [Micromodem](INFO): Nmea in: $SNTTA,0.219030,,,,212405.54*48

2020-12-13T21:24:06.011Z,1607894646.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.379974 m, bearing: 323.716078 deg, deltaT: 4.850336 s, approachRate: -0.630884 m/s, LOS rate: -0.027646 deg/s, posRepo size: 4
2020-12-13T21:24:06.013Z,1607894646.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.379974 m,
      bearing: 323.716078 deg,
      approachRate: -0.630884 m/s,
      LOS rate: -0.027646 deg/s,
      cmd update: -0.082937 deg/s,
      cmd heading: 310.917669 deg,
      new cmd heading: 310.782249 deg.

2020-12-13T21:24:08.005Z,1607894648.005 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:24:08.558Z,1607894648.558 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:24:08.559Z,1607894648.559 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:24:08.559Z,1607894648.559 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:24:08.647Z,1607894648.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:08.877Z,1607894648.877 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:24:09.239Z,1607894649.239 [Micromodem](INFO): Nmea in: $CADRQ,212409,1,9,0,64,1*42

2020-12-13T21:24:09.240Z,1607894649.240 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:24:09.670Z,1607894649.670 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:24:09.670Z,1607894649.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:10.039Z,1607894650.039 [Micromodem](INFO): Nmea in: $CADRQ,212410,1,9,0,64,2*49

2020-12-13T21:24:10.039Z,1607894650.039 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,212410,1,9,0,64,2*49

2020-12-13T21:24:10.462Z,1607894650.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:10.874Z,1607894650.874 [Micromodem](INFO): Nmea in: $SNTTA,0.216783,,,,212410.85*40

2020-12-13T21:24:11.291Z,1607894651.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.079987 m, bearing: 323.136550 deg, deltaT: 5.244486 s, approachRate: -0.629230 m/s, LOS rate: -0.110502 deg/s, posRepo size: 4
2020-12-13T21:24:11.293Z,1607894651.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.079987 m,
      bearing: 323.136550 deg,
      approachRate: -0.629230 m/s,
      LOS rate: -0.110502 deg/s,
      cmd update: -0.331507 deg/s,
      cmd heading: 310.482356 deg,
      new cmd heading: 310.451845 deg.

2020-12-13T21:24:13.450Z,1607894653.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:14.079Z,1607894654.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:14.481Z,1607894654.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:15.316Z,1607894655.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212415.26*5B

2020-12-13T21:24:15.748Z,1607894655.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.440002 m, bearing: 323.726870 deg, deltaT: 4.569445 s, approachRate: -0.577747 m/s, LOS rate: 0.129188 deg/s, posRepo size: 4
2020-12-13T21:24:15.759Z,1607894655.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.440002 m,
      bearing: 323.726870 deg,
      approachRate: -0.577747 m/s,
      LOS rate: 0.129188 deg/s,
      cmd update: 0.387565 deg/s,
      cmd heading: 308.967762 deg,
      new cmd heading: 308.883248 deg.

2020-12-13T21:24:18.155Z,1607894658.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:18.933Z,1607894658.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:19.325Z,1607894659.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:20.181Z,1607894660.181 [Micromodem](INFO): Nmea in: $SNTTA,0.213091,,,,212420.12*4C

2020-12-13T21:24:20.634Z,1607894660.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.439972 m, bearing: 323.703975 deg, deltaT: 4.702306 s, approachRate: -0.637991 m/s, LOS rate: -0.004869 deg/s, posRepo size: 4
2020-12-13T21:24:20.636Z,1607894660.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.439972 m,
      bearing: 323.703975 deg,
      approachRate: -0.637991 m/s,
      LOS rate: -0.004869 deg/s,
      cmd update: -0.014607 deg/s,
      cmd heading: 310.790465 deg,
      new cmd heading: 310.958912 deg.

2020-12-13T21:24:23.058Z,1607894663.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:23.801Z,1607894663.801 [CTD_Seabird](ERROR): Failed to parse device response: 5009.78
2020-12-13T21:24:23.805Z,1607894663.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:24.201Z,1607894664.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:25.017Z,1607894665.017 [Micromodem](INFO): Nmea in: $SNTTA,0.211208,,,,212424.99*4B

2020-12-13T21:24:25.440Z,1607894665.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.619995 m, bearing: 324.131927 deg, deltaT: 4.867758 s, approachRate: -0.579317 m/s, LOS rate: 0.087916 deg/s, posRepo size: 4
2020-12-13T21:24:25.442Z,1607894665.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.619995 m,
      bearing: 324.131927 deg,
      approachRate: -0.579317 m/s,
      LOS rate: 0.087916 deg/s,
      cmd update: 0.263747 deg/s,
      cmd heading: 310.719364 deg,
      new cmd heading: 310.713861 deg.

2020-12-13T21:24:25.891Z,1607894665.891 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:24:27.906Z,1607894667.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:28.671Z,1607894668.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:29.053Z,1607894669.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:29.870Z,1607894669.870 [Micromodem](INFO): Nmea in: $SNTTA,0.209180,,,,212429.85*41

2020-12-13T21:24:30.280Z,1607894670.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.559998 m, bearing: 323.978931 deg, deltaT: 4.875720 s, approachRate: -0.627599 m/s, LOS rate: -0.031379 deg/s, posRepo size: 4
2020-12-13T21:24:30.282Z,1607894670.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.559998 m,
      bearing: 323.978931 deg,
      approachRate: -0.627599 m/s,
      LOS rate: -0.031379 deg/s,
      cmd update: -0.094138 deg/s,
      cmd heading: 312.005331 deg,
      new cmd heading: 312.095394 deg.

2020-12-13T21:24:33.260Z,1607894673.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:33.867Z,1607894673.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:34.246Z,1607894674.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:35.059Z,1607894675.059 [Micromodem](INFO): Nmea in: $SNTTA,0.207080,,,,212435.05*4B

2020-12-13T21:24:35.774Z,1607894675.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.499969 m, bearing: 323.300584 deg, deltaT: 5.537498 s, approachRate: -0.552601 m/s, LOS rate: -0.122501 deg/s, posRepo size: 4
2020-12-13T21:24:35.781Z,1607894675.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.499969 m,
      bearing: 323.300584 deg,
      approachRate: -0.552601 m/s,
      LOS rate: -0.122501 deg/s,
      cmd update: -0.367502 deg/s,
      cmd heading: 311.484045 deg,
      new cmd heading: 311.456445 deg.

2020-12-13T21:24:38.187Z,1607894678.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:38.952Z,1607894678.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:39.379Z,1607894679.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:41.052Z,1607894681.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:41.378Z,1607894681.378 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:24:41.790Z,1607894681.790 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212440.466637,3,0,200,4000,14500,1,1,9,1,2,1,3,64*7C

2020-12-13T21:24:42.191Z,1607894682.191 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212440.14*5A

2020-12-13T21:24:42.620Z,1607894682.620 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:24:43.863Z,1607894683.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:44.639Z,1607894684.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:45.014Z,1607894685.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:45.865Z,1607894685.865 [Micromodem](INFO): Nmea in: $SNTTA,0.202686,,,,212445.82*46

2020-12-13T21:24:46.269Z,1607894686.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.839996 m, bearing: 322.814384 deg, deltaT: 10.581346 s, approachRate: -0.629407 m/s, LOS rate: -0.045949 deg/s, posRepo size: 4
2020-12-13T21:24:46.271Z,1607894686.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.839996 m,
      bearing: 322.814384 deg,
      approachRate: -0.629407 m/s,
      LOS rate: -0.045949 deg/s,
      cmd update: -0.137846 deg/s,
      cmd heading: 307.595388 deg,
      new cmd heading: 307.517873 deg.

2020-12-13T21:24:48.814Z,1607894688.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:49.527Z,1607894689.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:49.957Z,1607894689.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:50.780Z,1607894690.780 [Micromodem](INFO): Nmea in: $SNTTA,0.200712,,,,212450.71*40

2020-12-13T21:24:51.184Z,1607894691.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.899994 m, bearing: 322.815886 deg, deltaT: 4.914909 s, approachRate: -0.598180 m/s, LOS rate: 0.000306 deg/s, posRepo size: 4
2020-12-13T21:24:51.186Z,1607894691.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.899994 m,
      bearing: 322.815886 deg,
      approachRate: -0.598180 m/s,
      LOS rate: 0.000306 deg/s,
      cmd update: 0.000917 deg/s,
      cmd heading: 306.917914 deg,
      new cmd heading: 306.888696 deg.

2020-12-13T21:24:53.642Z,1607894693.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:54.379Z,1607894694.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:54.807Z,1607894694.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:24:55.632Z,1607894695.632 [Micromodem](INFO): Nmea in: $SNTTA,0.198807,,,,212455.56*49

2020-12-13T21:24:56.050Z,1607894696.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.079987 m, bearing: 323.740612 deg, deltaT: 4.683740 s, approachRate: -0.602085 m/s, LOS rate: 0.197433 deg/s, posRepo size: 4
2020-12-13T21:24:56.051Z,1607894696.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.079987 m,
      bearing: 323.740612 deg,
      approachRate: -0.602085 m/s,
      LOS rate: 0.197433 deg/s,
      cmd update: 0.592299 deg/s,
      cmd heading: 306.922210 deg,
      new cmd heading: 306.922556 deg.

2020-12-13T21:24:58.642Z,1607894698.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:24:59.227Z,1607894699.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:24:59.661Z,1607894699.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:00.465Z,1607894700.465 [Micromodem](INFO): Nmea in: $SNTTA,0.196904,,,,212500.41*42

2020-12-13T21:25:00.898Z,1607894700.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.199982 m, bearing: 323.737252 deg, deltaT: 5.018741 s, approachRate: -0.573850 m/s, LOS rate: -0.000670 deg/s, posRepo size: 4
2020-12-13T21:25:00.900Z,1607894700.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.199982 m,
      bearing: 323.737252 deg,
      approachRate: -0.573850 m/s,
      LOS rate: -0.000670 deg/s,
      cmd update: -0.002009 deg/s,
      cmd heading: 309.894924 deg,
      new cmd heading: 310.027164 deg.

2020-12-13T21:25:03.286Z,1607894703.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:04.075Z,1607894704.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:04.481Z,1607894704.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:05.309Z,1607894705.309 [Micromodem](INFO): Nmea in: $SNTTA,0.194922,,,,212505.26*40

2020-12-13T21:25:05.737Z,1607894705.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.199982 m, bearing: 323.184443 deg, deltaT: 4.648244 s, approachRate: -0.645405 m/s, LOS rate: -0.118928 deg/s, posRepo size: 4
2020-12-13T21:25:05.739Z,1607894705.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.199982 m,
      bearing: 323.184443 deg,
      approachRate: -0.645405 m/s,
      LOS rate: -0.118928 deg/s,
      cmd update: -0.356785 deg/s,
      cmd heading: 309.885587 deg,
      new cmd heading: 309.884756 deg.

2020-12-13T21:25:08.174Z,1607894708.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:08.935Z,1607894708.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:09.019Z,1607894709.019 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:25:09.373Z,1607894709.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:10.181Z,1607894710.181 [Micromodem](INFO): Nmea in: $SNTTA,0.192951,,,,212510.12*41

2020-12-13T21:25:10.633Z,1607894710.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.259979 m, bearing: 323.242145 deg, deltaT: 4.893052 s, approachRate: -0.600852 m/s, LOS rate: 0.011793 deg/s, posRepo size: 4
2020-12-13T21:25:10.635Z,1607894710.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.259979 m,
      bearing: 323.242145 deg,
      approachRate: -0.600852 m/s,
      LOS rate: 0.011793 deg/s,
      cmd update: 0.035378 deg/s,
      cmd heading: 308.139821 deg,
      new cmd heading: 307.991318 deg.

2020-12-13T21:25:13.048Z,1607894713.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:13.835Z,1607894713.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:14.230Z,1607894714.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:14.245Z,1607894714.245 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:25:14.762Z,1607894714.762 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:25:14.763Z,1607894714.763 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:25:14.765Z,1607894714.765 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:25:15.044Z,1607894715.044 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:25:15.438Z,1607894715.438 [Micromodem](INFO): Nmea in: $CADRQ,212515,1,9,0,64,1*4E

2020-12-13T21:25:15.438Z,1607894715.438 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:25:15.528Z,1607894715.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.320007 m, bearing: 323.149746 deg, deltaT: 4.857825 s, approachRate: -0.605203 m/s, LOS rate: -0.019021 deg/s, posRepo size: 4
2020-12-13T21:25:15.544Z,1607894715.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.320007 m,
      bearing: 323.149746 deg,
      approachRate: -0.605203 m/s,
      LOS rate: -0.019021 deg/s,
      cmd update: -0.057062 deg/s,
      cmd heading: 308.311281 deg,
      new cmd heading: 308.327509 deg.

2020-12-13T21:25:15.866Z,1607894715.866 [Micromodem](INFO): Nmea in: $SNTTA,0.190995,,,,212515.02*4F

2020-12-13T21:25:15.866Z,1607894715.866 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.190995,,,,212515.02*4F

2020-12-13T21:25:17.069Z,1607894717.069 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:25:17.470Z,1607894717.470 [Micromodem](INFO): Nmea in: $CADRQ,212516,1,9,0,64,2*4E

2020-12-13T21:25:17.470Z,1607894717.470 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:25:17.863Z,1607894717.863 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:25:18.048Z,1607894718.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:18.262Z,1607894718.262 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:25:18.679Z,1607894718.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:20.695Z,1607894720.695 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:25:20.695Z,1607894720.695 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:25:20.720Z,1607894720.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:21.095Z,1607894721.095 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212518.625878,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T21:25:21.095Z,1607894721.095 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212518.625878,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T21:25:23.523Z,1607894723.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:23.955Z,1607894723.955 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:25:26.498Z,1607894726.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:29.208Z,1607894729.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:29.978Z,1607894729.978 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:30.381Z,1607894730.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:31.209Z,1607894731.209 [Micromodem](INFO): Nmea in: $SNTTA,0.184531,,,,212531.16*4B

2020-12-13T21:25:31.654Z,1607894731.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.599976 m, bearing: 322.017820 deg, deltaT: 16.181911 s, approachRate: -0.600673 m/s, LOS rate: -0.069950 deg/s, posRepo size: 4
2020-12-13T21:25:31.656Z,1607894731.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.599976 m,
      bearing: 322.017820 deg,
      approachRate: -0.600673 m/s,
      LOS rate: -0.069950 deg/s,
      cmd update: -0.209850 deg/s,
      cmd heading: 307.387499 deg,
      new cmd heading: 307.364584 deg.

2020-12-13T21:25:34.074Z,1607894734.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:34.851Z,1607894734.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:35.233Z,1607894735.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:36.059Z,1607894736.059 [Micromodem](INFO): Nmea in: $SNTTA,0.182552,,,,212536.03*4B

2020-12-13T21:25:36.490Z,1607894736.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.660004 m, bearing: 322.318895 deg, deltaT: 4.851958 s, approachRate: -0.605935 m/s, LOS rate: 0.062052 deg/s, posRepo size: 4
2020-12-13T21:25:36.492Z,1607894736.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.660004 m,
      bearing: 322.318895 deg,
      approachRate: -0.605935 m/s,
      LOS rate: 0.062052 deg/s,
      cmd update: 0.186157 deg/s,
      cmd heading: 306.369350 deg,
      new cmd heading: 306.288372 deg.

2020-12-13T21:25:38.067Z,1607894738.067 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:25:38.896Z,1607894738.896 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:25:38.935Z,1607894738.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:39.679Z,1607894739.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:40.081Z,1607894740.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:40.913Z,1607894740.913 [Micromodem](INFO): Nmea in: $SNTTA,0.180619,,,,212540.86*49

2020-12-13T21:25:41.324Z,1607894741.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.719971 m, bearing: 321.973915 deg, deltaT: 4.870764 s, approachRate: -0.603608 m/s, LOS rate: -0.070827 deg/s, posRepo size: 4
2020-12-13T21:25:41.326Z,1607894741.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.719971 m,
      bearing: 321.973915 deg,
      approachRate: -0.603608 m/s,
      LOS rate: -0.070827 deg/s,
      cmd update: -0.212480 deg/s,
      cmd heading: 307.276111 deg,
      new cmd heading: 307.341202 deg.

2020-12-13T21:25:43.950Z,1607894743.950 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:25:43.965Z,1607894743.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:44.543Z,1607894744.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:44.967Z,1607894744.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:45.806Z,1607894745.806 [Micromodem](INFO): Nmea in: $SNTTA,0.178703,,,,212545.73*4B

2020-12-13T21:25:46.248Z,1607894746.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.839996 m, bearing: 321.512249 deg, deltaT: 5.051175 s, approachRate: -0.570159 m/s, LOS rate: -0.091398 deg/s, posRepo size: 4
2020-12-13T21:25:46.250Z,1607894746.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.839996 m,
      bearing: 321.512249 deg,
      approachRate: -0.570159 m/s,
      LOS rate: -0.091398 deg/s,
      cmd update: -0.274193 deg/s,
      cmd heading: 306.208080 deg,
      new cmd heading: 306.155590 deg.

2020-12-13T21:25:48.733Z,1607894748.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:49.439Z,1607894749.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:49.865Z,1607894749.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:50.689Z,1607894750.689 [Micromodem](INFO): Nmea in: $SNTTA,0.176743,,,,212550.62*45

2020-12-13T21:25:51.106Z,1607894751.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.959991 m, bearing: 321.735269 deg, deltaT: 4.682349 s, approachRate: -0.615077 m/s, LOS rate: 0.047630 deg/s, posRepo size: 4
2020-12-13T21:25:51.108Z,1607894751.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.959991 m,
      bearing: 321.735269 deg,
      approachRate: -0.615077 m/s,
      LOS rate: 0.047630 deg/s,
      cmd update: 0.142889 deg/s,
      cmd heading: 304.916354 deg,
      new cmd heading: 304.812870 deg.

2020-12-13T21:25:53.534Z,1607894753.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:54.283Z,1607894754.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:54.689Z,1607894754.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:25:55.513Z,1607894755.513 [Micromodem](INFO): Nmea in: $SNTTA,0.174828,,,,212555.47*47

2020-12-13T21:25:55.946Z,1607894755.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.079987 m, bearing: 321.746907 deg, deltaT: 4.844447 s, approachRate: -0.594496 m/s, LOS rate: 0.002402 deg/s, posRepo size: 4
2020-12-13T21:25:55.948Z,1607894755.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.079987 m,
      bearing: 321.746907 deg,
      approachRate: -0.594496 m/s,
      LOS rate: 0.002402 deg/s,
      cmd update: 0.007207 deg/s,
      cmd heading: 305.604970 deg,
      new cmd heading: 305.664174 deg.

2020-12-13T21:25:58.365Z,1607894758.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:25:59.127Z,1607894759.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:25:59.537Z,1607894759.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:00.365Z,1607894760.365 [Micromodem](INFO): Nmea in: $SNTTA,0.172903,,,,212600.31*4B

2020-12-13T21:26:00.818Z,1607894760.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.139984 m, bearing: 321.523505 deg, deltaT: 4.869984 s, approachRate: -0.603699 m/s, LOS rate: -0.045873 deg/s, posRepo size: 4
2020-12-13T21:26:00.820Z,1607894760.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.139984 m,
      bearing: 321.523505 deg,
      approachRate: -0.603699 m/s,
      LOS rate: -0.045873 deg/s,
      cmd update: -0.137620 deg/s,
      cmd heading: 305.640178 deg,
      new cmd heading: 305.643074 deg.

2020-12-13T21:26:03.336Z,1607894763.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:03.987Z,1607894763.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:04.165Z,1607894764.165 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-13T21:26:04.165Z,1607894764.165 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-13T21:26:04.165Z,1607894764.165 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-13T21:26:04.320Z,1607894764.320 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-13T21:26:04.395Z,1607894764.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:04.517Z,1607894764.517 [RDI_PathfinderUp](INFO): Powering down
2020-12-13T21:26:05.221Z,1607894765.221 [Micromodem](INFO): Nmea in: $SNTTA,0.171029,,,,212605.17*48

2020-12-13T21:26:05.532Z,1607894765.532 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-13T21:26:05.532Z,1607894765.532 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-13T21:26:05.633Z,1607894765.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.319977 m, bearing: 321.838814 deg, deltaT: 4.990569 s, approachRate: -0.565067 m/s, LOS rate: 0.063181 deg/s, posRepo size: 4
2020-12-13T21:26:05.635Z,1607894765.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.319977 m,
      bearing: 321.838814 deg,
      approachRate: -0.565067 m/s,
      LOS rate: 0.063181 deg/s,
      cmd update: 0.189543 deg/s,
      cmd heading: 304.953010 deg,
      new cmd heading: 304.922275 deg.

2020-12-13T21:26:06.030Z,1607894766.030 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-13T21:26:08.080Z,1607894768.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:08.851Z,1607894768.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:09.241Z,1607894769.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:10.069Z,1607894770.069 [Micromodem](INFO): Nmea in: $SNTTA,0.169112,,,,212610.03*49

2020-12-13T21:26:10.500Z,1607894770.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.320007 m, bearing: 320.422561 deg, deltaT: 4.699846 s, approachRate: -0.638312 m/s, LOS rate: -0.301340 deg/s, posRepo size: 4
2020-12-13T21:26:10.502Z,1607894770.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.320007 m,
      bearing: 320.422561 deg,
      approachRate: -0.638312 m/s,
      LOS rate: -0.301340 deg/s,
      cmd update: -0.904021 deg/s,
      cmd heading: 305.840710 deg,
      new cmd heading: 305.917887 deg.

2020-12-13T21:26:12.931Z,1607894772.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:13.691Z,1607894773.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:14.097Z,1607894774.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:14.919Z,1607894774.919 [Micromodem](INFO): Nmea in: $SNTTA,0.167325,,,,212614.88*46

2020-12-13T21:26:15.803Z,1607894775.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:16.258Z,1607894776.258 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:26:17.322Z,1607894777.322 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:26:18.319Z,1607894778.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:18.948Z,1607894778.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:19.345Z,1607894779.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:20.170Z,1607894780.170 [Micromodem](INFO): Nmea in: $SNTTA,0.165175,,,,212620.14*41

2020-12-13T21:26:20.170Z,1607894780.170 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:26:20.693Z,1607894780.693 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:26:20.694Z,1607894780.694 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:26:20.694Z,1607894780.694 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:26:20.815Z,1607894780.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.559998 m, bearing: 321.134950 deg, deltaT: 10.105370 s, approachRate: -0.569995 m/s, LOS rate: 0.070496 deg/s, posRepo size: 4
2020-12-13T21:26:20.821Z,1607894780.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.559998 m,
      bearing: 321.134950 deg,
      approachRate: -0.569995 m/s,
      LOS rate: 0.070496 deg/s,
      cmd update: 0.211488 deg/s,
      cmd heading: 296.687106 deg,
      new cmd heading: 296.147776 deg.

2020-12-13T21:26:21.505Z,1607894781.505 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:26:21.894Z,1607894781.894 [Micromodem](INFO): Nmea in: $CADRQ,212621,1,9,0,64,1*4A

2020-12-13T21:26:21.894Z,1607894781.894 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:26:22.313Z,1607894782.313 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:26:22.695Z,1607894782.695 [Micromodem](INFO): Nmea in: $CADRQ,212623,1,9,0,64,2*4B

2020-12-13T21:26:22.695Z,1607894782.695 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:26:22.819Z,1607894782.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:23.099Z,1607894783.099 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:26:23.514Z,1607894783.514 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:26:23.514Z,1607894783.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:25.608Z,1607894785.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:25.926Z,1607894785.926 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:26:25.927Z,1607894785.927 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:26:26.341Z,1607894786.341 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212623.851081,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T21:26:26.342Z,1607894786.342 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212623.851081,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T21:26:28.414Z,1607894788.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:31.034Z,1607894791.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:33.694Z,1607894793.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:34.872Z,1607894794.872 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:35.269Z,1607894795.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:36.089Z,1607894796.089 [Micromodem](INFO): Nmea in: $SNTTA,0.159497,,,,212636.06*43

2020-12-13T21:26:36.562Z,1607894796.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.039993 m, bearing: 320.624762 deg, deltaT: 15.927455 s, approachRate: -0.534926 m/s, LOS rate: -0.032032 deg/s, posRepo size: 4
2020-12-13T21:26:36.564Z,1607894796.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.039993 m,
      bearing: 320.624762 deg,
      approachRate: -0.534926 m/s,
      LOS rate: -0.032032 deg/s,
      cmd update: -0.096096 deg/s,
      cmd heading: 300.053001 deg,
      new cmd heading: 300.143651 deg.

2020-12-13T21:26:38.925Z,1607894798.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:39.707Z,1607894799.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:40.109Z,1607894800.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:40.944Z,1607894800.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212640.89*5C

2020-12-13T21:26:41.378Z,1607894801.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.220001 m, bearing: 321.260079 deg, deltaT: 4.851456 s, approachRate: -0.581267 m/s, LOS rate: 0.130954 deg/s, posRepo size: 4
2020-12-13T21:26:41.380Z,1607894801.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.220001 m,
      bearing: 321.260079 deg,
      approachRate: -0.581267 m/s,
      LOS rate: 0.130954 deg/s,
      cmd update: 0.392862 deg/s,
      cmd heading: 299.586007 deg,
      new cmd heading: 299.549024 deg.

2020-12-13T21:26:43.964Z,1607894803.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:44.571Z,1607894804.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:44.985Z,1607894804.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:45.809Z,1607894805.809 [Micromodem](INFO): Nmea in: $SNTTA,0.155664,,,,212645.75*41

2020-12-13T21:26:46.216Z,1607894806.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.339981 m, bearing: 321.693577 deg, deltaT: 4.877645 s, approachRate: -0.590453 m/s, LOS rate: 0.088875 deg/s, posRepo size: 4
2020-12-13T21:26:46.218Z,1607894806.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.339981 m,
      bearing: 321.693577 deg,
      approachRate: -0.590453 m/s,
      LOS rate: 0.088875 deg/s,
      cmd update: 0.266624 deg/s,
      cmd heading: 301.499063 deg,
      new cmd heading: 301.637911 deg.

2020-12-13T21:26:48.395Z,1607894808.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:49.011Z,1607894809.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:49.434Z,1607894809.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:50.245Z,1607894810.245 [Micromodem](INFO): Nmea in: $SNTTA,0.154053,,,,212650.19*4C

2020-12-13T21:26:50.689Z,1607894810.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.879990 m, bearing: 322.228162 deg, deltaT: 4.552592 s, approachRate: -0.540350 m/s, LOS rate: 0.117424 deg/s, posRepo size: 4
2020-12-13T21:26:50.691Z,1607894810.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.879990 m,
      bearing: 322.228162 deg,
      approachRate: -0.540350 m/s,
      LOS rate: 0.117424 deg/s,
      cmd update: 0.352273 deg/s,
      cmd heading: 302.716393 deg,
      new cmd heading: 302.785872 deg.

2020-12-13T21:26:53.081Z,1607894813.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:53.867Z,1607894813.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:54.265Z,1607894814.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:55.093Z,1607894815.093 [Micromodem](INFO): Nmea in: $SNTTA,0.152138,,,,212655.05*4E

2020-12-13T21:26:55.543Z,1607894815.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.000000 m, bearing: 321.408075 deg, deltaT: 4.702877 s, approachRate: -0.612389 m/s, LOS rate: -0.174380 deg/s, posRepo size: 4
2020-12-13T21:26:55.547Z,1607894815.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.000000 m,
      bearing: 321.408075 deg,
      approachRate: -0.612389 m/s,
      LOS rate: -0.174380 deg/s,
      cmd update: -0.523140 deg/s,
      cmd heading: 304.364448 deg,
      new cmd heading: 304.518077 deg.

2020-12-13T21:26:57.954Z,1607894817.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:26:58.715Z,1607894818.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:26:59.117Z,1607894819.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:26:59.937Z,1607894819.937 [Micromodem](INFO): Nmea in: $SNTTA,0.150304,,,,212659.90*41

2020-12-13T21:27:00.375Z,1607894820.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.240005 m, bearing: 321.926022 deg, deltaT: 4.826968 s, approachRate: -0.571786 m/s, LOS rate: 0.107303 deg/s, posRepo size: 4
2020-12-13T21:27:00.377Z,1607894820.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.240005 m,
      bearing: 321.926022 deg,
      approachRate: -0.571786 m/s,
      LOS rate: 0.107303 deg/s,
      cmd update: 0.321908 deg/s,
      cmd heading: 301.824913 deg,
      new cmd heading: 301.608378 deg.

2020-12-13T21:27:03.005Z,1607894823.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:03.575Z,1607894823.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:03.973Z,1607894823.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:04.813Z,1607894824.813 [Micromodem](INFO): Nmea in: $SNTTA,0.148380,,,,212704.76*45

2020-12-13T21:27:05.204Z,1607894825.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.360001 m, bearing: 321.705161 deg, deltaT: 4.914269 s, approachRate: -0.586049 m/s, LOS rate: -0.044943 deg/s, posRepo size: 4
2020-12-13T21:27:05.206Z,1607894825.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.360001 m,
      bearing: 321.705161 deg,
      approachRate: -0.586049 m/s,
      LOS rate: -0.044943 deg/s,
      cmd update: -0.134828 deg/s,
      cmd heading: 303.406850 deg,
      new cmd heading: 303.512597 deg.

2020-12-13T21:27:07.889Z,1607894827.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:08.467Z,1607894828.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:08.873Z,1607894828.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:09.687Z,1607894829.687 [Micromodem](INFO): Nmea in: $SNTTA,0.146496,,,,212709.66*47

2020-12-13T21:27:10.156Z,1607894830.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 321.106755 deg, deltaT: 5.063851 s, approachRate: -0.545042 m/s, LOS rate: -0.118172 deg/s, posRepo size: 4
2020-12-13T21:27:10.158Z,1607894830.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.599991 m,
      bearing: 321.106755 deg,
      approachRate: -0.545042 m/s,
      LOS rate: -0.118172 deg/s,
      cmd update: -0.354517 deg/s,
      cmd heading: 302.726797 deg,
      new cmd heading: 302.694890 deg.

2020-12-13T21:27:12.596Z,1607894832.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:13.346Z,1607894833.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:13.752Z,1607894833.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:14.601Z,1607894834.601 [Micromodem](INFO): Nmea in: $SNTTA,0.144587,,,,212714.53*4E

2020-12-13T21:27:15.016Z,1607894835.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.719986 m, bearing: 321.796740 deg, deltaT: 4.713777 s, approachRate: -0.610976 m/s, LOS rate: 0.146376 deg/s, posRepo size: 4
2020-12-13T21:27:15.018Z,1607894835.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.719986 m,
      bearing: 321.796740 deg,
      approachRate: -0.610976 m/s,
      LOS rate: 0.146376 deg/s,
      cmd update: 0.439129 deg/s,
      cmd heading: 301.050021 deg,
      new cmd heading: 300.920061 deg.

2020-12-13T21:27:17.461Z,1607894837.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:17.849Z,1607894837.849 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T21:27:18.208Z,1607894838.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:18.613Z,1607894838.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:19.458Z,1607894839.458 [Micromodem](INFO): Nmea in: $SNTTA,0.142748,,,,212719.39*48

2020-12-13T21:27:19.908Z,1607894839.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.959991 m, bearing: 321.503397 deg, deltaT: 4.875681 s, approachRate: -0.566074 m/s, LOS rate: -0.060165 deg/s, posRepo size: 4
2020-12-13T21:27:19.914Z,1607894839.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.959991 m,
      bearing: 321.503397 deg,
      approachRate: -0.566074 m/s,
      LOS rate: -0.060165 deg/s,
      cmd update: -0.180494 deg/s,
      cmd heading: 303.190977 deg,
      new cmd heading: 303.359296 deg.

2020-12-13T21:27:22.289Z,1607894842.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:23.056Z,1607894843.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:23.469Z,1607894843.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:24.281Z,1607894844.281 [Micromodem](INFO): Nmea in: $SNTTA,0.140872,,,,212724.24*4E

2020-12-13T21:27:24.703Z,1607894844.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.139984 m, bearing: 321.896461 deg, deltaT: 4.800174 s, approachRate: -0.587480 m/s, LOS rate: 0.081885 deg/s, posRepo size: 4
2020-12-13T21:27:24.723Z,1607894844.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.139984 m,
      bearing: 321.896461 deg,
      approachRate: -0.587480 m/s,
      LOS rate: 0.081885 deg/s,
      cmd update: 0.245656 deg/s,
      cmd heading: 302.324577 deg,
      new cmd heading: 302.256640 deg.

2020-12-13T21:27:25.905Z,1607894845.905 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:27:26.431Z,1607894846.431 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:27:26.432Z,1607894846.432 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:27:26.432Z,1607894846.432 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:27:26.723Z,1607894846.723 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:27:26.958Z,1607894846.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:27.118Z,1607894847.118 [Micromodem](INFO): Nmea in: $CADRQ,212727,1,9,0,64,1*4D

2020-12-13T21:27:27.120Z,1607894847.120 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:27:27.551Z,1607894847.551 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:27:27.552Z,1607894847.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:27.938Z,1607894847.938 [Micromodem](INFO): Nmea in: $CADRQ,212728,1,9,0,64,2*41

2020-12-13T21:27:27.938Z,1607894847.938 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,212728,1,9,0,64,2*41

2020-12-13T21:27:28.333Z,1607894848.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:28.784Z,1607894848.784 [Micromodem](INFO): Nmea in: $SNTTA,0.139133,,,,212728.74*45

2020-12-13T21:27:29.228Z,1607894849.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.500000 m, bearing: 321.344472 deg, deltaT: 4.681238 s, approachRate: -0.563950 m/s, LOS rate: -0.117915 deg/s, posRepo size: 4
2020-12-13T21:27:29.230Z,1607894849.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.500000 m,
      bearing: 321.344472 deg,
      approachRate: -0.563950 m/s,
      LOS rate: -0.117915 deg/s,
      cmd update: -0.353745 deg/s,
      cmd heading: 303.474834 deg,
      new cmd heading: 303.529114 deg.

2020-12-13T21:27:31.657Z,1607894851.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:32.428Z,1607894852.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:32.849Z,1607894852.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:33.673Z,1607894853.673 [Micromodem](INFO): Nmea in: $SNTTA,0.137258,,,,212733.61*4B

2020-12-13T21:27:34.094Z,1607894854.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.739975 m, bearing: 321.113885 deg, deltaT: 4.722213 s, approachRate: -0.584477 m/s, LOS rate: -0.048830 deg/s, posRepo size: 4
2020-12-13T21:27:34.096Z,1607894854.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.739975 m,
      bearing: 321.113885 deg,
      approachRate: -0.584477 m/s,
      LOS rate: -0.048830 deg/s,
      cmd update: -0.146491 deg/s,
      cmd heading: 301.803347 deg,
      new cmd heading: 301.675383 deg.

2020-12-13T21:27:36.540Z,1607894856.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:37.267Z,1607894857.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:37.685Z,1607894857.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:38.531Z,1607894858.531 [Micromodem](INFO): Nmea in: $SNTTA,0.135426,,,,212738.45*4B

2020-12-13T21:27:38.932Z,1607894858.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.919998 m, bearing: 321.292672 deg, deltaT: 4.878548 s, approachRate: -0.578036 m/s, LOS rate: 0.036648 deg/s, posRepo size: 4
2020-12-13T21:27:38.934Z,1607894858.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.919998 m,
      bearing: 321.292672 deg,
      approachRate: -0.578036 m/s,
      LOS rate: 0.036648 deg/s,
      cmd update: 0.109943 deg/s,
      cmd heading: 301.089273 deg,
      new cmd heading: 301.041700 deg.

2020-12-13T21:27:41.388Z,1607894861.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:42.159Z,1607894862.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:42.579Z,1607894862.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:43.385Z,1607894863.385 [Micromodem](INFO): Nmea in: $SNTTA,0.133560,,,,212743.34*44

2020-12-13T21:27:43.857Z,1607894863.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.159988 m, bearing: 321.399387 deg, deltaT: 4.815644 s, approachRate: -0.573134 m/s, LOS rate: 0.022160 deg/s, posRepo size: 4
2020-12-13T21:27:43.859Z,1607894863.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.159988 m,
      bearing: 321.399387 deg,
      approachRate: -0.573134 m/s,
      LOS rate: 0.022160 deg/s,
      cmd update: 0.066480 deg/s,
      cmd heading: 301.618524 deg,
      new cmd heading: 301.666328 deg.

2020-12-13T21:27:46.363Z,1607894866.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:47.008Z,1607894867.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:47.411Z,1607894867.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:48.241Z,1607894868.241 [Micromodem](INFO): Nmea in: $SNTTA,0.131733,,,,212748.19*46

2020-12-13T21:27:48.666Z,1607894868.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.399994 m, bearing: 320.563509 deg, deltaT: 4.992577 s, approachRate: -0.552820 m/s, LOS rate: -0.167424 deg/s, posRepo size: 4
2020-12-13T21:27:48.668Z,1607894868.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 320.563509 deg,
      approachRate: -0.552820 m/s,
      LOS rate: -0.167424 deg/s,
      cmd update: -0.502273 deg/s,
      cmd heading: 301.950357 deg,
      new cmd heading: 301.967191 deg.

2020-12-13T21:27:51.075Z,1607894871.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:51.855Z,1607894871.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:52.259Z,1607894872.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:53.083Z,1607894873.083 [Micromodem](INFO): Nmea in: $SNTTA,0.129788,,,,212753.04*49

2020-12-13T21:27:53.536Z,1607894873.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.519989 m, bearing: 321.563476 deg, deltaT: 4.678611 s, approachRate: -0.615568 m/s, LOS rate: 0.213732 deg/s, posRepo size: 4
2020-12-13T21:27:53.538Z,1607894873.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.519989 m,
      bearing: 321.563476 deg,
      approachRate: -0.615568 m/s,
      LOS rate: 0.213732 deg/s,
      cmd update: 0.641195 deg/s,
      cmd heading: 299.596949 deg,
      new cmd heading: 299.376649 deg.

2020-12-13T21:27:55.947Z,1607894875.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:27:56.699Z,1607894876.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:27:57.109Z,1607894877.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:27:57.517Z,1607894877.517 [Micromodem](INFO): Nmea in: $CAERR,212758,DATA_TIMEOUT,2*46

2020-12-13T21:27:57.908Z,1607894877.908 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:27:58.351Z,1607894878.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.759995 m, bearing: 321.000149 deg, deltaT: 4.835210 s, approachRate: -0.570812 m/s, LOS rate: -0.116505 deg/s, posRepo size: 4
2020-12-13T21:27:58.353Z,1607894878.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.759995 m,
      bearing: 321.000149 deg,
      approachRate: -0.570812 m/s,
      LOS rate: -0.116505 deg/s,
      cmd update: -0.349515 deg/s,
      cmd heading: 302.697178 deg,
      new cmd heading: 302.965582 deg.

2020-12-13T21:27:59.139Z,1607894879.139 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:27:59.566Z,1607894879.566 [Micromodem](INFO): Nmea in: $SNTTA,0.127985,,,,212757.88*44

2020-12-13T21:27:59.951Z,1607894879.951 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212758.344149,3,0,200,4000,14500,1,1,9,1,2,1,3,64*7F

2020-12-13T21:28:00.830Z,1607894880.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:01.566Z,1607894881.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:01.969Z,1607894881.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:02.798Z,1607894882.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212802.75*57

2020-12-13T21:28:03.206Z,1607894883.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 321.355893 deg, deltaT: 4.933497 s, approachRate: -0.595930 m/s, LOS rate: 0.072108 deg/s, posRepo size: 4
2020-12-13T21:28:03.209Z,1607894883.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.819977 m,
      bearing: 321.355893 deg,
      approachRate: -0.595930 m/s,
      LOS rate: 0.072108 deg/s,
      cmd update: 0.216323 deg/s,
      cmd heading: 300.976916 deg,
      new cmd heading: 300.853948 deg.

2020-12-13T21:28:05.926Z,1607894885.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:06.455Z,1607894886.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:06.865Z,1607894886.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:07.685Z,1607894887.685 [Micromodem](INFO): Nmea in: $SNTTA,0.124230,,,,212807.64*4A

2020-12-13T21:28:08.220Z,1607894888.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 321.399660 deg, deltaT: 5.160848 s, approachRate: -0.523166 m/s, LOS rate: 0.008481 deg/s, posRepo size: 4
2020-12-13T21:28:08.226Z,1607894888.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.119995 m,
      bearing: 321.399660 deg,
      approachRate: -0.523166 m/s,
      LOS rate: 0.008481 deg/s,
      cmd update: 0.025442 deg/s,
      cmd heading: 302.095052 deg,
      new cmd heading: 302.137631 deg.

2020-12-13T21:28:10.660Z,1607894890.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:11.438Z,1607894891.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:11.853Z,1607894891.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:12.653Z,1607894892.653 [Micromodem](INFO): Nmea in: $SNTTA,0.122374,,,,212812.62*4F

2020-12-13T21:28:13.120Z,1607894893.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.300003 m, bearing: 320.205115 deg, deltaT: 4.673304 s, approachRate: -0.603426 m/s, LOS rate: -0.255610 deg/s, posRepo size: 4
2020-12-13T21:28:13.122Z,1607894893.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.300003 m,
      bearing: 320.205115 deg,
      approachRate: -0.603426 m/s,
      LOS rate: -0.255610 deg/s,
      cmd update: -0.766831 deg/s,
      cmd heading: 302.213946 deg,
      new cmd heading: 302.224722 deg.

2020-12-13T21:28:15.538Z,1607894895.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:16.275Z,1607894896.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:16.689Z,1607894896.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:17.534Z,1607894897.534 [Micromodem](INFO): Nmea in: $SNTTA,0.120427,,,,212817.46*4F

2020-12-13T21:28:17.558Z,1607894897.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.300003 m, bearing: 321.369608 deg, deltaT: 4.434159 s, approachRate: 0.000000 m/s, LOS rate: 0.262619 deg/s, posRepo size: 4
2020-12-13T21:28:17.560Z,1607894897.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.300003 m,
      bearing: 321.369608 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.262619 deg/s,
      cmd update: 0.787856 deg/s,
      cmd heading: 298.810602 deg,
      new cmd heading: 298.486400 deg.

2020-12-13T21:28:19.982Z,1607894899.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:20.719Z,1607894900.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:21.133Z,1607894901.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:21.958Z,1607894901.958 [Micromodem](INFO): Nmea in: $SNTTA,0.118814,,,,212821.91*47

2020-12-13T21:28:22.007Z,1607894902.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 319.767218 deg, deltaT: 4.468420 s, approachRate: -1.181625 m/s, LOS rate: -0.358603 deg/s, posRepo size: 4
2020-12-13T21:28:22.009Z,1607894902.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.020004 m,
      bearing: 319.767218 deg,
      approachRate: -1.181625 m/s,
      LOS rate: -0.358603 deg/s,
      cmd update: -1.075810 deg/s,
      cmd heading: 302.331229 deg,
      new cmd heading: 302.649296 deg.

2020-12-13T21:28:24.407Z,1607894904.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:25.355Z,1607894905.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:25.762Z,1607894905.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:26.606Z,1607894906.606 [Micromodem](INFO): Nmea in: $SNTTA,0.117067,,,,212826.54*4A

2020-12-13T21:28:26.663Z,1607894906.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 321.379416 deg, deltaT: 4.599291 s, approachRate: 0.000000 m/s, LOS rate: 0.350532 deg/s, posRepo size: 4
2020-12-13T21:28:26.666Z,1607894906.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.020004 m,
      bearing: 321.379416 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.350532 deg/s,
      cmd update: 1.051595 deg/s,
      cmd heading: 297.384750 deg,
      new cmd heading: 296.887459 deg.

2020-12-13T21:28:29.021Z,1607894909.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:29.808Z,1607894909.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:30.201Z,1607894910.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:31.026Z,1607894911.026 [Micromodem](INFO): Nmea in: $SNTTA,0.115370,,,,212830.99*4B

2020-12-13T21:28:31.068Z,1607894911.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 321.311906 deg, deltaT: 4.461890 s, approachRate: 0.000000 m/s, LOS rate: -0.015130 deg/s, posRepo size: 4
2020-12-13T21:28:31.070Z,1607894911.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.020004 m,
      bearing: 321.311906 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.015130 deg/s,
      cmd update: -0.045391 deg/s,
      cmd heading: 302.077885 deg,
      new cmd heading: 302.502578 deg.

2020-12-13T21:28:31.434Z,1607894911.434 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:28:31.999Z,1607894911.999 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:28:31.000Z,1607894912.000 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:28:32.000Z,1607894912.000 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:28:32.318Z,1607894912.318 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:28:32.734Z,1607894912.734 [Micromodem](INFO): Nmea in: $CADRQ,212833,1,9,0,64,1*47

2020-12-13T21:28:32.734Z,1607894912.734 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:28:33.127Z,1607894913.127 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:28:33.183Z,1607894913.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:33.540Z,1607894913.540 [Micromodem](INFO): Nmea in: $CADRQ,212833,1,9,0,64,2*44

2020-12-13T21:28:33.542Z,1607894913.542 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:28:33.999Z,1607894913.999 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:28:33.000Z,1607894914.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:34.392Z,1607894914.392 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:28:34.392Z,1607894914.392 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:28:36.042Z,1607894916.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:36.835Z,1607894916.835 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:28:36.835Z,1607894916.835 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:28:37.227Z,1607894917.227 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212834.704160,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T21:28:37.228Z,1607894917.228 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212834.704160,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T21:28:38.901Z,1607894918.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:39.678Z,1607894919.678 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:28:41.689Z,1607894921.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:44.674Z,1607894924.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:45.290Z,1607894925.290 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:45.713Z,1607894925.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:46.562Z,1607894926.562 [Micromodem](INFO): Nmea in: $SNTTA,0.109456,,,,212846.47*47

2020-12-13T21:28:46.727Z,1607894926.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.099991 m, bearing: 321.570661 deg, deltaT: 15.539094 s, approachRate: -0.895806 m/s, LOS rate: 0.016652 deg/s, posRepo size: 4
2020-12-13T21:28:46.731Z,1607894926.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.099991 m,
      bearing: 321.570661 deg,
      approachRate: -0.895806 m/s,
      LOS rate: 0.016652 deg/s,
      cmd update: 0.049956 deg/s,
      cmd heading: 301.372551 deg,
      new cmd heading: 301.348764 deg.

2020-12-13T21:28:48.972Z,1607894928.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:49.751Z,1607894929.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:50.145Z,1607894930.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:50.986Z,1607894930.986 [Micromodem](INFO): Nmea in: $SNTTA,0.107765,,,,212850.94*43

2020-12-13T21:28:51.176Z,1607894931.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 320.653066 deg, deltaT: 4.410132 s, approachRate: -0.598618 m/s, LOS rate: -0.208065 deg/s, posRepo size: 4
2020-12-13T21:28:51.180Z,1607894931.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.460007 m,
      bearing: 320.653066 deg,
      approachRate: -0.598618 m/s,
      LOS rate: -0.208065 deg/s,
      cmd update: -0.624196 deg/s,
      cmd heading: 301.592852 deg,
      new cmd heading: 301.620948 deg.

2020-12-13T21:28:53.210Z,1607894933.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:53.902Z,1607894933.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:54.293Z,1607894934.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:55.126Z,1607894935.126 [Micromodem](INFO): Nmea in: $SNTTA,0.106166,,,,212855.09*46

2020-12-13T21:28:55.169Z,1607894935.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 321.861081 deg, deltaT: 4.136980 s, approachRate: 0.000000 m/s, LOS rate: 0.292004 deg/s, posRepo size: 4
2020-12-13T21:28:55.170Z,1607894935.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.460007 m,
      bearing: 321.861081 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.292004 deg/s,
      cmd update: 0.876012 deg/s,
      cmd heading: 299.011947 deg,
      new cmd heading: 298.749545 deg.

2020-12-13T21:28:57.300Z,1607894937.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:28:57.931Z,1607894937.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:28:58.329Z,1607894938.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:28:58.816Z,1607894938.816 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:28:59.174Z,1607894939.174 [Micromodem](INFO): Nmea in: $SNTTA,0.104745,,,,212859.11*46

2020-12-13T21:28:59.371Z,1607894939.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.900009 m, bearing: 320.841825 deg, deltaT: 4.112726 s, approachRate: -1.108753 m/s, LOS rate: -0.247830 deg/s, posRepo size: 4
2020-12-13T21:28:59.373Z,1607894939.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.900009 m,
      bearing: 320.841825 deg,
      approachRate: -1.108753 m/s,
      LOS rate: -0.247830 deg/s,
      cmd update: -0.743489 deg/s,
      cmd heading: 302.607852 deg,
      new cmd heading: 303.061891 deg.

2020-12-13T21:29:01.593Z,1607894941.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:02.363Z,1607894942.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:02.802Z,1607894942.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:03.610Z,1607894943.610 [Micromodem](INFO): Nmea in: $SNTTA,0.102987,,,,212903.55*4E

2020-12-13T21:29:03.835Z,1607894943.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.259995 m, bearing: 321.184947 deg, deltaT: 4.363971 s, approachRate: -0.604957 m/s, LOS rate: 0.078626 deg/s, posRepo size: 4
2020-12-13T21:29:03.838Z,1607894943.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.259995 m,
      bearing: 321.184947 deg,
      approachRate: -0.604957 m/s,
      LOS rate: 0.078626 deg/s,
      cmd update: 0.235878 deg/s,
      cmd heading: 299.355545 deg,
      new cmd heading: 298.903338 deg.

2020-12-13T21:29:05.871Z,1607894945.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:06.455Z,1607894946.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:06.853Z,1607894946.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:07.695Z,1607894947.695 [Micromodem](INFO): Nmea in: $SNTTA,0.101490,,,0.297965,212907.64*58

2020-12-13T21:29:07.790Z,1607894947.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.099991 m, bearing: 321.580496 deg, deltaT: 4.047964 s, approachRate: -0.533602 m/s, LOS rate: 0.097716 deg/s, posRepo size: 4
2020-12-13T21:29:07.799Z,1607894947.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.099991 m,
      bearing: 321.580496 deg,
      approachRate: -0.533602 m/s,
      LOS rate: 0.097716 deg/s,
      cmd update: 0.293147 deg/s,
      cmd heading: 300.310324 deg,
      new cmd heading: 300.428901 deg.

2020-12-13T21:29:08.886Z,1607894948.886 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:29:10.246Z,1607894950.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:10.909Z,1607894950.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:11.293Z,1607894951.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:12.126Z,1607894952.126 [Micromodem](INFO): Nmea in: $SNTTA,0.099750,,,,212912.09*40

2020-12-13T21:29:12.296Z,1607894952.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.400009 m, bearing: 321.383924 deg, deltaT: 4.505378 s, approachRate: -0.599280 m/s, LOS rate: -0.043631 deg/s, posRepo size: 4
2020-12-13T21:29:12.298Z,1607894952.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.400009 m,
      bearing: 321.383924 deg,
      approachRate: -0.599280 m/s,
      LOS rate: -0.043631 deg/s,
      cmd update: -0.130892 deg/s,
      cmd heading: 301.625285 deg,
      new cmd heading: 301.782303 deg.

2020-12-13T21:29:14.158Z,1607894954.158 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:29:14.588Z,1607894954.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:15.332Z,1607894955.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:15.752Z,1607894955.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:16.582Z,1607894956.582 [Micromodem](INFO): Nmea in: $SNTTA,0.098069,,,,212916.51*45

2020-12-13T21:29:16.788Z,1607894956.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 319.981959 deg, deltaT: 4.442228 s, approachRate: -0.567284 m/s, LOS rate: -0.315599 deg/s, posRepo size: 4
2020-12-13T21:29:16.796Z,1607894956.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.880005 m,
      bearing: 319.981959 deg,
      approachRate: -0.567284 m/s,
      LOS rate: -0.315599 deg/s,
      cmd update: -0.946798 deg/s,
      cmd heading: 301.042557 deg,
      new cmd heading: 300.968110 deg.

2020-12-13T21:29:17.905Z,1607894957.905 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:29:18.836Z,1607894958.836 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:29:18.871Z,1607894958.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:19.433Z,1607894959.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:19.849Z,1607894959.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:20.666Z,1607894960.666 [Micromodem](INFO): Nmea in: $SNTTA,0.096409,,,,212920.62*4C

2020-12-13T21:29:20.714Z,1607894960.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.360001 m, bearing: 321.891898 deg, deltaT: 4.030144 s, approachRate: -0.625289 m/s, LOS rate: 0.473913 deg/s, posRepo size: 4
2020-12-13T21:29:20.716Z,1607894960.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.360001 m,
      bearing: 321.891898 deg,
      approachRate: -0.625289 m/s,
      LOS rate: 0.473913 deg/s,
      cmd update: 1.421740 deg/s,
      cmd heading: 297.217581 deg,
      new cmd heading: 296.780441 deg.

2020-12-13T21:29:23.238Z,1607894963.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:23.875Z,1607894963.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:24.277Z,1607894964.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:25.126Z,1607894965.126 [Micromodem](INFO): Nmea in: $SNTTA,0.094744,,,,212925.06*43

2020-12-13T21:29:25.274Z,1607894965.274 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:29:25.292Z,1607894965.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.960007 m, bearing: 321.764447 deg, deltaT: 4.547902 s, approachRate: -0.527714 m/s, LOS rate: -0.028024 deg/s, posRepo size: 4
2020-12-13T21:29:25.294Z,1607894965.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.960007 m,
      bearing: 321.764447 deg,
      approachRate: -0.527714 m/s,
      LOS rate: -0.028024 deg/s,
      cmd update: -0.084073 deg/s,
      cmd heading: 303.666412 deg,
      new cmd heading: 304.382409 deg.

2020-12-13T21:29:27.557Z,1607894967.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:28.567Z,1607894968.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:28.979Z,1607894968.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:29.010Z,1607894969.010 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:29:29.818Z,1607894969.818 [Micromodem](INFO): Nmea in: $SNTTA,0.093141,,,,212929.75*4F

2020-12-13T21:29:29.843Z,1607894969.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 321.000996 deg, deltaT: 4.805989 s, approachRate: -0.574286 m/s, LOS rate: -0.158854 deg/s, posRepo size: 4
2020-12-13T21:29:29.866Z,1607894969.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.199997 m,
      bearing: 321.000996 deg,
      approachRate: -0.574286 m/s,
      LOS rate: -0.158854 deg/s,
      cmd update: -0.476562 deg/s,
      cmd heading: 303.261297 deg,
      new cmd heading: 303.241428 deg.

2020-12-13T21:29:32.220Z,1607894972.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:33.007Z,1607894973.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:33.403Z,1607894973.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:33.862Z,1607894973.862 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:29:34.238Z,1607894974.238 [Micromodem](INFO): Nmea in: $SNTTA,0.091321,,,,212934.19*4F

2020-12-13T21:29:34.288Z,1607894974.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 320.146266 deg, deltaT: 4.297979 s, approachRate: -0.572360 m/s, LOS rate: -0.198868 deg/s, posRepo size: 4
2020-12-13T21:29:34.291Z,1607894974.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.740005 m,
      bearing: 320.146266 deg,
      approachRate: -0.572360 m/s,
      LOS rate: -0.198868 deg/s,
      cmd update: -0.596604 deg/s,
      cmd heading: 301.222697 deg,
      new cmd heading: 301.030763 deg.

2020-12-13T21:29:36.674Z,1607894976.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:37.045Z,1607894977.045 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:29:37.453Z,1607894977.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:37.849Z,1607894977.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:37.992Z,1607894977.992 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:29:37.992Z,1607894977.992 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:29:37.993Z,1607894977.993 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:29:38.402Z,1607894978.402 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:29:38.882Z,1607894978.882 [Micromodem](INFO): Nmea in: $CADRQ,212939,1,9,0,64,1*4C

2020-12-13T21:29:38.882Z,1607894978.882 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:29:38.963Z,1607894978.963 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:29:39.025Z,1607894979.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.339996 m, bearing: 321.466104 deg, deltaT: 4.520525 s, approachRate: -0.530914 m/s, LOS rate: 0.291966 deg/s, posRepo size: 4
2020-12-13T21:29:39.027Z,1607894979.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.339996 m,
      bearing: 321.466104 deg,
      approachRate: -0.530914 m/s,
      LOS rate: 0.291966 deg/s,
      cmd update: 0.875897 deg/s,
      cmd heading: 298.514607 deg,
      new cmd heading: 298.158642 deg.

2020-12-13T21:29:39.222Z,1607894979.222 [Micromodem](INFO): Nmea in: $SNTTA,0.089617,0.121618,,,212938.64*53

2020-12-13T21:29:39.222Z,1607894979.222 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.089617,0.121618,,,212938.64*53

2020-12-13T21:29:40.446Z,1607894980.446 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:29:40.866Z,1607894980.866 [Micromodem](INFO): Nmea in: $CADRQ,212940,1,9,0,64,2*41

2020-12-13T21:29:40.866Z,1607894980.866 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:29:40.968Z,1607894980.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:41.260Z,1607894981.260 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:29:41.655Z,1607894981.655 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:29:41.655Z,1607894981.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:43.743Z,1607894983.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:44.083Z,1607894984.083 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:29:44.083Z,1607894984.083 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:29:44.498Z,1607894984.498 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,212942.023489,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T21:29:44.499Z,1607894984.499 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,212942.023489,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T21:29:44.574Z,1607894984.574 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T21:19:44.6Z
2020-12-13T21:29:44.574Z,1607894984.574 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:29:44.575Z,1607894984.575 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:29:44.575Z,1607894984.575 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:29:44.575Z,1607894984.575 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:29:44.575Z,1607894984.575 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T21:29:44.914Z,1607894984.914 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:29:44.957Z,1607894984.957 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:29:44.957Z,1607894984.957 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:29:44.957Z,1607894984.957 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:29:44.957Z,1607894984.957 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:29:44.957Z,1607894984.957 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:29:46.610Z,1607894986.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:49.009Z,1607894989.009 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-13T21:29:49.009Z,1607894989.009 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-13T21:29:49.009Z,1607894989.009 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-13T21:29:49.169Z,1607894989.169 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-13T21:29:49.449Z,1607894989.449 [RDI_Pathfinder](INFO): Powering down
2020-12-13T21:29:49.480Z,1607894989.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:50.409Z,1607894990.409 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-13T21:29:50.409Z,1607894990.409 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-13T21:29:52.239Z,1607894992.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:53.022Z,1607894993.022 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:53.453Z,1607894993.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:54.274Z,1607894994.274 [Micromodem](INFO): Nmea in: $SNTTA,0.083627,,,,212954.20*43

2020-12-13T21:29:54.292Z,1607894994.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 321.079461 deg, deltaT: 15.534846 s, approachRate: -0.587067 m/s, LOS rate: -0.024889 deg/s, posRepo size: 4
2020-12-13T21:29:54.294Z,1607894994.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.220001 m,
      bearing: 321.079461 deg,
      approachRate: -0.587067 m/s,
      LOS rate: -0.024889 deg/s,
      cmd update: -0.074666 deg/s,
      cmd heading: 312.122667 deg,
      new cmd heading: 312.413010 deg.

2020-12-13T21:29:56.725Z,1607894996.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:29:57.467Z,1607894997.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:29:57.881Z,1607894997.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:29:58.713Z,1607894998.713 [Micromodem](INFO): Nmea in: $SNTTA,0.081902,,,,212958.65*44

2020-12-13T21:29:58.741Z,1607894998.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.640007 m, bearing: 320.585311 deg, deltaT: 4.365469 s, approachRate: -0.591000 m/s, LOS rate: -0.113195 deg/s, posRepo size: 4
2020-12-13T21:29:58.742Z,1607894998.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.640007 m,
      bearing: 320.585311 deg,
      approachRate: -0.591000 m/s,
      LOS rate: -0.113195 deg/s,
      cmd update: -0.339586 deg/s,
      cmd heading: 311.796704 deg,
      new cmd heading: 311.765743 deg.

2020-12-13T21:30:01.144Z,1607895001.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:01.919Z,1607895001.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:02.313Z,1607895002.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:03.150Z,1607895003.150 [Micromodem](INFO): Nmea in: $SNTTA,0.080077,,0.090621,,213003.10*58

2020-12-13T21:30:03.187Z,1607895003.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 320.514195 deg, deltaT: 4.445601 s, approachRate: -0.607343 m/s, LOS rate: -0.015997 deg/s, posRepo size: 4
2020-12-13T21:30:03.194Z,1607895003.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.940002 m,
      bearing: 320.514195 deg,
      approachRate: -0.607343 m/s,
      LOS rate: -0.015997 deg/s,
      cmd update: -0.047991 deg/s,
      cmd heading: 310.286966 deg,
      new cmd heading: 310.145740 deg.

2020-12-13T21:30:05.633Z,1607895005.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:06.359Z,1607895006.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:06.768Z,1607895006.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:07.622Z,1607895007.622 [Micromodem](INFO): Nmea in: $SNTTA,0.078284,,0.089441,,213007.54*59

2020-12-13T21:30:07.678Z,1607895007.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.300011 m, bearing: 320.280957 deg, deltaT: 4.448118 s, approachRate: -0.593508 m/s, LOS rate: -0.052435 deg/s, posRepo size: 4
2020-12-13T21:30:07.680Z,1607895007.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 320.280957 deg,
      approachRate: -0.593508 m/s,
      LOS rate: -0.052435 deg/s,
      cmd update: -0.157305 deg/s,
      cmd heading: 310.073498 deg,
      new cmd heading: 310.051479 deg.

2020-12-13T21:30:10.139Z,1607895010.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:10.803Z,1607895010.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:11.211Z,1607895011.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:12.043Z,1607895012.043 [Micromodem](INFO): Nmea in: $SNTTA,0.076468,,,,213011.99*4B

2020-12-13T21:30:12.064Z,1607895012.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 320.275439 deg, deltaT: 4.487761 s, approachRate: -0.601637 m/s, LOS rate: -0.001230 deg/s, posRepo size: 4
2020-12-13T21:30:12.066Z,1607895012.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.600006 m,
      bearing: 320.275439 deg,
      approachRate: -0.601637 m/s,
      LOS rate: -0.001230 deg/s,
      cmd update: -0.003689 deg/s,
      cmd heading: 309.367553 deg,
      new cmd heading: 309.311432 deg.

2020-12-13T21:30:14.460Z,1607895014.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:15.239Z,1607895015.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:15.661Z,1607895015.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:16.495Z,1607895016.495 [Micromodem](INFO): Nmea in: $SNTTA,0.074651,,0.083051,,213016.42*51

2020-12-13T21:30:16.546Z,1607895016.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.959999 m, bearing: 320.174188 deg, deltaT: 4.517504 s, approachRate: -0.584395 m/s, LOS rate: -0.022413 deg/s, posRepo size: 4
2020-12-13T21:30:16.548Z,1607895016.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.959999 m,
      bearing: 320.174188 deg,
      approachRate: -0.584395 m/s,
      LOS rate: -0.022413 deg/s,
      cmd update: -0.067239 deg/s,
      cmd heading: 309.350887 deg,
      new cmd heading: 309.349701 deg.

2020-12-13T21:30:18.955Z,1607895018.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:19.683Z,1607895019.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:20.098Z,1607895020.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:20.934Z,1607895020.934 [Micromodem](INFO): Nmea in: $SNTTA,0.072853,,,,213020.87*46

2020-12-13T21:30:20.972Z,1607895020.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 319.887702 deg, deltaT: 4.508690 s, approachRate: -0.625459 m/s, LOS rate: -0.063541 deg/s, posRepo size: 4
2020-12-13T21:30:20.975Z,1607895020.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.139999 m,
      bearing: 319.887702 deg,
      approachRate: -0.625459 m/s,
      LOS rate: -0.063541 deg/s,
      cmd update: -0.190622 deg/s,
      cmd heading: 309.047726 deg,
      new cmd heading: 309.031762 deg.

2020-12-13T21:30:23.357Z,1607895023.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:24.119Z,1607895024.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:24.564Z,1607895024.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:25.391Z,1607895025.391 [Micromodem](INFO): Nmea in: $SNTTA,0.071027,,,,213025.30*47

2020-12-13T21:30:25.441Z,1607895025.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.320007 m, bearing: 319.491661 deg, deltaT: 4.239126 s, approachRate: -0.665230 m/s, LOS rate: -0.093425 deg/s, posRepo size: 4
2020-12-13T21:30:25.443Z,1607895025.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.320007 m,
      bearing: 319.491661 deg,
      approachRate: -0.665230 m/s,
      LOS rate: -0.093425 deg/s,
      cmd update: -0.280276 deg/s,
      cmd heading: 308.239682 deg,
      new cmd heading: 308.151113 deg.

2020-12-13T21:30:27.801Z,1607895027.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:28.567Z,1607895028.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:28.973Z,1607895028.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:29.827Z,1607895029.827 [Micromodem](INFO): Nmea in: $SNTTA,0.069296,,,0.087228,213029.75*52

2020-12-13T21:30:29.864Z,1607895029.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 319.111410 deg, deltaT: 4.435827 s, approachRate: -0.568102 m/s, LOS rate: -0.085723 deg/s, posRepo size: 4
2020-12-13T21:30:29.878Z,1607895029.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.800003 m,
      bearing: 319.111410 deg,
      approachRate: -0.568102 m/s,
      LOS rate: -0.085723 deg/s,
      cmd update: -0.257168 deg/s,
      cmd heading: 307.001440 deg,
      new cmd heading: 306.868825 deg.

2020-12-13T21:30:32.235Z,1607895032.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:33.011Z,1607895033.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:33.418Z,1607895033.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:34.270Z,1607895034.270 [Micromodem](INFO): Nmea in: $SNTTA,0.067484,,,,213034.19*46

2020-12-13T21:30:34.288Z,1607895034.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 318.044890 deg, deltaT: 4.459104 s, approachRate: -0.618959 m/s, LOS rate: -0.239178 deg/s, posRepo size: 4
2020-12-13T21:30:34.290Z,1607895034.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.040001 m,
      bearing: 318.044890 deg,
      approachRate: -0.618959 m/s,
      LOS rate: -0.239178 deg/s,
      cmd update: -0.717535 deg/s,
      cmd heading: 305.850072 deg,
      new cmd heading: 305.741950 deg.

2020-12-13T21:30:36.749Z,1607895036.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:37.471Z,1607895037.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:37.869Z,1607895037.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:38.712Z,1607895038.712 [Micromodem](INFO): Nmea in: $SNTTA,0.065832,,,,213038.65*42

2020-12-13T21:30:38.746Z,1607895038.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 318.779217 deg, deltaT: 4.414415 s, approachRate: -0.516491 m/s, LOS rate: 0.166348 deg/s, posRepo size: 4
2020-12-13T21:30:38.748Z,1607895038.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.759995 m,
      bearing: 318.779217 deg,
      approachRate: -0.516491 m/s,
      LOS rate: 0.166348 deg/s,
      cmd update: 0.499043 deg/s,
      cmd heading: 302.682753 deg,
      new cmd heading: 302.349478 deg.

2020-12-13T21:30:41.187Z,1607895041.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:41.907Z,1607895041.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:42.333Z,1607895042.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:43.172Z,1607895043.172 [Micromodem](INFO): Nmea in: $SNTTA,0.063965,,,,213043.09*41

2020-12-13T21:30:43.173Z,1607895043.173 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:30:43.310Z,1607895043.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 318.089833 deg, deltaT: 4.512550 s, approachRate: -0.664811 m/s, LOS rate: -0.152771 deg/s, posRepo size: 4
2020-12-13T21:30:43.312Z,1607895043.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.760002 m,
      bearing: 318.089833 deg,
      approachRate: -0.664811 m/s,
      LOS rate: -0.152771 deg/s,
      cmd update: -0.458312 deg/s,
      cmd heading: 304.922842 deg,
      new cmd heading: 305.192265 deg.

2020-12-13T21:30:43.734Z,1607895043.734 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:30:43.734Z,1607895043.734 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:30:43.734Z,1607895043.734 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:30:44.398Z,1607895044.398 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:30:44.794Z,1607895044.794 [Micromodem](INFO): Nmea in: $CADRQ,213044,1,9,0,64,1*4E

2020-12-13T21:30:44.794Z,1607895044.794 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:30:45.189Z,1607895045.189 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:30:45.608Z,1607895045.608 [Micromodem](INFO): Nmea in: $CADRQ,213045,1,9,0,64,2*4C

2020-12-13T21:30:45.610Z,1607895045.610 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:30:45.713Z,1607895045.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:45.991Z,1607895045.991 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:30:46.393Z,1607895046.393 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:30:46.394Z,1607895046.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:48.451Z,1607895048.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:48.818Z,1607895048.818 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:30:48.818Z,1607895048.818 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:30:49.220Z,1607895049.220 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213046.768816,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:30:49.221Z,1607895049.221 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213046.768816,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:30:51.255Z,1607895051.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:54.127Z,1607895054.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:56.946Z,1607895056.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:30:57.710Z,1607895057.710 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:30:58.119Z,1607895058.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:30:58.967Z,1607895058.967 [Micromodem](INFO): Nmea in: $SNTTA,0.057646,,,,213058.89*4A

2020-12-13T21:30:59.128Z,1607895059.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 318.521282 deg, deltaT: 15.835594 s, approachRate: -0.594862 m/s, LOS rate: 0.027246 deg/s, posRepo size: 4
2020-12-13T21:30:59.130Z,1607895059.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 318.521282 deg,
      approachRate: -0.594862 m/s,
      LOS rate: 0.027246 deg/s,
      cmd update: 0.081737 deg/s,
      cmd heading: 297.656029 deg,
      new cmd heading: 297.425901 deg.

2020-12-13T21:31:01.371Z,1607895061.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:02.155Z,1607895062.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:02.586Z,1607895062.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:03.404Z,1607895063.404 [Micromodem](INFO): Nmea in: $SNTTA,0.055962,,,,213103.34*48

2020-12-13T21:31:03.462Z,1607895063.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.060005 m, bearing: 319.950622 deg, deltaT: 4.366017 s, approachRate: -0.522215 m/s, LOS rate: 0.327378 deg/s, posRepo size: 4
2020-12-13T21:31:03.465Z,1607895063.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.060005 m,
      bearing: 319.950622 deg,
      approachRate: -0.522215 m/s,
      LOS rate: 0.327378 deg/s,
      cmd update: 0.982136 deg/s,
      cmd heading: 298.012891 deg,
      new cmd heading: 298.049204 deg.

2020-12-13T21:31:05.649Z,1607895065.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:06.203Z,1607895066.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:06.631Z,1607895066.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:07.462Z,1607895067.462 [Micromodem](INFO): Nmea in: $SNTTA,0.054449,,0.057225,,213107.39*5D

2020-12-13T21:31:07.728Z,1607895067.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 318.649772 deg, deltaT: 4.068412 s, approachRate: -0.648904 m/s, LOS rate: -0.319744 deg/s, posRepo size: 4
2020-12-13T21:31:07.730Z,1607895067.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.419998 m,
      bearing: 318.649772 deg,
      approachRate: -0.648904 m/s,
      LOS rate: -0.319744 deg/s,
      cmd update: -0.959232 deg/s,
      cmd heading: 302.012579 deg,
      new cmd heading: 302.663863 deg.

2020-12-13T21:31:09.622Z,1607895069.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:10.319Z,1607895070.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:10.727Z,1607895070.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:11.594Z,1607895071.594 [Micromodem](INFO): Nmea in: $SNTTA,0.052907,,,,213111.50*4D

2020-12-13T21:31:11.674Z,1607895071.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.140007 m, bearing: 318.362193 deg, deltaT: 4.082220 s, approachRate: -0.558517 m/s, LOS rate: -0.070447 deg/s, posRepo size: 4
2020-12-13T21:31:11.675Z,1607895071.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.140007 m,
      bearing: 318.362193 deg,
      approachRate: -0.558517 m/s,
      LOS rate: -0.070447 deg/s,
      cmd update: -0.211340 deg/s,
      cmd heading: 298.096792 deg,
      new cmd heading: 297.595516 deg.

2020-12-13T21:31:14.139Z,1607895074.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:14.763Z,1607895074.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:15.165Z,1607895075.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:16.002Z,1607895076.002 [Micromodem](INFO): Nmea in: $SNTTA,0.051054,,,,213115.95*4C

2020-12-13T21:31:16.026Z,1607895076.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.380005 m, bearing: 317.898287 deg, deltaT: 4.491827 s, approachRate: -0.614450 m/s, LOS rate: -0.103278 deg/s, posRepo size: 4
2020-12-13T21:31:16.028Z,1607895076.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.380005 m,
      bearing: 317.898287 deg,
      approachRate: -0.614450 m/s,
      LOS rate: -0.103278 deg/s,
      cmd update: -0.309834 deg/s,
      cmd heading: 297.147480 deg,
      new cmd heading: 297.065576 deg.

2020-12-13T21:31:18.655Z,1607895078.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:19.247Z,1607895079.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:19.666Z,1607895079.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:20.521Z,1607895080.521 [Micromodem](INFO): Nmea in: $SNTTA,0.049626,,,,213120.43*4B

2020-12-13T21:31:20.726Z,1607895080.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.860001 m, bearing: 319.441336 deg, deltaT: 4.451576 s, approachRate: -0.566093 m/s, LOS rate: 0.346630 deg/s, posRepo size: 4
2020-12-13T21:31:20.728Z,1607895080.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.860001 m,
      bearing: 319.441336 deg,
      approachRate: -0.566093 m/s,
      LOS rate: 0.346630 deg/s,
      cmd update: 1.039889 deg/s,
      cmd heading: 295.768294 deg,
      new cmd heading: 295.571177 deg.

2020-12-13T21:31:22.628Z,1607895082.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:23.315Z,1607895083.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:23.728Z,1607895083.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:24.590Z,1607895084.590 [Micromodem](INFO): Nmea in: $SNTTA,0.047901,,0.051208,,213124.50*59

2020-12-13T21:31:24.671Z,1607895084.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 319.425080 deg, deltaT: 4.080167 s, approachRate: -0.544094 m/s, LOS rate: -0.003984 deg/s, posRepo size: 4
2020-12-13T21:31:24.679Z,1607895084.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 319.425080 deg,
      approachRate: -0.544094 m/s,
      LOS rate: -0.003984 deg/s,
      cmd update: -0.011952 deg/s,
      cmd heading: 300.007294 deg,
      new cmd heading: 300.531791 deg.

2020-12-13T21:31:27.115Z,1607895087.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:27.759Z,1607895087.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:28.169Z,1607895088.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:29.014Z,1607895089.014 [Micromodem](INFO): Nmea in: $SNTTA,0.046288,,,,213128.94*46

2020-12-13T21:31:29.032Z,1607895089.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 318.722117 deg, deltaT: 4.504472 s, approachRate: -0.532804 m/s, LOS rate: -0.156059 deg/s, posRepo size: 4
2020-12-13T21:31:29.034Z,1607895089.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 318.722117 deg,
      approachRate: -0.532804 m/s,
      LOS rate: -0.156059 deg/s,
      cmd update: -0.468177 deg/s,
      cmd heading: 299.953457 deg,
      new cmd heading: 299.949141 deg.

2020-12-13T21:31:31.653Z,1607895091.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:32.231Z,1607895092.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:32.661Z,1607895092.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:33.485Z,1607895093.485 [Micromodem](INFO): Nmea in: $SNTTA,0.044377,,,,213133.41*47

2020-12-13T21:31:33.737Z,1607895093.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 317.813155 deg, deltaT: 4.409256 s, approachRate: -0.666780 m/s, LOS rate: -0.206149 deg/s, posRepo size: 4
2020-12-13T21:31:33.739Z,1607895093.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.300003 m,
      bearing: 317.813155 deg,
      approachRate: -0.666780 m/s,
      LOS rate: -0.206149 deg/s,
      cmd update: -0.618446 deg/s,
      cmd heading: 297.887233 deg,
      new cmd heading: 297.581664 deg.

2020-12-13T21:31:35.615Z,1607895095.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:36.339Z,1607895096.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:36.737Z,1607895096.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:37.597Z,1607895097.597 [Micromodem](INFO): Nmea in: $SNTTA,0.042955,,,,213137.55*4A

2020-12-13T21:31:37.674Z,1607895097.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.260010 m, bearing: 318.074670 deg, deltaT: 4.057833 s, approachRate: -0.502730 m/s, LOS rate: 0.064447 deg/s, posRepo size: 4
2020-12-13T21:31:37.676Z,1607895097.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 318.074670 deg,
      approachRate: -0.502730 m/s,
      LOS rate: 0.064447 deg/s,
      cmd update: 0.193340 deg/s,
      cmd heading: 295.377827 deg,
      new cmd heading: 295.048525 deg.

2020-12-13T21:31:39.672Z,1607895099.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:40.364Z,1607895100.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:40.777Z,1607895100.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:41.639Z,1607895101.639 [Micromodem](INFO): Nmea in: $SNTTA,0.041465,,,,213141.55*46

2020-12-13T21:31:41.721Z,1607895101.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.980007 m, bearing: 318.796867 deg, deltaT: 4.106005 s, approachRate: -0.555285 m/s, LOS rate: 0.175888 deg/s, posRepo size: 4
2020-12-13T21:31:41.723Z,1607895101.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 318.796867 deg,
      approachRate: -0.555285 m/s,
      LOS rate: 0.175888 deg/s,
      cmd update: 0.527664 deg/s,
      cmd heading: 296.167927 deg,
      new cmd heading: 296.260127 deg.

2020-12-13T21:31:44.045Z,1607895104.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:44.812Z,1607895104.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:45.231Z,1607895105.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:46.062Z,1607895106.062 [Micromodem](INFO): Nmea in: $SNTTA,0.039821,,,,213146.00*42

2020-12-13T21:31:46.096Z,1607895106.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.520004 m, bearing: 319.774103 deg, deltaT: 4.475439 s, approachRate: -0.549667 m/s, LOS rate: 0.218355 deg/s, posRepo size: 4
2020-12-13T21:31:46.098Z,1607895106.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.520004 m,
      bearing: 319.774103 deg,
      approachRate: -0.549667 m/s,
      LOS rate: 0.218355 deg/s,
      cmd update: 0.655066 deg/s,
      cmd heading: 298.539840 deg,
      new cmd heading: 298.736499 deg.

2020-12-13T21:31:48.641Z,1607895108.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:48.951Z,1607895108.951 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:31:49.327Z,1607895109.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:49.733Z,1607895109.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:31:49.872Z,1607895109.872 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:31:49.872Z,1607895109.872 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:31:49.873Z,1607895109.873 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:31:50.174Z,1607895110.174 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:31:50.612Z,1607895110.612 [Micromodem](INFO): Nmea in: $CADRQ,213150,1,9,0,64,1*4A

2020-12-13T21:31:50.613Z,1607895110.613 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:31:50.878Z,1607895110.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.939999 m, bearing: 319.577994 deg, deltaT: 4.490651 s, approachRate: -0.574528 m/s, LOS rate: -0.043670 deg/s, posRepo size: 4
2020-12-13T21:31:50.880Z,1607895110.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.939999 m,
      bearing: 319.577994 deg,
      approachRate: -0.574528 m/s,
      LOS rate: -0.043670 deg/s,
      cmd update: -0.131011 deg/s,
      cmd heading: 301.476272 deg,
      new cmd heading: 301.916469 deg.

2020-12-13T21:31:51.050Z,1607895111.050 [Micromodem](INFO): Nmea in: $SNTTA,0.038119,,,,213150.51*42

2020-12-13T21:31:51.050Z,1607895111.050 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.038119,,,,213150.51*42

2020-12-13T21:31:52.267Z,1607895112.267 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:31:52.676Z,1607895112.676 [Micromodem](INFO): Nmea in: $CADRQ,213151,1,9,0,64,2*48

2020-12-13T21:31:52.677Z,1607895112.677 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:31:53.001Z,1607895113.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:53.167Z,1607895113.167 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:31:53.568Z,1607895113.568 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:31:53.571Z,1607895113.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:31:55.670Z,1607895115.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:31:55.983Z,1607895115.983 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:31:55.983Z,1607895115.983 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:31:56.384Z,1607895116.384 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213153.836246,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T21:31:56.384Z,1607895116.384 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213153.836246,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T21:31:58.479Z,1607895118.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:01.264Z,1607895121.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:04.078Z,1607895124.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:04.870Z,1607895124.870 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:05.289Z,1607895125.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:06.126Z,1607895126.126 [Micromodem](INFO): Nmea in: $SNTTA,0.032151,,0.044970,,213206.05*55

2020-12-13T21:32:06.142Z,1607895126.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 318.866316 deg, deltaT: 15.529557 s, approachRate: -0.575677 m/s, LOS rate: -0.045827 deg/s, posRepo size: 4
2020-12-13T21:32:06.144Z,1607895126.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 318.866316 deg,
      approachRate: -0.575677 m/s,
      LOS rate: -0.045827 deg/s,
      cmd update: -0.137482 deg/s,
      cmd heading: 299.440677 deg,
      new cmd heading: 299.388451 deg.

2020-12-13T21:32:08.616Z,1607895128.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:09.323Z,1607895129.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:09.801Z,1607895129.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:10.646Z,1607895130.646 [Micromodem](INFO): Nmea in: $SNTTA,0.030517,,,,213210.51*47

2020-12-13T21:32:10.722Z,1607895130.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.599998 m, bearing: 318.421151 deg, deltaT: 4.478454 s, approachRate: -0.535899 m/s, LOS rate: -0.099401 deg/s, posRepo size: 4
2020-12-13T21:32:10.724Z,1607895130.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.599998 m,
      bearing: 318.421151 deg,
      approachRate: -0.535899 m/s,
      LOS rate: -0.099401 deg/s,
      cmd update: -0.298204 deg/s,
      cmd heading: 298.824972 deg,
      new cmd heading: 298.756205 deg.

2020-12-13T21:32:12.734Z,1607895132.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:13.467Z,1607895133.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:13.872Z,1607895133.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:14.704Z,1607895134.704 [Micromodem](INFO): Nmea in: $SNTTA,0.028880,,,,213214.65*4E

2020-12-13T21:32:14.742Z,1607895134.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 318.466914 deg, deltaT: 4.071886 s, approachRate: -0.618877 m/s, LOS rate: 0.011239 deg/s, posRepo size: 4
2020-12-13T21:32:14.744Z,1607895134.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 318.466914 deg,
      approachRate: -0.618877 m/s,
      LOS rate: 0.011239 deg/s,
      cmd update: 0.033716 deg/s,
      cmd heading: 297.615540 deg,
      new cmd heading: 297.477254 deg.

2020-12-13T21:32:17.138Z,1607895137.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:17.911Z,1607895137.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:18.345Z,1607895138.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:19.172Z,1607895139.172 [Micromodem](INFO): Nmea in: $SNTTA,0.027184,,,,213219.09*4B

2020-12-13T21:32:19.224Z,1607895139.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 318.884266 deg, deltaT: 4.530588 s, approachRate: -0.556220 m/s, LOS rate: 0.092119 deg/s, posRepo size: 4
2020-12-13T21:32:19.226Z,1607895139.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.559998 m,
      bearing: 318.884266 deg,
      approachRate: -0.556220 m/s,
      LOS rate: 0.092119 deg/s,
      cmd update: 0.276356 deg/s,
      cmd heading: 297.768433 deg,
      new cmd heading: 297.782309 deg.

2020-12-13T21:32:21.630Z,1607895141.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:22.383Z,1607895142.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:22.906Z,1607895142.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:23.706Z,1607895143.706 [Micromodem](INFO): Nmea in: $SNTTA,0.025530,,,,213223.57*40

2020-12-13T21:32:23.796Z,1607895143.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.099998 m, bearing: 319.294405 deg, deltaT: 4.481326 s, approachRate: -0.548944 m/s, LOS rate: 0.091522 deg/s, posRepo size: 4
2020-12-13T21:32:23.797Z,1607895143.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m.
2020-12-13T21:32:23.799Z,1607895143.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.099998 m,
      bearing: 319.294405 deg,
      approachRate: -0.548944 m/s,
      LOS rate: 0.091522 deg/s,
      cmd update: 0.274566 deg/s,
      cmd heading: 299.010127 deg,
      new cmd heading: 299.141304 deg.

2020-12-13T21:32:24.169Z,1607895144.169 [PowerOnly](INFO): Powering up loadControl
2020-12-13T21:32:25.859Z,1607895145.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:26.590Z,1607895146.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:26.961Z,1607895146.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:27.795Z,1607895147.795 [Micromodem](INFO): Nmea in: $SNTTA,0.023969,,,,213227.77*40

2020-12-13T21:32:28.037Z,1607895148.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 316.755432 deg, deltaT: 4.108686 s, approachRate: -0.569524 m/s, LOS rate: -0.617952 deg/s, posRepo size: 4
2020-12-13T21:32:28.053Z,1607895148.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2020-12-13T21:32:28.055Z,1607895148.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 316.755432 deg,
      approachRate: -0.569524 m/s,
      LOS rate: -0.617952 deg/s,
      cmd update: -1.853857 deg/s,
      cmd heading: 300.131797 deg,
      new cmd heading: 300.308404 deg.

2020-12-13T21:32:30.106Z,1607895150.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:30.843Z,1607895150.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:31.273Z,1607895151.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:32.098Z,1607895152.098 [Micromodem](INFO): Nmea in: $SNTTA,0.022591,,,,213232.03*4D

2020-12-13T21:32:32.153Z,1607895152.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 319.046496 deg, deltaT: 4.304091 s, approachRate: -0.473969 m/s, LOS rate: 0.532299 deg/s, posRepo size: 4
2020-12-13T21:32:32.154Z,1607895152.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2020-12-13T21:32:32.155Z,1607895152.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 319.046496 deg,
      approachRate: -0.473969 m/s,
      LOS rate: 0.532299 deg/s,
      cmd update: 1.596897 deg/s,
      cmd heading: 292.131230 deg,
      new cmd heading: 291.304030 deg.

2020-12-13T21:32:34.547Z,1607895154.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:35.311Z,1607895155.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:35.765Z,1607895155.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:36.586Z,1607895156.586 [Micromodem](INFO): Nmea in: $SNTTA,0.021426,,,,213236.49*49

2020-12-13T21:32:36.675Z,1607895156.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.920000 m, bearing: 318.993631 deg, deltaT: 4.459718 s, approachRate: -0.403612 m/s, LOS rate: -0.011854 deg/s, posRepo size: 4
2020-12-13T21:32:36.676Z,1607895156.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.92 m.
2020-12-13T21:32:36.678Z,1607895156.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.920000 m,
      bearing: 318.993631 deg,
      approachRate: -0.403612 m/s,
      LOS rate: -0.011854 deg/s,
      cmd update: -0.035562 deg/s,
      cmd heading: 299.272057 deg,
      new cmd heading: 300.066131 deg.

2020-12-13T21:32:38.700Z,1607895158.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:39.425Z,1607895159.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:39.845Z,1607895159.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:40.674Z,1607895160.674 [Micromodem](INFO): Nmea in: $SNTTA,0.020359,,0.033864,,213240.61*58

2020-12-13T21:32:40.709Z,1607895160.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 317.130437 deg, deltaT: 4.064541 s, approachRate: -0.206665 m/s, LOS rate: -0.458402 deg/s, posRepo size: 4
2020-12-13T21:32:40.709Z,1607895160.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.08 m.
2020-12-13T21:32:40.710Z,1607895160.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 31.08 m.
2020-12-13T21:32:40.710Z,1607895160.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T21:32:40.711Z,1607895160.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.080000 m,
      bearing: 317.130437 deg,
      approachRate: -0.206665 m/s,
      LOS rate: -0.458402 deg/s,
      cmd update: -1.375206 deg/s,
      cmd heading: 299.127509 deg,
      new cmd heading: 299.110955 deg.

2020-12-13T21:32:43.106Z,1607895163.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:43.864Z,1607895163.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:44.419Z,1607895164.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:45.228Z,1607895165.228 [Micromodem](INFO): Nmea in: $SNTTA,0.019176,,,,213245.05*4E

2020-12-13T21:32:45.291Z,1607895165.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.559998 m, bearing: 312.962109 deg, deltaT: 4.626929 s, approachRate: -0.544638 m/s, LOS rate: -0.900884 deg/s, posRepo size: 4
2020-12-13T21:32:45.294Z,1607895165.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 312.962109 deg,
      approachRate: -0.544638 m/s,
      LOS rate: -0.900884 deg/s,
      cmd update: -2.702653 deg/s,
      cmd heading: 292.792450 deg,
      new cmd heading: 292.184730 deg.

2020-12-13T21:32:47.719Z,1607895167.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:48.471Z,1607895168.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:48.863Z,1607895168.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:49.698Z,1607895169.698 [Micromodem](INFO): Nmea in: $SNTTA,0.017879,,,,213249.65*4C

2020-12-13T21:32:49.764Z,1607895169.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.580002 m, bearing: 315.921630 deg, deltaT: 4.426298 s, approachRate: -0.447325 m/s, LOS rate: 0.668622 deg/s, posRepo size: 4
2020-12-13T21:32:49.766Z,1607895169.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 315.921630 deg,
      approachRate: -0.447325 m/s,
      LOS rate: 0.668622 deg/s,
      cmd update: 2.005866 deg/s,
      cmd heading: 280.774885 deg,
      new cmd heading: 279.511284 deg.

2020-12-13T21:32:52.115Z,1607895172.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:52.895Z,1607895172.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:53.297Z,1607895173.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:32:54.146Z,1607895174.146 [Micromodem](INFO): Nmea in: $SNTTA,0.016723,,,,213254.08*4A

2020-12-13T21:32:54.188Z,1607895174.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.900000 m, bearing: 313.995353 deg, deltaT: 4.461448 s, approachRate: -0.376560 m/s, LOS rate: -0.431761 deg/s, posRepo size: 4
2020-12-13T21:32:54.190Z,1607895174.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.900000 m,
      bearing: 313.995353 deg,
      approachRate: -0.376560 m/s,
      LOS rate: -0.431761 deg/s,
      cmd update: -1.295282 deg/s,
      cmd heading: 289.691844 deg,
      new cmd heading: 290.587532 deg.

2020-12-13T21:32:54.935Z,1607895174.935 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:32:55.463Z,1607895175.463 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:32:55.465Z,1607895175.465 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:32:55.466Z,1607895175.466 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:32:55.770Z,1607895175.770 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:32:56.174Z,1607895176.174 [Micromodem](INFO): Nmea in: $CADRQ,213256,1,9,0,64,1*4F

2020-12-13T21:32:56.174Z,1607895176.174 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:32:56.298Z,1607895176.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:32:56.596Z,1607895176.596 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:32:56.967Z,1607895176.967 [Micromodem](INFO): Nmea in: $CADRQ,213257,1,9,0,64,2*4D

2020-12-13T21:32:56.967Z,1607895176.967 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:32:57.373Z,1607895177.373 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:32:57.374Z,1607895177.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:32:57.779Z,1607895177.779 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:32:57.779Z,1607895177.779 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:32:59.036Z,1607895179.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:00.201Z,1607895180.201 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:33:00.202Z,1607895180.202 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:33:00.619Z,1607895180.619 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213258.125820,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T21:33:00.620Z,1607895180.620 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213258.125820,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T21:33:01.872Z,1607895181.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:04.711Z,1607895184.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:07.729Z,1607895187.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:08.378Z,1607895188.378 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:08.797Z,1607895188.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:09.642Z,1607895189.642 [Micromodem](INFO): Nmea in: $SNTTA,0.013184,,,,213309.56*46

2020-12-13T21:33:09.847Z,1607895189.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 314.371860 deg, deltaT: 15.473724 s, approachRate: -0.341224 m/s, LOS rate: 0.024332 deg/s, posRepo size: 4
2020-12-13T21:33:09.853Z,1607895189.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 314.371860 deg,
      approachRate: -0.341224 m/s,
      LOS rate: 0.024332 deg/s,
      cmd update: 0.072996 deg/s,
      cmd heading: 269.628242 deg,
      new cmd heading: 268.830973 deg.

2020-12-13T21:33:12.072Z,1607895192.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:12.855Z,1607895192.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:13.250Z,1607895193.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:14.114Z,1607895194.114 [Micromodem](INFO): Nmea in: $SNTTA,0.012435,,,,213314.04*43

2020-12-13T21:33:14.268Z,1607895194.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 314.118296 deg, deltaT: 4.498011 s, approachRate: -0.253446 m/s, LOS rate: -0.056372 deg/s, posRepo size: 4
2020-12-13T21:33:14.270Z,1607895194.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 314.118296 deg,
      approachRate: -0.253446 m/s,
      LOS rate: -0.056372 deg/s,
      cmd update: -0.169117 deg/s,
      cmd heading: 269.956579 deg,
      new cmd heading: 269.995914 deg.

2020-12-13T21:33:16.293Z,1607895196.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:16.907Z,1607895196.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:17.313Z,1607895197.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:18.158Z,1607895198.158 [Micromodem](INFO): Nmea in: $SNTTA,0.011793,,,,213318.09*4E

2020-12-13T21:33:18.180Z,1607895198.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 315.275931 deg, deltaT: 4.037200 s, approachRate: -0.222926 m/s, LOS rate: 0.286742 deg/s, posRepo size: 4
2020-12-13T21:33:18.182Z,1607895198.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 315.275931 deg,
      approachRate: -0.222926 m/s,
      LOS rate: 0.286742 deg/s,
      cmd update: 0.860226 deg/s,
      cmd heading: 269.273823 deg,
      new cmd heading: 269.203867 deg.

2020-12-13T21:33:20.787Z,1607895200.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:21.371Z,1607895201.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:21.773Z,1607895201.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:22.614Z,1607895202.614 [Micromodem](INFO): Nmea in: $SNTTA,0.011158,,,,213322.55*4F

2020-12-13T21:33:22.806Z,1607895202.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.179998 m, bearing: 318.861125 deg, deltaT: 4.449672 s, approachRate: 0.134841 m/s, LOS rate: 0.805721 deg/s, posRepo size: 4
2020-12-13T21:33:22.808Z,1607895202.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.179998 m,
      bearing: 318.861125 deg,
      approachRate: 0.134841 m/s,
      LOS rate: 0.805721 deg/s,
      cmd update: 2.417163 deg/s,
      cmd heading: 273.087787 deg,
      new cmd heading: 273.608627 deg.

2020-12-13T21:33:25.011Z,1607895205.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:25.803Z,1607895205.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:26.214Z,1607895206.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:27.059Z,1607895207.059 [Micromodem](INFO): Nmea in: $SNTTA,0.010549,,,,213326.99*4E

2020-12-13T21:33:27.212Z,1607895207.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 274.388397 deg, deltaT: 4.487475 s, approachRate: -0.213929 m/s, LOS rate: -9.910412 deg/s, posRepo size: 4
2020-12-13T21:33:27.214Z,1607895207.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 274.388397 deg,
      approachRate: -0.213929 m/s,
      LOS rate: -9.910412 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 283.973498 deg,
      new cmd heading: 285.202746 deg.

2020-12-13T21:33:29.218Z,1607895209.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:29.843Z,1607895209.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:30.259Z,1607895210.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:31.110Z,1607895211.110 [Micromodem](INFO): Nmea in: $SNTTA,0.009839,,,,213331.03*49

2020-12-13T21:33:31.161Z,1607895211.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 319.852568 deg, deltaT: 4.000501 s, approachRate: -0.644919 m/s, LOS rate: 11.364619 deg/s, posRepo size: 4
2020-12-13T21:33:31.163Z,1607895211.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.639997 m,
      bearing: 319.852568 deg,
      approachRate: -0.644919 m/s,
      LOS rate: 11.364619 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 235.967773 deg,
      new cmd heading: 230.487504 deg.

2020-12-13T21:33:33.726Z,1607895213.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:34.295Z,1607895214.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:34.701Z,1607895214.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:35.558Z,1607895215.558 [Micromodem](INFO): Nmea in: $SNTTA,0.009035,,,,213335.48*46

2020-12-13T21:33:35.763Z,1607895215.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.439999 m, bearing: 339.820653 deg, deltaT: 4.439177 s, approachRate: -0.270320 m/s, LOS rate: 4.498150 deg/s, posRepo size: 4
2020-12-13T21:33:35.765Z,1607895215.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 339.820653 deg,
      approachRate: -0.270320 m/s,
      LOS rate: 4.498150 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 289.238330 deg,
      new cmd heading: 296.669475 deg.

2020-12-13T21:33:37.970Z,1607895217.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:38.743Z,1607895218.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:39.148Z,1607895219.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:39.998Z,1607895219.998 [Micromodem](INFO): Nmea in: $SNTTA,0.008568,,0.021048,,213339.93*51

2020-12-13T21:33:40.157Z,1607895220.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 302.058532 deg, deltaT: 4.510459 s, approachRate: -0.119722 m/s, LOS rate: -8.372124 deg/s, posRepo size: 4
2020-12-13T21:33:40.159Z,1607895220.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 302.058532 deg,
      approachRate: -0.119722 m/s,
      LOS rate: -8.372124 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 343.359075 deg,
      new cmd heading: 349.401039 deg.

2020-12-13T21:33:42.411Z,1607895222.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:43.184Z,1607895223.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:43.613Z,1607895223.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:44.438Z,1607895224.438 [Micromodem](INFO): Nmea in: $SNTTA,0.008205,,,,213344.37*48

2020-12-13T21:33:44.461Z,1607895224.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 312.016920 deg, deltaT: 4.390673 s, approachRate: -0.136653 m/s, LOS rate: 2.268078 deg/s, posRepo size: 4
2020-12-13T21:33:44.481Z,1607895224.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 312.016920 deg,
      approachRate: -0.136653 m/s,
      LOS rate: 2.268078 deg/s,
      cmd update: 6.804234 deg/s,
      cmd heading: 290.716610 deg,
      new cmd heading: 285.674629 deg.

2020-12-13T21:33:46.662Z,1607895226.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:47.235Z,1607895227.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:47.649Z,1607895227.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:48.479Z,1607895228.479 [Micromodem](INFO): Nmea in: $SNTTA,0.007800,,,,213348.42*46

2020-12-13T21:33:48.733Z,1607895228.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 274.594915 deg, deltaT: 4.035655 s, approachRate: -0.148674 m/s, LOS rate: -9.272846 deg/s, posRepo size: 4
2020-12-13T21:33:48.735Z,1607895228.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 274.594915 deg,
      approachRate: -0.148674 m/s,
      LOS rate: -9.272846 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 318.204536 deg,
      new cmd heading: 322.645931 deg.

2020-12-13T21:33:50.598Z,1607895230.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:51.311Z,1607895231.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:51.721Z,1607895231.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:52.573Z,1607895232.573 [Micromodem](INFO): Nmea in: $SNTTA,0.007345,,,,213352.49*4C

2020-12-13T21:33:52.641Z,1607895232.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 279.640949 deg, deltaT: 4.095041 s, approachRate: -0.190474 m/s, LOS rate: 1.232230 deg/s, posRepo size: 4
2020-12-13T21:33:52.642Z,1607895232.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.92 m.
2020-12-13T21:33:52.644Z,1607895232.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 279.640949 deg,
      approachRate: -0.190474 m/s,
      LOS rate: 1.232230 deg/s,
      cmd update: 3.696691 deg/s,
      cmd heading: 269.112547 deg,
      new cmd heading: 263.471347 deg.

2020-12-13T21:33:55.111Z,1607895235.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:33:55.755Z,1607895235.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:33:56.173Z,1607895236.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:33:57.014Z,1607895237.014 [Micromodem](INFO): Nmea in: $SNTTA,0.006570,,,,213356.94*49

2020-12-13T21:33:57.036Z,1607895237.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.780002 m, bearing: 347.646302 deg, deltaT: 4.533875 s, approachRate: -0.251441 m/s, LOS rate: 14.999389 deg/s, posRepo size: 4
2020-12-13T21:33:57.037Z,1607895237.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.78 m.
2020-12-13T21:33:57.037Z,1607895237.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.999389 deg/s. Setting heading cmd to target bearing of 347.646302deg and heading rate command to 0 deg/s.
2020-12-13T21:33:58.623Z,1607895238.623 [PowerOnly](INFO): Powering down loadControl
2020-12-13T21:33:59.643Z,1607895239.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:00.207Z,1607895240.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:00.625Z,1607895240.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:00.637Z,1607895240.637 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:34:01.143Z,1607895241.143 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:34:01.143Z,1607895241.143 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:34:01.143Z,1607895241.143 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:34:01.450Z,1607895241.450 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:34:01.683Z,1607895241.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 323.533521 deg, deltaT: 4.511597 s, approachRate: -0.226085 m/s, LOS rate: -5.344622 deg/s, posRepo size: 4
2020-12-13T21:34:01.685Z,1607895241.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.759999 m,
      bearing: 323.533521 deg,
      approachRate: -0.226085 m/s,
      LOS rate: -5.344622 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 347.646302 deg,
      new cmd heading: 347.646302 deg.

2020-12-13T21:34:01.850Z,1607895241.850 [Micromodem](INFO): Nmea in: $CADRQ,213402,1,9,0,64,1*48

2020-12-13T21:34:01.850Z,1607895241.850 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:34:02.238Z,1607895242.238 [Micromodem](INFO): Nmea in: $SNTTA,0.005845,,,,213401.39*43

2020-12-13T21:34:02.238Z,1607895242.238 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.005845,,,,213401.39*43

2020-12-13T21:34:03.470Z,1607895243.470 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:34:03.847Z,1607895243.847 [Micromodem](INFO): Nmea in: $CADRQ,213403,1,9,0,64,2*4A

2020-12-13T21:34:03.847Z,1607895243.847 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:34:03.966Z,1607895243.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:04.266Z,1607895244.266 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:34:04.651Z,1607895244.651 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:34:04.651Z,1607895244.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:06.745Z,1607895246.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:07.075Z,1607895247.075 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:34:07.075Z,1607895247.075 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:34:07.487Z,1607895247.487 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213405.007121,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:34:07.488Z,1607895247.488 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213405.007121,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:34:08.706Z,1607895248.706 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:34:09.563Z,1607895249.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:12.565Z,1607895252.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:15.266Z,1607895255.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:15.662Z,1607895255.662 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:16.057Z,1607895256.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:16.902Z,1607895256.902 [Micromodem](INFO): Nmea in: $SNTTA,0.004733,,,,213416.85*4D

2020-12-13T21:34:16.939Z,1607895256.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 326.105661 deg, deltaT: 15.306005 s, approachRate: -0.117601 m/s, LOS rate: 0.168048 deg/s, posRepo size: 4
2020-12-13T21:34:16.941Z,1607895256.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 326.105661 deg,
      approachRate: -0.117601 m/s,
      LOS rate: 0.168048 deg/s,
      cmd update: 0.504143 deg/s,
      cmd heading: 164.082968 deg,
      new cmd heading: 159.021176 deg.

2020-12-13T21:34:19.107Z,1607895259.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:19.687Z,1607895259.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:20.101Z,1607895260.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:20.939Z,1607895260.939 [Micromodem](INFO): Nmea in: $SNTTA,0.005436,,,,213420.87*4D

2020-12-13T21:34:21.113Z,1607895261.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 304.103381 deg, deltaT: 4.095621 s, approachRate: 0.263696 m/s, LOS rate: -5.372147 deg/s, posRepo size: 4
2020-12-13T21:34:21.114Z,1607895261.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 304.103381 deg,
      approachRate: 0.263696 m/s,
      LOS rate: -5.372147 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 166.150303 deg,
      new cmd heading: 166.399405 deg.

2020-12-13T21:34:23.360Z,1607895263.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:24.143Z,1607895264.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:24.567Z,1607895264.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:25.390Z,1607895265.390 [Micromodem](INFO): Nmea in: $SNTTA,0.006014,,,,213425.33*40

2020-12-13T21:34:25.645Z,1607895265.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.880000 m, bearing: 265.702828 deg, deltaT: 4.366203 s, approachRate: 0.192387 m/s, LOS rate: -8.794954 deg/s, posRepo size: 4
2020-12-13T21:34:25.647Z,1607895265.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 265.702828 deg,
      approachRate: 0.192387 m/s,
      LOS rate: -8.794954 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 113.708129 deg,
      new cmd heading: 105.832397 deg.

2020-12-13T21:34:27.677Z,1607895267.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:28.244Z,1607895268.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:28.661Z,1607895268.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:29.518Z,1607895269.518 [Micromodem](INFO): Nmea in: $SNTTA,0.006630,,0.029855,,213429.43*56

2020-12-13T21:34:29.557Z,1607895269.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 245.507270 deg, deltaT: 4.095422 s, approachRate: 0.263709 m/s, LOS rate: -4.931252 deg/s, posRepo size: 4
2020-12-13T21:34:29.560Z,1607895269.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 245.507270 deg,
      approachRate: 0.263709 m/s,
      LOS rate: -4.931252 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 64.611413 deg,
      new cmd heading: 58.928297 deg.

2020-12-13T21:34:32.052Z,1607895272.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:32.687Z,1607895272.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:33.105Z,1607895273.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:33.938Z,1607895273.938 [Micromodem](INFO): Nmea in: $SNTTA,0.007055,,,,213433.87*4C

2020-12-13T21:34:34.129Z,1607895274.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 252.919555 deg, deltaT: 4.532064 s, approachRate: 0.172107 m/s, LOS rate: 1.635521 deg/s, posRepo size: 4
2020-12-13T21:34:34.131Z,1607895274.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 252.919555 deg,
      approachRate: 0.172107 m/s,
      LOS rate: 1.635521 deg/s,
      cmd update: 4.906562 deg/s,
      cmd heading: 10.418104 deg,
      new cmd heading: 4.027216 deg.

2020-12-13T21:34:36.366Z,1607895276.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:37.136Z,1607895277.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:37.562Z,1607895277.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:38.366Z,1607895278.366 [Micromodem](INFO): Nmea in: $SNTTA,0.008891,,,,213438.32*46

2020-12-13T21:34:38.625Z,1607895278.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 209.496751 deg, deltaT: 4.379761 s, approachRate: 0.219190 m/s, LOS rate: -9.914423 deg/s, posRepo size: 4
2020-12-13T21:34:38.627Z,1607895278.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 209.496751 deg,
      approachRate: 0.219190 m/s,
      LOS rate: -9.914423 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 32.005698 deg,
      new cmd heading: 35.094089 deg.

2020-12-13T21:34:40.703Z,1607895280.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:41.279Z,1607895281.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:41.681Z,1607895281.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:42.535Z,1607895282.535 [Micromodem](INFO): Nmea in: $SNTTA,0.008279,,,,213442.46*44

2020-12-13T21:34:42.568Z,1607895282.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.479998 m, bearing: 242.554661 deg, deltaT: 4.098508 s, approachRate: 0.190313 m/s, LOS rate: 8.065840 deg/s, posRepo size: 4
2020-12-13T21:34:42.570Z,1607895282.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.479998 m,
      bearing: 242.554661 deg,
      approachRate: 0.190313 m/s,
      LOS rate: 8.065840 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.822820 deg,
      new cmd heading: 337.135840 deg.

2020-12-13T21:34:44.738Z,1607895284.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:45.328Z,1607895285.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:45.729Z,1607895285.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:46.602Z,1607895286.602 [Micromodem](INFO): Nmea in: $SNTTA,0.009313,,,,213446.51*4A

2020-12-13T21:34:46.782Z,1607895286.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 254.246934 deg, deltaT: 4.089141 s, approachRate: 0.616267 m/s, LOS rate: 2.859347 deg/s, posRepo size: 4
2020-12-13T21:34:46.784Z,1607895286.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 254.246934 deg,
      approachRate: 0.616267 m/s,
      LOS rate: 2.859347 deg/s,
      cmd update: 8.578041 deg/s,
      cmd heading: 31.843373 deg,
      new cmd heading: 39.072581 deg.

2020-12-13T21:34:48.778Z,1607895288.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:49.562Z,1607895289.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:49.941Z,1607895289.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:50.770Z,1607895290.770 [Micromodem](INFO): Nmea in: $SNTTA,0.010519,,,,213450.75*4F

2020-12-13T21:34:50.951Z,1607895290.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 286.595557 deg, deltaT: 4.200767 s, approachRate: 0.228530 m/s, LOS rate: 7.700646 deg/s, posRepo size: 4
2020-12-13T21:34:50.953Z,1607895290.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 286.595557 deg,
      approachRate: 0.228530 m/s,
      LOS rate: 7.700646 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 67.912365 deg,
      new cmd heading: 72.778190 deg.

2020-12-13T21:34:53.132Z,1607895293.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:53.703Z,1607895293.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:54.129Z,1607895294.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:54.958Z,1607895294.958 [Micromodem](INFO): Nmea in: $SNTTA,0.012285,,,,213454.89*48

2020-12-13T21:34:54.982Z,1607895294.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.179998 m, bearing: 323.314873 deg, deltaT: 4.180487 s, approachRate: 0.531038 m/s, LOS rate: 8.783502 deg/s, posRepo size: 4
2020-12-13T21:34:54.984Z,1607895294.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.179998 m,
      bearing: 323.314873 deg,
      approachRate: 0.531038 m/s,
      LOS rate: 8.783502 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 118.078078 deg,
      new cmd heading: 123.090274 deg.

2020-12-13T21:34:57.138Z,1607895297.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:34:57.743Z,1607895297.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:34:58.153Z,1607895298.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:34:58.990Z,1607895298.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,213458.93*5D

2020-12-13T21:34:59.205Z,1607895299.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 300.242548 deg, deltaT: 4.083004 s, approachRate: -0.014694 m/s, LOS rate: -5.650821 deg/s, posRepo size: 4
2020-12-13T21:34:59.207Z,1607895299.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.120001 m,
      bearing: 300.242548 deg,
      approachRate: -0.014694 m/s,
      LOS rate: -5.650821 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 167.024712 deg,
      new cmd heading: 173.763660 deg.

2020-12-13T21:35:01.424Z,1607895301.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:02.231Z,1607895302.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:02.622Z,1607895302.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:03.440Z,1607895303.440 [Micromodem](INFO): Nmea in: $SNTTA,0.012114,,0.034574,,213503.41*5B

2020-12-13T21:35:03.703Z,1607895303.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 287.504819 deg, deltaT: 4.384588 s, approachRate: 0.246317 m/s, LOS rate: -2.905114 deg/s, posRepo size: 4
2020-12-13T21:35:03.705Z,1607895303.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 287.504819 deg,
      approachRate: 0.246317 m/s,
      LOS rate: -2.905114 deg/s,
      cmd update: -8.715343 deg/s,
      cmd heading: 114.359939 deg,
      new cmd heading: 106.312726 deg.

2020-12-13T21:35:05.730Z,1607895305.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:06.287Z,1607895306.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:06.705Z,1607895306.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:06.717Z,1607895306.717 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:35:07.228Z,1607895307.228 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:35:07.229Z,1607895307.229 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:35:07.229Z,1607895307.229 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:35:07.562Z,1607895307.562 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:35:07.657Z,1607895307.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 245.354301 deg, deltaT: 4.248353 s, approachRate: 0.409570 m/s, LOS rate: -9.921614 deg/s, posRepo size: 4
2020-12-13T21:35:07.664Z,1607895307.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.939997 m,
      bearing: 245.354301 deg,
      approachRate: 0.409570 m/s,
      LOS rate: -9.921614 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.500210 deg,
      new cmd heading: 74.097112 deg.

2020-12-13T21:35:07.922Z,1607895307.922 [Micromodem](INFO): Nmea in: $CADRQ,213508,1,9,0,64,1*43

2020-12-13T21:35:07.922Z,1607895307.922 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:35:08.318Z,1607895308.318 [Micromodem](INFO): Nmea in: $SNTTA,,,0.015516,,213507.47*47

2020-12-13T21:35:08.318Z,1607895308.318 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,0.015516,,213507.47*47

2020-12-13T21:35:09.566Z,1607895309.566 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:35:09.936Z,1607895309.936 [Micromodem](INFO): Nmea in: $CADRQ,213509,1,9,0,64,2*41

2020-12-13T21:35:09.937Z,1607895309.937 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:35:10.153Z,1607895310.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:10.331Z,1607895310.331 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:35:10.727Z,1607895310.727 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:35:10.728Z,1607895310.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:12.795Z,1607895312.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:13.152Z,1607895313.152 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:35:13.152Z,1607895313.152 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:35:13.575Z,1607895313.575 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213511.090700,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T21:35:13.576Z,1607895313.576 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213511.090700,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T21:35:15.637Z,1607895315.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:18.696Z,1607895318.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:21.451Z,1607895321.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:21.806Z,1607895321.806 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:22.209Z,1607895322.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:23.070Z,1607895323.070 [Micromodem](INFO): Nmea in: $SNTTA,0.014876,,,,213522.99*49

2020-12-13T21:35:23.088Z,1607895323.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.160000 m, bearing: 239.018645 deg, deltaT: 15.526710 s, approachRate: 0.142980 m/s, LOS rate: -0.408049 deg/s, posRepo size: 4
2020-12-13T21:35:23.090Z,1607895323.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.160000 m,
      bearing: 239.018645 deg,
      approachRate: 0.142980 m/s,
      LOS rate: -0.408049 deg/s,
      cmd update: -1.224147 deg/s,
      cmd heading: 250.950737 deg,
      new cmd heading: 247.581017 deg.

2020-12-13T21:35:25.526Z,1607895325.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:26.267Z,1607895326.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:26.685Z,1607895326.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:27.526Z,1607895327.526 [Micromodem](INFO): Nmea in: $SNTTA,0.015646,,,,213527.45*41

2020-12-13T21:35:27.595Z,1607895327.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 286.575094 deg, deltaT: 4.291772 s, approachRate: 0.265625 m/s, LOS rate: 11.080842 deg/s, posRepo size: 4
2020-12-13T21:35:27.611Z,1607895327.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.300001 m,
      bearing: 286.575094 deg,
      approachRate: 0.265625 m/s,
      LOS rate: 11.080842 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 245.697085 deg,
      new cmd heading: 245.114394 deg.

2020-12-13T21:35:29.646Z,1607895329.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:30.363Z,1607895330.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:30.777Z,1607895330.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:31.634Z,1607895331.634 [Micromodem](INFO): Nmea in: $SNTTA,0.016603,,,,213531.55*45

2020-12-13T21:35:31.684Z,1607895331.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 263.950256 deg, deltaT: 4.237289 s, approachRate: 0.311519 m/s, LOS rate: -5.339461 deg/s, posRepo size: 4
2020-12-13T21:35:31.686Z,1607895331.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 263.950256 deg,
      approachRate: 0.311519 m/s,
      LOS rate: -5.339461 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 296.545202 deg,
      new cmd heading: 300.721431 deg.

2020-12-13T21:35:34.011Z,1607895334.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:34.803Z,1607895334.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:35.211Z,1607895335.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:36.058Z,1607895336.058 [Micromodem](INFO): Nmea in: $SNTTA,0.018127,0.056071,,,213535.99*55

2020-12-13T21:35:36.100Z,1607895336.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.180000 m, bearing: 265.695288 deg, deltaT: 4.501659 s, approachRate: 0.346539 m/s, LOS rate: 0.387642 deg/s, posRepo size: 4
2020-12-13T21:35:36.106Z,1607895336.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.180000 m,
      bearing: 265.695288 deg,
      approachRate: 0.346539 m/s,
      LOS rate: 0.387642 deg/s,
      cmd update: 1.162926 deg/s,
      cmd heading: 242.816220 deg,
      new cmd heading: 239.378280 deg.

2020-12-13T21:35:38.509Z,1607895338.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:39.251Z,1607895339.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:39.665Z,1607895339.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:40.517Z,1607895340.517 [Micromodem](INFO): Nmea in: $SNTTA,0.019001,,,,213540.43*4F

2020-12-13T21:35:40.617Z,1607895340.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 248.302648 deg, deltaT: 4.260210 s, approachRate: 0.281676 m/s, LOS rate: -4.082578 deg/s, posRepo size: 4
2020-12-13T21:35:40.617Z,1607895340.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 28.38 m. Rolling out.
2020-12-13T21:35:40.618Z,1607895340.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T21:35:42.909Z,1607895342.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:43.700Z,1607895343.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:44.113Z,1607895344.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:44.934Z,1607895344.934 [Micromodem](INFO): Nmea in: $SNTTA,0.019136,,,,213544.88*49

2020-12-13T21:35:44.959Z,1607895344.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 291.171429 deg, deltaT: 4.485989 s, approachRate: 0.254125 m/s, LOS rate: 9.556149 deg/s, posRepo size: 4
2020-12-13T21:35:47.350Z,1607895347.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:48.139Z,1607895348.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:48.553Z,1607895348.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:49.399Z,1607895349.399 [Micromodem](INFO): Nmea in: $SNTTA,0.020307,,,,213549.32*4F

2020-12-13T21:35:49.444Z,1607895349.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 255.683405 deg, deltaT: 4.422023 s, approachRate: 0.379917 m/s, LOS rate: -8.025291 deg/s, posRepo size: 4
2020-12-13T21:35:51.888Z,1607895351.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:52.621Z,1607895352.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:53.093Z,1607895353.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:53.839Z,1607895353.839 [Micromodem](INFO): Nmea in: $SNTTA,0.022344,,,,213553.81*49

2020-12-13T21:35:54.728Z,1607895354.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:56.246Z,1607895356.246 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:35:57.549Z,1607895357.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:35:58.268Z,1607895358.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:35:58.682Z,1607895358.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:35:59.530Z,1607895359.530 [Micromodem](INFO): Nmea in: $SNTTA,0.023284,,,,213559.45*47

2020-12-13T21:35:59.581Z,1607895359.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.520000 m, bearing: 250.389407 deg, deltaT: 10.123922 s, approachRate: 0.426712 m/s, LOS rate: -0.522920 deg/s, posRepo size: 4
2020-12-13T21:36:01.728Z,1607895361.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:02.307Z,1607895362.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:02.713Z,1607895362.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:03.562Z,1607895363.562 [Micromodem](INFO): Nmea in: $SNTTA,0.024501,,,,213603.49*4A

2020-12-13T21:36:03.792Z,1607895363.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.320004 m, bearing: 253.524492 deg, deltaT: 4.014001 s, approachRate: 0.448431 m/s, LOS rate: 0.781037 deg/s, posRepo size: 4
2020-12-13T21:36:05.699Z,1607895365.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:06.474Z,1607895366.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:06.932Z,1607895366.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:07.750Z,1607895367.750 [Micromodem](INFO): Nmea in: $SNTTA,0.025789,,0.047181,,213607.66*55

2020-12-13T21:36:08.260Z,1607895368.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 247.427865 deg, deltaT: 4.218424 s, approachRate: 0.469369 m/s, LOS rate: -1.445238 deg/s, posRepo size: 4
2020-12-13T21:36:10.194Z,1607895370.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:10.847Z,1607895370.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:11.263Z,1607895371.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:12.094Z,1607895372.094 [Micromodem](INFO): Nmea in: $SNTTA,0.027052,,,,213612.03*44

2020-12-13T21:36:12.116Z,1607895372.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 250.814218 deg, deltaT: 4.344392 s, approachRate: 0.400516 m/s, LOS rate: 0.779477 deg/s, posRepo size: 4
2020-12-13T21:36:12.485Z,1607895372.485 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:36:12.991Z,1607895372.991 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:36:12.991Z,1607895372.991 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:36:12.991Z,1607895372.991 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:36:13.294Z,1607895373.294 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:36:13.686Z,1607895373.686 [Micromodem](INFO): Nmea in: $CADRQ,213614,1,9,0,64,1*4D

2020-12-13T21:36:13.686Z,1607895373.686 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:36:14.089Z,1607895374.089 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:36:14.495Z,1607895374.495 [Micromodem](INFO): Nmea in: $CADRQ,213614,1,9,0,64,2*4E

2020-12-13T21:36:14.497Z,1607895374.497 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:36:14.755Z,1607895374.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:14.979Z,1607895374.979 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:36:15.371Z,1607895375.371 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:36:15.371Z,1607895375.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:17.426Z,1607895377.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:17.807Z,1607895377.807 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:36:17.807Z,1607895377.807 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:36:18.196Z,1607895378.196 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213615.656204,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:36:18.196Z,1607895378.196 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213615.656204,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:36:20.270Z,1607895380.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:23.232Z,1607895383.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:25.922Z,1607895385.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:26.691Z,1607895386.691 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:27.100Z,1607895387.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:27.958Z,1607895387.958 [Micromodem](INFO): Nmea in: $SNTTA,0.031882,,,,213627.87*4C

2020-12-13T21:36:27.980Z,1607895387.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 249.715186 deg, deltaT: 16.028232 s, approachRate: 0.456695 m/s, LOS rate: -0.068569 deg/s, posRepo size: 4
2020-12-13T21:36:30.375Z,1607895390.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:31.163Z,1607895391.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:31.608Z,1607895391.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:32.419Z,1607895392.419 [Micromodem](INFO): Nmea in: $SNTTA,0.033223,,,,213632.35*42

2020-12-13T21:36:32.455Z,1607895392.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 255.759493 deg, deltaT: 4.250875 s, approachRate: 0.451670 m/s, LOS rate: 1.421897 deg/s, posRepo size: 4
2020-12-13T21:36:34.863Z,1607895394.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:35.623Z,1607895395.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:36.013Z,1607895396.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:36.887Z,1607895396.887 [Micromodem](INFO): Nmea in: $SNTTA,0.034576,,,,213636.81*49

2020-12-13T21:36:37.725Z,1607895397.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:38.904Z,1607895398.904 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:36:40.734Z,1607895400.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:41.319Z,1607895401.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:41.717Z,1607895401.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:42.581Z,1607895402.581 [Micromodem](INFO): Nmea in: $SNTTA,0.036377,,,,213642.50*43

2020-12-13T21:36:42.778Z,1607895402.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 254.681444 deg, deltaT: 10.188607 s, approachRate: 0.488781 m/s, LOS rate: -0.105809 deg/s, posRepo size: 4
2020-12-13T21:36:44.678Z,1607895404.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:45.433Z,1607895405.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:45.829Z,1607895405.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:46.678Z,1607895406.678 [Micromodem](INFO): Nmea in: $SNTTA,0.037532,,,,213646.62*40

2020-12-13T21:36:46.734Z,1607895406.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 257.475592 deg, deltaT: 4.075486 s, approachRate: 0.485833 m/s, LOS rate: 0.685599 deg/s, posRepo size: 4
2020-12-13T21:36:49.253Z,1607895409.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:49.868Z,1607895409.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:50.269Z,1607895410.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:51.123Z,1607895411.123 [Micromodem](INFO): Nmea in: $SNTTA,0.038941,,,,213651.05*40

2020-12-13T21:36:51.138Z,1607895411.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 253.657107 deg, deltaT: 4.485640 s, approachRate: 0.387903 m/s, LOS rate: -0.851269 deg/s, posRepo size: 4
2020-12-13T21:36:53.740Z,1607895413.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:54.316Z,1607895414.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:54.726Z,1607895414.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:36:55.585Z,1607895415.585 [Micromodem](INFO): Nmea in: $SNTTA,0.040398,,,,213655.50*45

2020-12-13T21:36:55.775Z,1607895415.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 254.508913 deg, deltaT: 4.431466 s, approachRate: 0.487424 m/s, LOS rate: 0.192218 deg/s, posRepo size: 4
2020-12-13T21:36:57.996Z,1607895417.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:36:58.759Z,1607895418.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:36:59.190Z,1607895419.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:00.026Z,1607895420.026 [Micromodem](INFO): Nmea in: $SNTTA,0.041936,,,,213659.94*4E

2020-12-13T21:37:00.190Z,1607895420.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 256.472511 deg, deltaT: 4.488100 s, approachRate: 0.508011 m/s, LOS rate: 0.437512 deg/s, posRepo size: 4
2020-12-13T21:37:02.158Z,1607895422.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:02.866Z,1607895422.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:03.205Z,1607895423.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:04.044Z,1607895424.044 [Micromodem](INFO): Nmea in: $SNTTA,0.043364,,,,213704.05*40

2020-12-13T21:37:04.097Z,1607895424.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.639999 m, bearing: 255.640812 deg, deltaT: 4.028179 s, approachRate: 0.551116 m/s, LOS rate: -0.206470 deg/s, posRepo size: 4
2020-12-13T21:37:06.704Z,1607895426.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:07.283Z,1607895427.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:07.689Z,1607895427.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:08.534Z,1607895428.534 [Micromodem](INFO): Nmea in: $SNTTA,0.044800,,,,213708.47*44

2020-12-13T21:37:08.775Z,1607895428.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.260002 m, bearing: 254.139782 deg, deltaT: 4.457084 s, approachRate: 0.363467 m/s, LOS rate: -0.336774 deg/s, posRepo size: 4
2020-12-13T21:37:10.973Z,1607895430.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:11.755Z,1607895431.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:12.161Z,1607895432.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:13.002Z,1607895433.002 [Micromodem](INFO): Nmea in: $SNTTA,0.046266,,,0.175819,213712.94*54

2020-12-13T21:37:13.186Z,1607895433.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 252.831255 deg, deltaT: 4.508461 s, approachRate: 0.492406 m/s, LOS rate: -0.290238 deg/s, posRepo size: 4
2020-12-13T21:37:14.011Z,1607895434.011 [CTD_Seabird](ERROR): Failed to parse device response: .61
2020-12-13T21:37:15.190Z,1607895435.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:15.795Z,1607895435.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:16.193Z,1607895436.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:17.054Z,1607895437.054 [Micromodem](INFO): Nmea in: $SNTTA,0.047484,,,,213716.98*4A

2020-12-13T21:37:17.077Z,1607895437.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.339996 m, bearing: 253.813682 deg, deltaT: 4.007322 s, approachRate: 0.464151 m/s, LOS rate: 0.245158 deg/s, posRepo size: 4
2020-12-13T21:37:18.243Z,1607895438.243 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:37:18.786Z,1607895438.786 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:37:18.786Z,1607895438.786 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:37:18.786Z,1607895438.786 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:37:19.050Z,1607895439.050 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:37:19.240Z,1607895439.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:19.447Z,1607895439.447 [Micromodem](INFO): Nmea in: $CADRQ,213719,1,9,0,64,1*41

2020-12-13T21:37:19.450Z,1607895439.450 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:37:19.843Z,1607895439.843 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:37:19.844Z,1607895439.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:20.255Z,1607895440.255 [Micromodem](INFO): Nmea in: $CADRQ,213720,1,9,0,64,2*48

2020-12-13T21:37:20.256Z,1607895440.256 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,213720,1,9,0,64,2*48

2020-12-13T21:37:20.658Z,1607895440.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:21.110Z,1607895441.110 [Micromodem](INFO): Nmea in: $SNTTA,0.048771,,,,213721.03*4A

2020-12-13T21:37:21.260Z,1607895441.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.740005 m, bearing: 254.193058 deg, deltaT: 4.085893 s, approachRate: 0.587389 m/s, LOS rate: 0.092850 deg/s, posRepo size: 4
2020-12-13T21:37:23.540Z,1607895443.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:24.283Z,1607895444.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:24.701Z,1607895444.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:25.550Z,1607895445.550 [Micromodem](INFO): Nmea in: $SNTTA,0.050227,,,,213725.47*41

2020-12-13T21:37:25.779Z,1607895445.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.780006 m, bearing: 252.926468 deg, deltaT: 4.405022 s, approachRate: 0.463108 m/s, LOS rate: -0.287533 deg/s, posRepo size: 4
2020-12-13T21:37:27.814Z,1607895447.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:28.379Z,1607895448.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:28.789Z,1607895448.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:29.646Z,1607895449.646 [Micromodem](INFO): Nmea in: $SNTTA,0.051401,,,,213729.56*4E

2020-12-13T21:37:29.693Z,1607895449.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.519997 m, bearing: 254.498477 deg, deltaT: 4.072641 s, approachRate: 0.427239 m/s, LOS rate: 0.385993 deg/s, posRepo size: 4
2020-12-13T21:37:32.202Z,1607895452.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:32.827Z,1607895452.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:33.233Z,1607895453.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:34.074Z,1607895454.074 [Micromodem](INFO): Nmea in: $SNTTA,0.052882,,,,213734.01*44

2020-12-13T21:37:34.316Z,1607895454.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 254.768843 deg, deltaT: 4.491544 s, approachRate: 0.507620 m/s, LOS rate: 0.060194 deg/s, posRepo size: 4
2020-12-13T21:37:36.577Z,1607895456.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:37.317Z,1607895457.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:37.725Z,1607895457.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:38.573Z,1607895458.573 [Micromodem](INFO): Nmea in: $SNTTA,0.054352,,,,213738.50*4C

2020-12-13T21:37:38.632Z,1607895458.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.900002 m, bearing: 257.402454 deg, deltaT: 4.576881 s, approachRate: 0.458829 m/s, LOS rate: 0.575416 deg/s, posRepo size: 4
2020-12-13T21:37:40.963Z,1607895460.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:41.755Z,1607895461.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:42.165Z,1607895462.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:43.009Z,1607895463.009 [Micromodem](INFO): Nmea in: $SNTTA,0.055738,,,,213742.94*40

2020-12-13T21:37:43.028Z,1607895463.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 256.579198 deg, deltaT: 4.403896 s, approachRate: 0.476850 m/s, LOS rate: -0.186938 deg/s, posRepo size: 4
2020-12-13T21:37:45.434Z,1607895465.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:46.214Z,1607895466.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:46.633Z,1607895466.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:37:47.493Z,1607895467.493 [Micromodem](INFO): Nmea in: $SNTTA,0.057105,,,,213747.40*46

2020-12-13T21:37:47.542Z,1607895467.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.040001 m, bearing: 257.816856 deg, deltaT: 4.415396 s, approachRate: 0.462020 m/s, LOS rate: 0.280305 deg/s, posRepo size: 4
2020-12-13T21:37:49.895Z,1607895469.895 [Micromodem](INFO): Nmea in: $CAERR,213750,DATA_TIMEOUT,2*4F

2020-12-13T21:37:49.939Z,1607895469.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:50.310Z,1607895470.310 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:37:50.703Z,1607895470.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:37:51.547Z,1607895471.547 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:37:51.547Z,1607895471.547 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T21:37:51.915Z,1607895471.915 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213750.677088,3,0,200,4000,14500,1,1,9,1,2,1,3,64*7F

2020-12-13T21:37:51.916Z,1607895471.916 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213750.677088,3,0,200,4000,14500,1,1,9,1,2,1,3,64*7F

2020-12-13T21:37:52.799Z,1607895472.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:55.444Z,1607895475.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:37:58.326Z,1607895478.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:00.922Z,1607895480.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:02.062Z,1607895482.062 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:02.473Z,1607895482.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:03.314Z,1607895483.314 [Micromodem](INFO): Nmea in: $SNTTA,0.061881,,,,213803.24*4B

2020-12-13T21:38:03.366Z,1607895483.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.940010 m, bearing: 254.221799 deg, deltaT: 15.808418 s, approachRate: 0.436477 m/s, LOS rate: -0.227414 deg/s, posRepo size: 4
2020-12-13T21:38:05.870Z,1607895485.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:06.524Z,1607895486.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:06.913Z,1607895486.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:07.742Z,1607895487.742 [Micromodem](INFO): Nmea in: $SNTTA,0.063285,,,,213807.71*43

2020-12-13T21:38:07.883Z,1607895487.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 253.506023 deg, deltaT: 4.410268 s, approachRate: 0.544183 m/s, LOS rate: -0.162298 deg/s, posRepo size: 4
2020-12-13T21:38:10.337Z,1607895490.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:10.955Z,1607895490.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:11.369Z,1607895491.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:12.187Z,1607895492.187 [Micromodem](INFO): Nmea in: $SNTTA,0.064606,,,,213812.14*4C

2020-12-13T21:38:12.373Z,1607895492.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.320000 m, bearing: 253.189457 deg, deltaT: 4.490174 s, approachRate: 0.440962 m/s, LOS rate: -0.070502 deg/s, posRepo size: 4
2020-12-13T21:38:14.671Z,1607895494.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:15.392Z,1607895495.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:15.797Z,1607895495.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:16.662Z,1607895496.662 [Micromodem](INFO): Nmea in: $SNTTA,0.066011,,,,213816.58*42

2020-12-13T21:38:16.842Z,1607895496.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 254.573062 deg, deltaT: 4.433575 s, approachRate: 0.460127 m/s, LOS rate: 0.312074 deg/s, posRepo size: 4
2020-12-13T21:38:18.864Z,1607895498.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:19.459Z,1607895499.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:19.861Z,1607895499.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:20.698Z,1607895500.698 [Micromodem](INFO): Nmea in: $SNTTA,0.067193,0.071629,,,213820.64*57

2020-12-13T21:38:20.761Z,1607895500.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 254.233329 deg, deltaT: 4.056731 s, approachRate: 0.473285 m/s, LOS rate: -0.083746 deg/s, posRepo size: 4
2020-12-13T21:38:23.245Z,1607895503.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:23.895Z,1607895503.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:24.317Z,1607895504.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:24.329Z,1607895504.329 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:38:24.832Z,1607895504.832 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:38:24.832Z,1607895504.832 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:38:24.833Z,1607895504.833 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:38:25.154Z,1607895505.154 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:38:25.320Z,1607895505.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.959999 m, bearing: 252.902589 deg, deltaT: 4.627005 s, approachRate: 0.363086 m/s, LOS rate: -0.287603 deg/s, posRepo size: 4
2020-12-13T21:38:25.534Z,1607895505.534 [Micromodem](INFO): Nmea in: $CADRQ,213825,1,9,0,64,1*41

2020-12-13T21:38:25.534Z,1607895505.534 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:38:25.922Z,1607895505.922 [Micromodem](INFO): Nmea in: $SNTTA,0.068528,,0.083993,0.071047,213825.08*4B

2020-12-13T21:38:25.923Z,1607895505.923 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.068528,,0.083993,0.071047,213825.08*4B

2020-12-13T21:38:27.139Z,1607895507.139 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:38:27.559Z,1607895507.559 [Micromodem](INFO): Nmea in: $CADRQ,213826,1,9,0,64,2*41

2020-12-13T21:38:27.559Z,1607895507.559 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:38:27.665Z,1607895507.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:27.943Z,1607895507.943 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:38:28.347Z,1607895508.347 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:38:28.347Z,1607895508.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:30.397Z,1607895510.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:30.762Z,1607895510.762 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:38:30.763Z,1607895510.763 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:38:31.172Z,1607895511.172 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213828.716648,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T21:38:31.172Z,1607895511.172 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213828.716648,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T21:38:32.898Z,1607895512.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:35.683Z,1607895515.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:38.209Z,1607895518.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:39.659Z,1607895519.659 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:40.068Z,1607895520.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:40.898Z,1607895520.898 [Micromodem](INFO): Nmea in: $SNTTA,0.073279,,,,213840.84*48

2020-12-13T21:38:40.933Z,1607895520.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.400002 m, bearing: 252.218204 deg, deltaT: 15.586519 s, approachRate: 0.477336 m/s, LOS rate: -0.043909 deg/s, posRepo size: 4
2020-12-13T21:38:43.359Z,1607895523.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:44.140Z,1607895524.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:44.559Z,1607895524.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:45.390Z,1607895525.390 [Micromodem](INFO): Nmea in: $SNTTA,0.074700,,,,213845.32*4C

2020-12-13T21:38:45.418Z,1607895525.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 254.444682 deg, deltaT: 4.458856 s, approachRate: 0.403690 m/s, LOS rate: 0.499338 deg/s, posRepo size: 4
2020-12-13T21:38:47.822Z,1607895527.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:48.594Z,1607895528.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:48.989Z,1607895528.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:49.826Z,1607895529.826 [Micromodem](INFO): Nmea in: $SNTTA,0.076136,,0.086535,,213849.78*5C

2020-12-13T21:38:49.879Z,1607895529.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 256.445408 deg, deltaT: 4.445626 s, approachRate: 0.539859 m/s, LOS rate: 0.450044 deg/s, posRepo size: 4
2020-12-13T21:38:52.266Z,1607895532.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:53.031Z,1607895533.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:53.452Z,1607895533.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:54.281Z,1607895534.281 [Micromodem](INFO): Nmea in: $SNTTA,0.077556,,,,213854.21*4C

2020-12-13T21:38:54.300Z,1607895534.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 254.686635 deg, deltaT: 4.463122 s, approachRate: 0.430190 m/s, LOS rate: -0.394068 deg/s, posRepo size: 4
2020-12-13T21:38:56.752Z,1607895536.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:38:57.493Z,1607895537.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:38:57.970Z,1607895537.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:38:58.794Z,1607895538.794 [Micromodem](INFO): Nmea in: $SNTTA,0.079046,,,,213858.68*47

2020-12-13T21:38:58.863Z,1607895538.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 254.248246 deg, deltaT: 4.497620 s, approachRate: 0.480255 m/s, LOS rate: -0.097471 deg/s, posRepo size: 4
2020-12-13T21:39:01.247Z,1607895541.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:01.996Z,1607895541.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:02.404Z,1607895542.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:03.246Z,1607895543.246 [Micromodem](INFO): Nmea in: $SNTTA,0.080506,,,,213903.18*48

2020-12-13T21:39:03.308Z,1607895543.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.900002 m, bearing: 254.960798 deg, deltaT: 4.502786 s, approachRate: 0.493028 m/s, LOS rate: 0.158247 deg/s, posRepo size: 4
2020-12-13T21:39:05.715Z,1607895545.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:06.451Z,1607895546.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:06.857Z,1607895546.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:07.694Z,1607895547.694 [Micromodem](INFO): Nmea in: $SNTTA,0.081800,,0.085507,,213907.64*5C

2020-12-13T21:39:07.758Z,1607895547.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.820007 m, bearing: 256.239656 deg, deltaT: 4.382156 s, approachRate: 0.438142 m/s, LOS rate: 0.291833 deg/s, posRepo size: 4
2020-12-13T21:39:09.984Z,1607895549.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:10.854Z,1607895550.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:11.275Z,1607895551.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:12.106Z,1607895552.106 [Micromodem](INFO): Nmea in: $SNTTA,0.083101,,,,213912.04*45

2020-12-13T21:39:12.129Z,1607895552.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.979996 m, bearing: 252.862428 deg, deltaT: 4.484157 s, approachRate: 0.481693 m/s, LOS rate: -0.753147 deg/s, posRepo size: 4
2020-12-13T21:39:14.578Z,1607895554.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:15.303Z,1607895555.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:15.705Z,1607895555.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:16.597Z,1607895556.597 [Micromodem](INFO): Nmea in: $SNTTA,0.084689,,,,213916.48*49

2020-12-13T21:39:16.660Z,1607895556.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.439995 m, bearing: 253.783001 deg, deltaT: 4.424940 s, approachRate: 0.555940 m/s, LOS rate: 0.208042 deg/s, posRepo size: 4
2020-12-13T21:39:18.981Z,1607895558.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:19.755Z,1607895559.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:20.153Z,1607895560.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:20.990Z,1607895560.990 [Micromodem](INFO): Nmea in: $SNTTA,0.086097,,,,213920.94*46

2020-12-13T21:39:21.148Z,1607895561.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.479996 m, bearing: 253.197489 deg, deltaT: 4.482829 s, approachRate: 0.455070 m/s, LOS rate: -0.130612 deg/s, posRepo size: 4
2020-12-13T21:39:23.428Z,1607895563.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:24.191Z,1607895564.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:24.637Z,1607895564.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:25.434Z,1607895565.434 [Micromodem](INFO): Nmea in: $SNTTA,0.087480,,,,213925.38*46

2020-12-13T21:39:25.475Z,1607895565.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 253.505067 deg, deltaT: 4.355850 s, approachRate: 0.413238 m/s, LOS rate: 0.070612 deg/s, posRepo size: 4
2020-12-13T21:39:27.684Z,1607895567.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:28.263Z,1607895568.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:28.669Z,1607895568.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:29.530Z,1607895569.530 [Micromodem](INFO): Nmea in: $SNTTA,0.088667,,,,213929.45*44

2020-12-13T21:39:29.762Z,1607895569.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.320007 m, bearing: 254.446376 deg, deltaT: 4.093732 s, approachRate: 0.498325 m/s, LOS rate: 0.229939 deg/s, posRepo size: 4
2020-12-13T21:39:29.966Z,1607895569.966 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:39:30.530Z,1607895570.530 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:39:30.530Z,1607895570.530 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:39:30.530Z,1607895570.530 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:39:30.810Z,1607895570.810 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:39:31.222Z,1607895571.222 [Micromodem](INFO): Nmea in: $CADRQ,213931,1,9,0,64,1*45

2020-12-13T21:39:31.222Z,1607895571.222 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:39:31.656Z,1607895571.656 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:39:31.692Z,1607895571.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:32.028Z,1607895572.028 [Micromodem](INFO): Nmea in: $CADRQ,213932,1,9,0,64,2*45

2020-12-13T21:39:32.030Z,1607895572.030 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:39:32.431Z,1607895572.431 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:39:32.432Z,1607895572.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:32.818Z,1607895572.818 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:39:32.819Z,1607895572.819 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:39:34.529Z,1607895574.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:35.263Z,1607895575.263 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:39:35.263Z,1607895575.263 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:39:35.663Z,1607895575.663 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,213933.186316,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:39:35.664Z,1607895575.664 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,213933.186316,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:39:37.317Z,1607895577.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:40.254Z,1607895580.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:42.961Z,1607895582.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:43.746Z,1607895583.746 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:44.149Z,1607895584.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:44.998Z,1607895584.998 [Micromodem](INFO): Nmea in: $SNTTA,0.093482,,,,213944.93*47

2020-12-13T21:39:45.054Z,1607895585.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 251.585018 deg, deltaT: 15.525213 s, approachRate: 0.471491 m/s, LOS rate: -0.184304 deg/s, posRepo size: 4
2020-12-13T21:39:45.066Z,1607895585.066 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T21:29:44.0Z
2020-12-13T21:39:45.066Z,1607895585.066 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:39:45.066Z,1607895585.066 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:39:45.067Z,1607895585.067 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:39:45.067Z,1607895585.067 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:39:45.067Z,1607895585.067 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T21:39:45.392Z,1607895585.392 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:39:45.393Z,1607895585.393 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:39:45.393Z,1607895585.393 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:39:45.393Z,1607895585.393 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:39:45.393Z,1607895585.393 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:39:47.432Z,1607895587.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:48.203Z,1607895588.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:48.628Z,1607895588.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:49.461Z,1607895589.461 [Micromodem](INFO): Nmea in: $SNTTA,0.094806,,,,213949.38*4C

2020-12-13T21:39:49.526Z,1607895589.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.260010 m, bearing: 254.826708 deg, deltaT: 4.416201 s, approachRate: 0.366833 m/s, LOS rate: 0.734045 deg/s, posRepo size: 4
2020-12-13T21:39:51.885Z,1607895591.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:52.659Z,1607895592.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:53.049Z,1607895593.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:53.878Z,1607895593.878 [Micromodem](INFO): Nmea in: $SNTTA,0.095995,,,,213953.84*4A

2020-12-13T21:39:54.743Z,1607895594.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:56.278Z,1607895596.278 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:39:57.556Z,1607895597.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:39:58.307Z,1607895598.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:39:58.713Z,1607895598.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:39:59.582Z,1607895599.582 [Micromodem](INFO): Nmea in: $SNTTA,0.097812,,,,213959.49*4D

2020-12-13T21:39:59.787Z,1607895599.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 256.414782 deg, deltaT: 10.105943 s, approachRate: 0.474967 m/s, LOS rate: 0.157143 deg/s, posRepo size: 4
2020-12-13T21:40:01.824Z,1607895601.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:02.392Z,1607895602.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:02.818Z,1607895602.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:03.655Z,1607895603.655 [Micromodem](INFO): Nmea in: $SNTTA,0.099013,,,,214003.58*4B

2020-12-13T21:40:04.445Z,1607895604.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:06.042Z,1607895606.042 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:40:07.301Z,1607895607.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:08.052Z,1607895608.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:08.486Z,1607895608.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:09.303Z,1607895609.303 [Micromodem](INFO): Nmea in: $SNTTA,0.100676,,,,214009.24*4E

2020-12-13T21:40:10.112Z,1607895610.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:11.706Z,1607895611.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:40:12.759Z,1607895612.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:13.327Z,1607895613.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:13.739Z,1607895613.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:14.589Z,1607895614.589 [Micromodem](INFO): Nmea in: $SNTTA,0.102521,,,,214014.51*43

2020-12-13T21:40:15.387Z,1607895615.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:16.982Z,1607895616.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:40:18.225Z,1607895618.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:18.999Z,1607895618.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:19.437Z,1607895619.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:20.258Z,1607895620.258 [Micromodem](INFO): Nmea in: $SNTTA,0.104314,,,0.115701,214020.18*52

2020-12-13T21:40:20.319Z,1607895620.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.600006 m, bearing: 254.418864 deg, deltaT: 20.750085 s, approachRate: 0.459758 m/s, LOS rate: -0.096188 deg/s, posRepo size: 4
2020-12-13T21:40:22.718Z,1607895622.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:23.479Z,1607895623.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:23.881Z,1607895623.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:24.706Z,1607895624.706 [Micromodem](INFO): Nmea in: $SNTTA,0.105820,,,0.108308,214024.66*53

2020-12-13T21:40:24.758Z,1607895624.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.600006 m, bearing: 253.445480 deg, deltaT: 4.383047 s, approachRate: 0.000000 m/s, LOS rate: -0.222079 deg/s, posRepo size: 4
2020-12-13T21:40:27.144Z,1607895627.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:27.915Z,1607895627.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:28.333Z,1607895628.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:29.167Z,1607895629.167 [Micromodem](INFO): Nmea in: $SNTTA,0.107302,,,,214029.10*4A

2020-12-13T21:40:29.188Z,1607895629.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 252.721835 deg, deltaT: 4.524819 s, approachRate: 0.994515 m/s, LOS rate: -0.159928 deg/s, posRepo size: 4
2020-12-13T21:40:31.641Z,1607895631.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:32.363Z,1607895632.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:32.769Z,1607895632.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:33.622Z,1607895633.622 [Micromodem](INFO): Nmea in: $SNTTA,0.109146,,,,214033.55*4C

2020-12-13T21:40:33.687Z,1607895633.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 253.692869 deg, deltaT: 4.410859 s, approachRate: 0.476096 m/s, LOS rate: 0.220146 deg/s, posRepo size: 4
2020-12-13T21:40:35.621Z,1607895635.621 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:40:36.120Z,1607895636.120 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:40:36.120Z,1607895636.120 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:40:36.121Z,1607895636.121 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:40:36.184Z,1607895636.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:36.404Z,1607895636.404 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:40:36.807Z,1607895636.807 [Micromodem](INFO): Nmea in: $CADRQ,214037,1,9,0,64,1*4D

2020-12-13T21:40:36.807Z,1607895636.807 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:40:37.207Z,1607895637.207 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:40:37.207Z,1607895637.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:37.639Z,1607895637.639 [Micromodem](INFO): Nmea in: $CADRQ,214037,1,9,0,64,2*4E

2020-12-13T21:40:37.639Z,1607895637.639 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,214037,1,9,0,64,2*4E

2020-12-13T21:40:38.020Z,1607895638.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:38.459Z,1607895638.459 [Micromodem](INFO): Nmea in: $SNTTA,0.110208,,,,214038.39*4C

2020-12-13T21:40:38.694Z,1607895638.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.360001 m, bearing: 251.861996 deg, deltaT: 4.847128 s, approachRate: 0.445625 m/s, LOS rate: -0.377723 deg/s, posRepo size: 4
2020-12-13T21:40:40.716Z,1607895640.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:41.280Z,1607895641.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:41.681Z,1607895641.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:42.538Z,1607895642.538 [Micromodem](INFO): Nmea in: $SNTTA,0.111534,,,,214042.46*40

2020-12-13T21:40:42.605Z,1607895642.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 254.561888 deg, deltaT: 4.054182 s, approachRate: 0.503186 m/s, LOS rate: 0.665952 deg/s, posRepo size: 4
2020-12-13T21:40:45.090Z,1607895645.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:45.767Z,1607895645.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:46.173Z,1607895646.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:47.010Z,1607895647.010 [Micromodem](INFO): Nmea in: $SNTTA,0.112922,,,,214046.95*42

2020-12-13T21:40:47.172Z,1607895647.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 254.615819 deg, deltaT: 4.525257 s, approachRate: 0.000000 m/s, LOS rate: 0.011918 deg/s, posRepo size: 4
2020-12-13T21:40:49.492Z,1607895649.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:50.203Z,1607895650.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:50.646Z,1607895650.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:51.446Z,1607895651.446 [Micromodem](INFO): Nmea in: $SNTTA,0.114389,,,,214051.39*4F

2020-12-13T21:40:52.303Z,1607895652.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:53.505Z,1607895653.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:40:54.816Z,1607895654.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:40:55.580Z,1607895655.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:40:56.001Z,1607895656.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:40:56.838Z,1607895656.838 [Micromodem](INFO): Nmea in: $SNTTA,0.115965,,,,214056.76*4A

2020-12-13T21:40:56.895Z,1607895656.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.059998 m, bearing: 253.513044 deg, deltaT: 9.780183 s, approachRate: 0.680968 m/s, LOS rate: -0.112756 deg/s, posRepo size: 4
2020-12-13T21:40:59.306Z,1607895659.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:00.056Z,1607895660.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:00.548Z,1607895660.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:01.330Z,1607895661.330 [Micromodem](INFO): Nmea in: $SNTTA,0.117426,,,,214101.24*46

2020-12-13T21:41:01.376Z,1607895661.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.400009 m, bearing: 252.045619 deg, deltaT: 4.517770 s, approachRate: 0.517957 m/s, LOS rate: -0.324812 deg/s, posRepo size: 4
2020-12-13T21:41:03.791Z,1607895663.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:04.573Z,1607895664.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:04.955Z,1607895664.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:05.765Z,1607895665.765 [Micromodem](INFO): Nmea in: $SNTTA,0.118871,,,,214105.75*47

2020-12-13T21:41:06.311Z,1607895666.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:06.989Z,1607895666.989 [Micromodem](INFO): Nmea in: $CAERR,214107,DATA_TIMEOUT,2*4C

2020-12-13T21:41:07.372Z,1607895667.372 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:41:08.184Z,1607895668.184 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:41:08.988Z,1607895668.988 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:41:09.038Z,1607895669.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:09.413Z,1607895669.413 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214108.027505,3,0,200,4000,14500,1,1,9,1,2,1,3,64*70

2020-12-13T21:41:09.811Z,1607895669.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:10.212Z,1607895670.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:10.627Z,1607895670.627 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FA2,0,61,64
D,184,80,80,5F,FF
2020-12-13T21:41:11.059Z,1607895671.059 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214110.99*59

2020-12-13T21:41:11.917Z,1607895671.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:14.705Z,1607895674.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:17.254Z,1607895677.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:17.519Z,1607895677.519 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:41:17.882Z,1607895677.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:18.288Z,1607895678.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:18.694Z,1607895678.694 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FA2,0,61,64
D,184,80,80,5F,FF
2020-12-13T21:41:19.123Z,1607895679.123 [Micromodem](INFO): Nmea in: $SNTTA,0.123447,,,,214119.06*4F

2020-12-13T21:41:19.923Z,1607895679.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:22.776Z,1607895682.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:25.767Z,1607895685.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:26.364Z,1607895686.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:26.771Z,1607895686.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:27.604Z,1607895687.604 [Micromodem](INFO): Nmea in: $SNTTA,0.125780,,,,214127.55*4A

2020-12-13T21:41:28.016Z,1607895688.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 254.844439 deg, deltaT: 26.718304 s, approachRate: 0.464849 m/s, LOS rate: 0.104753 deg/s, posRepo size: 4
2020-12-13T21:41:30.176Z,1607895690.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:30.811Z,1607895690.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:31.219Z,1607895691.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:32.055Z,1607895692.055 [Micromodem](INFO): Nmea in: $SNTTA,0.127155,,,,214131.99*41

2020-12-13T21:41:32.220Z,1607895692.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 253.519246 deg, deltaT: 4.039395 s, approachRate: 0.000000 m/s, LOS rate: -0.328067 deg/s, posRepo size: 4
2020-12-13T21:41:34.551Z,1607895694.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:35.283Z,1607895695.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:35.701Z,1607895695.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:36.537Z,1607895696.537 [Micromodem](INFO): Nmea in: $SNTTA,0.128595,,,,214136.46*43

2020-12-13T21:41:36.967Z,1607895696.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.959991 m, bearing: 253.472527 deg, deltaT: 5.043611 s, approachRate: 0.820843 m/s, LOS rate: -0.009263 deg/s, posRepo size: 4
2020-12-13T21:41:39.376Z,1607895699.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:40.159Z,1607895700.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:40.582Z,1607895700.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:41.389Z,1607895701.389 [Micromodem](INFO): Nmea in: $SNTTA,0.130018,,,,214141.34*4F

2020-12-13T21:41:41.389Z,1607895701.389 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:41:41.976Z,1607895701.976 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:41:41.976Z,1607895701.976 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:41:41.977Z,1607895701.977 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:41:42.075Z,1607895702.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.119995 m, bearing: 252.672357 deg, deltaT: 4.658804 s, approachRate: 0.463639 m/s, LOS rate: -0.171754 deg/s, posRepo size: 4
2020-12-13T21:41:42.682Z,1607895702.682 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:41:43.078Z,1607895703.078 [Micromodem](INFO): Nmea in: $CADRQ,214143,1,9,0,64,1*4F

2020-12-13T21:41:43.078Z,1607895703.078 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:41:43.501Z,1607895703.501 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:41:43.890Z,1607895703.890 [Micromodem](INFO): Nmea in: $CADRQ,214144,1,9,0,64,2*4B

2020-12-13T21:41:43.890Z,1607895703.890 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:41:43.973Z,1607895703.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:44.287Z,1607895704.287 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:41:44.697Z,1607895704.697 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:41:44.698Z,1607895704.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:46.758Z,1607895706.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:47.114Z,1607895707.114 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:41:47.115Z,1607895707.115 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:41:47.555Z,1607895707.555 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214145.047426,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:41:47.556Z,1607895707.556 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214145.047426,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:41:48.753Z,1607895708.753 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:41:49.298Z,1607895709.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:52.003Z,1607895712.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:54.837Z,1607895714.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:41:56.003Z,1607895716.003 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:41:56.423Z,1607895716.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:41:57.253Z,1607895717.253 [Micromodem](INFO): Nmea in: $SNTTA,0.134841,,,,214157.19*47

2020-12-13T21:41:57.837Z,1607895717.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.319992 m, bearing: 253.790350 deg, deltaT: 15.871310 s, approachRate: 0.453649 m/s, LOS rate: 0.070441 deg/s, posRepo size: 4
2020-12-13T21:42:00.059Z,1607895720.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:00.859Z,1607895720.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:01.268Z,1607895721.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:02.085Z,1607895722.085 [Micromodem](INFO): Nmea in: $SNTTA,0.137209,,,,214202.04*4D

2020-12-13T21:42:02.530Z,1607895722.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.919983 m, bearing: 254.537709 deg, deltaT: 4.989259 s, approachRate: 0.721548 m/s, LOS rate: 0.149794 deg/s, posRepo size: 4
2020-12-13T21:42:04.934Z,1607895724.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:05.699Z,1607895725.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:06.110Z,1607895726.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:06.940Z,1607895726.940 [Micromodem](INFO): Nmea in: $SNTTA,0.138344,,,,214206.88*4A

2020-12-13T21:42:07.347Z,1607895727.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.660004 m, bearing: 254.268217 deg, deltaT: 4.698017 s, approachRate: 0.370373 m/s, LOS rate: -0.057363 deg/s, posRepo size: 4
2020-12-13T21:42:09.824Z,1607895729.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:10.559Z,1607895730.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:10.997Z,1607895730.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:11.811Z,1607895731.811 [Micromodem](INFO): Nmea in: $SNTTA,0.139445,,,,214211.74*48

2020-12-13T21:42:12.678Z,1607895732.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:14.230Z,1607895734.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:42:15.202Z,1607895735.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:15.839Z,1607895735.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:16.256Z,1607895736.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:17.073Z,1607895737.073 [Micromodem](INFO): Nmea in: $SNTTA,0.141185,,,,214217.02*49

2020-12-13T21:42:17.537Z,1607895737.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.039993 m, bearing: 254.380424 deg, deltaT: 10.263874 s, approachRate: 0.426738 m/s, LOS rate: 0.010932 deg/s, posRepo size: 4
2020-12-13T21:42:19.909Z,1607895739.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:20.691Z,1607895740.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:21.097Z,1607895741.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:21.965Z,1607895741.965 [Micromodem](INFO): Nmea in: $SNTTA,0.142477,,,,214221.87*4A

2020-12-13T21:42:22.400Z,1607895742.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.899994 m, bearing: 255.755696 deg, deltaT: 4.744076 s, approachRate: 0.392068 m/s, LOS rate: 0.289893 deg/s, posRepo size: 4
2020-12-13T21:42:24.850Z,1607895744.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:25.614Z,1607895745.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:26.001Z,1607895746.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:26.820Z,1607895746.820 [Micromodem](INFO): Nmea in: $SNTTA,0.144673,,,,214226.80*4A

2020-12-13T21:42:27.244Z,1607895747.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.139999 m, bearing: 256.207308 deg, deltaT: 4.898828 s, approachRate: 0.661384 m/s, LOS rate: 0.092188 deg/s, posRepo size: 4
2020-12-13T21:42:29.696Z,1607895749.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:30.447Z,1607895750.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:30.861Z,1607895750.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:31.677Z,1607895751.677 [Micromodem](INFO): Nmea in: $SNTTA,0.145358,,,,214231.63*4C

2020-12-13T21:42:32.099Z,1607895752.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.159988 m, bearing: 255.477707 deg, deltaT: 4.860678 s, approachRate: 0.209845 m/s, LOS rate: -0.150103 deg/s, posRepo size: 4
2020-12-13T21:42:34.758Z,1607895754.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:35.311Z,1607895755.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:35.737Z,1607895755.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:36.577Z,1607895756.577 [Micromodem](INFO): Nmea in: $SNTTA,0.146865,,,,214236.49*45

2020-12-13T21:42:37.011Z,1607895757.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.439987 m, bearing: 253.786252 deg, deltaT: 5.063265 s, approachRate: 0.450302 m/s, LOS rate: -0.334064 deg/s, posRepo size: 4
2020-12-13T21:42:39.524Z,1607895759.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:40.199Z,1607895760.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:40.364Z,1607895760.364 [CTD_Seabird](ERROR): Failed to parse device response: 5.46.13
2020-12-13T21:42:40.625Z,1607895760.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:41.457Z,1607895761.457 [Micromodem](INFO): Nmea in: $SNTTA,0.148667,,,,214241.38*41

2020-12-13T21:42:41.875Z,1607895761.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.139984 m, bearing: 253.753002 deg, deltaT: 4.712077 s, approachRate: 0.572995 m/s, LOS rate: -0.007056 deg/s, posRepo size: 4
2020-12-13T21:42:44.290Z,1607895764.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:45.055Z,1607895765.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:45.468Z,1607895765.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:42:46.286Z,1607895766.286 [Micromodem](INFO): Nmea in: $SNTTA,0.149960,,,,214246.24*42

2020-12-13T21:42:46.712Z,1607895766.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.119995 m, bearing: 255.002763 deg, deltaT: 4.824529 s, approachRate: 0.410405 m/s, LOS rate: 0.259043 deg/s, posRepo size: 4
2020-12-13T21:42:47.074Z,1607895767.074 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:42:47.672Z,1607895767.672 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:42:47.673Z,1607895767.673 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:42:47.673Z,1607895767.673 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:42:48.113Z,1607895768.113 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:42:48.546Z,1607895768.546 [Micromodem](INFO): Nmea in: $CADRQ,214248,1,9,0,64,1*47

2020-12-13T21:42:48.546Z,1607895768.546 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:42:48.915Z,1607895768.915 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:42:48.991Z,1607895768.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:49.324Z,1607895769.324 [Micromodem](INFO): Nmea in: $CADRQ,214249,1,9,0,64,2*45

2020-12-13T21:42:49.326Z,1607895769.326 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:42:49.735Z,1607895769.735 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:42:49.735Z,1607895769.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:42:49.933Z,1607895769.933 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:42:50.135Z,1607895770.135 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:42:50.135Z,1607895770.135 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:42:51.783Z,1607895771.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:52.563Z,1607895772.563 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:42:52.563Z,1607895772.563 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:42:52.960Z,1607895772.960 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214250.482682,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:42:52.960Z,1607895772.960 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214250.482682,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:42:54.314Z,1607895774.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:57.027Z,1607895777.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:42:59.857Z,1607895779.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:00.798Z,1607895780.798 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:43:01.030Z,1607895781.030 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:01.453Z,1607895781.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:02.267Z,1607895782.267 [Micromodem](INFO): Nmea in: $SNTTA,0.154879,,,,214302.21*43

2020-12-13T21:43:02.825Z,1607895782.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:04.678Z,1607895784.678 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:04.704Z,1607895784.704 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:43:05.540Z,1607895785.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:06.287Z,1607895786.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:06.701Z,1607895786.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:07.568Z,1607895787.568 [Micromodem](INFO): Nmea in: $SNTTA,0.156501,,,,214307.47*46

2020-12-13T21:43:08.358Z,1607895788.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:09.588Z,1607895789.588 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:11.158Z,1607895791.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:11.947Z,1607895791.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:12.361Z,1607895792.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:13.190Z,1607895793.190 [Micromodem](INFO): Nmea in: $SNTTA,0.158193,,,,214313.13*43

2020-12-13T21:43:13.775Z,1607895793.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:14.834Z,1607895794.834 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:43:15.608Z,1607895795.608 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:16.435Z,1607895796.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:17.210Z,1607895797.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:17.645Z,1607895797.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:18.432Z,1607895798.432 [Micromodem](INFO): Nmea in: $SNTTA,0.159968,,,,214318.39*4D

2020-12-13T21:43:19.257Z,1607895799.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:19.679Z,1607895799.679 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:43:20.838Z,1607895800.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:22.213Z,1607895802.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:22.855Z,1607895802.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:23.267Z,1607895803.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:24.094Z,1607895804.094 [Micromodem](INFO): Nmea in: $SNTTA,0.161730,,,,214324.04*44

2020-12-13T21:43:24.539Z,1607895804.539 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:43:24.913Z,1607895804.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:26.510Z,1607895806.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:27.819Z,1607895807.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:28.605Z,1607895808.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:29.065Z,1607895809.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:29.869Z,1607895809.869 [Micromodem](INFO): Nmea in: $SNTTA,0.163797,,,,214329.79*4C

2020-12-13T21:43:29.908Z,1607895809.908 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:43:30.298Z,1607895810.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.880005 m, bearing: 250.088087 deg, deltaT: 43.613956 s, approachRate: 0.475995 m/s, LOS rate: -0.112686 deg/s, posRepo size: 4
2020-12-13T21:43:32.867Z,1607895812.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:33.526Z,1607895813.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:33.909Z,1607895813.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:34.715Z,1607895814.715 [Micromodem](INFO): Nmea in: $SNTTA,0.165441,,,,214334.71*46

2020-12-13T21:43:35.632Z,1607895815.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:37.149Z,1607895817.149 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:38.374Z,1607895818.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:39.163Z,1607895819.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:39.664Z,1607895819.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:39.699Z,1607895819.699 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T21:43:40.467Z,1607895820.467 [Micromodem](INFO): Nmea in: $SNTTA,0.167073,,,,214340.34*43

2020-12-13T21:43:40.918Z,1607895820.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:42.493Z,1607895822.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:43.739Z,1607895823.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:44.534Z,1607895824.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:44.905Z,1607895824.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:45.719Z,1607895825.719 [Micromodem](INFO): Nmea in: $SNTTA,0.169089,,,,214345.72*4F

2020-12-13T21:43:45.915Z,1607895825.915 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T21:43:46.620Z,1607895826.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:48.134Z,1607895828.134 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:43:49.368Z,1607895829.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:50.155Z,1607895830.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:50.562Z,1607895830.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:51.395Z,1607895831.395 [Micromodem](INFO): Nmea in: $SNTTA,0.170445,,,,214351.34*44

2020-12-13T21:43:51.835Z,1607895831.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.720001 m, bearing: 251.195069 deg, deltaT: 21.471408 s, approachRate: 0.458284 m/s, LOS rate: 0.051556 deg/s, posRepo size: 4
2020-12-13T21:43:52.989Z,1607895832.989 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:43:53.591Z,1607895833.591 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:43:53.592Z,1607895833.592 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:43:53.594Z,1607895833.594 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:43:53.898Z,1607895833.898 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:43:53.934Z,1607895833.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:54.299Z,1607895834.299 [Micromodem](INFO): Nmea in: $CADRQ,214354,1,9,0,64,1*4B

2020-12-13T21:43:54.301Z,1607895834.301 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:43:54.827Z,1607895834.827 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:43:54.828Z,1607895834.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:55.233Z,1607895835.233 [Micromodem](INFO): Nmea in: $CADRQ,214355,1,9,0,64,2*49

2020-12-13T21:43:55.233Z,1607895835.233 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,214355,1,9,0,64,2*49

2020-12-13T21:43:55.657Z,1607895835.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:43:56.069Z,1607895836.069 [Micromodem](INFO): Nmea in: $SNTTA,0.171907,,,,214356.01*4F

2020-12-13T21:43:56.519Z,1607895836.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.359985 m, bearing: 255.701218 deg, deltaT: 4.659134 s, approachRate: 0.566625 m/s, LOS rate: 0.967164 deg/s, posRepo size: 4
2020-12-13T21:43:58.599Z,1607895838.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:43:59.271Z,1607895839.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:43:59.677Z,1607895839.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:00.518Z,1607895840.518 [Micromodem](INFO): Nmea in: $SNTTA,0.173620,,,,214400.45*43

2020-12-13T21:44:01.307Z,1607895841.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:02.902Z,1607895842.902 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:44:03.811Z,1607895843.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:04.581Z,1607895844.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:04.933Z,1607895844.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:06.135Z,1607895846.135 [Micromodem](INFO): Nmea in: $SNTTA,0.175146,,,,214405.76*47

2020-12-13T21:44:06.662Z,1607895846.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:08.163Z,1607895848.163 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:44:09.418Z,1607895849.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:10.191Z,1607895850.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:10.613Z,1607895850.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:11.409Z,1607895851.409 [Micromodem](INFO): Nmea in: $SNTTA,0.177421,,,,214411.37*41

2020-12-13T21:44:11.993Z,1607895851.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:13.829Z,1607895853.829 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:44:14.692Z,1607895854.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:15.436Z,1607895855.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:15.849Z,1607895855.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:16.677Z,1607895856.677 [Micromodem](INFO): Nmea in: $SNTTA,0.178726,,,,214416.63*4C

2020-12-13T21:44:17.072Z,1607895857.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.079987 m, bearing: 253.409362 deg, deltaT: 20.647257 s, approachRate: 0.470765 m/s, LOS rate: -0.111001 deg/s, posRepo size: 4
2020-12-13T21:44:19.612Z,1607895859.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:20.279Z,1607895860.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:20.809Z,1607895860.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:21.623Z,1607895861.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214421.46*5C

2020-12-13T21:44:22.050Z,1607895862.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.119995 m, bearing: 251.931855 deg, deltaT: 4.982974 s, approachRate: 0.409396 m/s, LOS rate: -0.296511 deg/s, posRepo size: 4
2020-12-13T21:44:24.443Z,1607895864.443 [Micromodem](INFO): Nmea in: $CAERR,214425,DATA_TIMEOUT,2*49

2020-12-13T21:44:24.717Z,1607895864.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:25.016Z,1607895865.016 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:44:25.385Z,1607895865.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:26.622Z,1607895866.622 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:44:26.623Z,1607895866.623 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T21:44:27.007Z,1607895867.007 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214425.522078,3,0,200,4000,14500,1,1,9,1,2,1,3,64*75

2020-12-13T21:44:27.008Z,1607895867.008 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214425.522078,3,0,200,4000,14500,1,1,9,1,2,1,3,64*75

2020-12-13T21:44:27.457Z,1607895867.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:30.266Z,1607895870.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:33.223Z,1607895873.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:35.951Z,1607895875.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:36.712Z,1607895876.712 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:37.109Z,1607895877.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:37.985Z,1607895877.985 [Micromodem](INFO): Nmea in: $SNTTA,0.185459,,,,214437.90*4A

2020-12-13T21:44:38.390Z,1607895878.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.279999 m, bearing: 251.780416 deg, deltaT: 16.306007 s, approachRate: 0.500429 m/s, LOS rate: -0.009287 deg/s, posRepo size: 4
2020-12-13T21:44:40.900Z,1607895880.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:41.654Z,1607895881.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:42.053Z,1607895882.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:42.869Z,1607895882.869 [Micromodem](INFO): Nmea in: $SNTTA,0.186814,,,,214442.84*4B

2020-12-13T21:44:43.291Z,1607895883.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.319977 m, bearing: 253.700109 deg, deltaT: 4.918357 s, approachRate: 0.414768 m/s, LOS rate: 0.390312 deg/s, posRepo size: 4
2020-12-13T21:44:44.882Z,1607895884.882 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:44:45.748Z,1607895885.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:46.490Z,1607895886.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:46.889Z,1607895886.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:47.724Z,1607895887.724 [Micromodem](INFO): Nmea in: $SNTTA,0.188244,,,,214447.67*42

2020-12-13T21:44:48.149Z,1607895888.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.420013 m, bearing: 252.610995 deg, deltaT: 4.820275 s, approachRate: 0.435667 m/s, LOS rate: -0.225944 deg/s, posRepo size: 4
2020-12-13T21:44:50.762Z,1607895890.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:51.339Z,1607895891.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:51.744Z,1607895891.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:52.595Z,1607895892.595 [Micromodem](INFO): Nmea in: $SNTTA,0.189737,,,,214452.52*40

2020-12-13T21:44:53.007Z,1607895893.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.759979 m, bearing: 253.001845 deg, deltaT: 5.044406 s, approachRate: 0.463873 m/s, LOS rate: 0.077482 deg/s, posRepo size: 4
2020-12-13T21:44:54.630Z,1607895894.630 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:44:55.416Z,1607895895.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:44:56.199Z,1607895896.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:44:56.614Z,1607895896.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:44:57.437Z,1607895897.437 [Micromodem](INFO): Nmea in: $SNTTA,0.191432,,,,214457.38*46

2020-12-13T21:44:57.865Z,1607895897.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.220001 m, bearing: 252.990808 deg, deltaT: 4.657406 s, approachRate: 0.528196 m/s, LOS rate: -0.002370 deg/s, posRepo size: 4
2020-12-13T21:44:58.653Z,1607895898.653 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:44:59.188Z,1607895899.188 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:44:59.188Z,1607895899.188 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:44:59.189Z,1607895899.189 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:44:59.618Z,1607895899.618 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:44:59.622Z,1607895899.622 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:44:59.947Z,1607895899.947 [Micromodem](INFO): Nmea in: $CADRQ,214500,1,9,0,64,1*4C

2020-12-13T21:44:59.947Z,1607895899.947 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:45:00.062Z,1607895900.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:00.357Z,1607895900.357 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:45:00.751Z,1607895900.751 [Micromodem](INFO): Nmea in: $CADRQ,214501,1,9,0,64,2*4E

2020-12-13T21:45:00.752Z,1607895900.752 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:45:01.171Z,1607895901.171 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:45:01.171Z,1607895901.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:01.562Z,1607895901.562 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:45:01.563Z,1607895901.563 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:45:02.862Z,1607895902.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:03.994Z,1607895903.994 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:45:03.995Z,1607895903.995 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:45:04.380Z,1607895904.380 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214501.905580,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:45:04.380Z,1607895904.380 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214501.905580,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:45:05.781Z,1607895905.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:08.442Z,1607895908.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:09.691Z,1607895909.691 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-13T21:45:11.306Z,1607895911.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:12.472Z,1607895912.472 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:12.869Z,1607895912.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:13.697Z,1607895913.697 [Micromodem](INFO): Nmea in: $SNTTA,0.196410,,,,214513.65*48

2020-12-13T21:45:14.114Z,1607895914.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.720001 m, bearing: 253.416411 deg, deltaT: 16.294945 s, approachRate: 0.460265 m/s, LOS rate: 0.026119 deg/s, posRepo size: 4
2020-12-13T21:45:14.910Z,1607895914.910 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:45:16.727Z,1607895916.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:17.303Z,1607895917.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:17.725Z,1607895917.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:18.555Z,1607895918.555 [Micromodem](INFO): Nmea in: $SNTTA,0.197975,,,,214518.48*43

2020-12-13T21:45:19.445Z,1607895919.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:19.851Z,1607895919.851 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:45:20.630Z,1607895920.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:45:22.266Z,1607895922.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:23.043Z,1607895923.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:23.464Z,1607895923.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:24.281Z,1607895924.281 [Micromodem](INFO): Nmea in: $SNTTA,0.199769,,,,214524.23*4C

2020-12-13T21:45:24.832Z,1607895924.832 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:45:24.855Z,1607895924.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.819977 m, bearing: 257.104904 deg, deltaT: 10.571919 s, approachRate: 0.482408 m/s, LOS rate: 0.348895 deg/s, posRepo size: 4
2020-12-13T21:45:27.089Z,1607895927.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:27.883Z,1607895927.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:28.289Z,1607895928.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:29.150Z,1607895929.150 [Micromodem](INFO): Nmea in: $SNTTA,0.201413,,,,214529.06*4A

2020-12-13T21:45:29.622Z,1607895929.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.279999 m, bearing: 255.881153 deg, deltaT: 4.984511 s, approachRate: 0.493533 m/s, LOS rate: -0.245511 deg/s, posRepo size: 4
2020-12-13T21:45:29.623Z,1607895929.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 302.28 m. Resuming terminal guidance.
2020-12-13T21:45:29.623Z,1607895929.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T21:45:31.985Z,1607895931.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:32.731Z,1607895932.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:33.137Z,1607895933.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:33.961Z,1607895933.961 [Micromodem](INFO): Nmea in: $SNTTA,0.202920,,,,214533.91*41

2020-12-13T21:45:34.387Z,1607895934.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.500000 m, bearing: 253.702650 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T21:45:34.388Z,1607895934.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 253.702650deg and heading rate command to 0 deg/s.
2020-12-13T21:45:36.836Z,1607895936.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:37.586Z,1607895937.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:38.325Z,1607895938.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:39.130Z,1607895939.130 [Micromodem](INFO): Nmea in: $SNTTA,0.204521,,,,214538.77*49

2020-12-13T21:45:39.183Z,1607895939.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.899994 m, bearing: 254.441595 deg, deltaT: 4.787953 s, approachRate: 0.501257 m/s, LOS rate: 0.154334 deg/s, posRepo size: 2
2020-12-13T21:45:39.186Z,1607895939.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.899994 m,
      bearing: 254.441595 deg,
      approachRate: 0.501257 m/s,
      LOS rate: 0.154334 deg/s,
      cmd update: 0.463002 deg/s,
      cmd heading: 253.702650 deg,
      new cmd heading: 253.702650 deg.

2020-12-13T21:45:39.935Z,1607895939.935 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T21:45:41.645Z,1607895941.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:42.339Z,1607895942.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:42.749Z,1607895942.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:43.609Z,1607895943.609 [Micromodem](INFO): Nmea in: $SNTTA,0.205930,,,,214543.52*4F

2020-12-13T21:45:44.117Z,1607895944.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.000000 m, bearing: 262.053431 deg, deltaT: 4.887647 s, approachRate: 0.429656 m/s, LOS rate: 1.557362 deg/s, posRepo size: 3
2020-12-13T21:45:44.119Z,1607895944.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.000000 m,
      bearing: 262.053431 deg,
      approachRate: 0.429656 m/s,
      LOS rate: 1.557362 deg/s,
      cmd update: 4.672086 deg/s,
      cmd heading: 255.977725 deg,
      new cmd heading: 256.188791 deg.

2020-12-13T21:45:46.390Z,1607895946.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:47.203Z,1607895947.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:47.614Z,1607895947.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:48.418Z,1607895948.418 [Micromodem](INFO): Nmea in: $SNTTA,0.207532,,,,214548.38*44

2020-12-13T21:45:48.836Z,1607895948.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.399994 m, bearing: 266.648837 deg, deltaT: 5.009787 s, approachRate: 0.479061 m/s, LOS rate: 0.917286 deg/s, posRepo size: 4
2020-12-13T21:45:48.838Z,1607895948.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.399994 m,
      bearing: 266.648837 deg,
      approachRate: 0.479061 m/s,
      LOS rate: 0.917286 deg/s,
      cmd update: 2.751857 deg/s,
      cmd heading: 279.384069 deg,
      new cmd heading: 280.157505 deg.

2020-12-13T21:45:51.249Z,1607895951.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:52.031Z,1607895952.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:52.445Z,1607895952.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:53.265Z,1607895953.265 [Micromodem](INFO): Nmea in: $SNTTA,0.208833,,,,214553.21*45

2020-12-13T21:45:53.693Z,1607895953.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.319977 m, bearing: 274.878969 deg, deltaT: 4.608738 s, approachRate: 0.416596 m/s, LOS rate: 1.785767 deg/s, posRepo size: 4
2020-12-13T21:45:53.695Z,1607895953.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.319977 m,
      bearing: 274.878969 deg,
      approachRate: 0.416596 m/s,
      LOS rate: 1.785767 deg/s,
      cmd update: 5.357301 deg/s,
      cmd heading: 292.066434 deg,
      new cmd heading: 293.203903 deg.

2020-12-13T21:45:56.114Z,1607895956.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:45:56.879Z,1607895956.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:45:57.313Z,1607895957.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:45:58.125Z,1607895958.125 [Micromodem](INFO): Nmea in: $SNTTA,0.209724,,,,214558.06*43

2020-12-13T21:45:58.618Z,1607895958.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.000000 m, bearing: 299.196682 deg, deltaT: 4.912028 s, approachRate: 0.342022 m/s, LOS rate: 4.950647 deg/s, posRepo size: 4
2020-12-13T21:45:58.620Z,1607895958.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.000000 m,
      bearing: 299.196682 deg,
      approachRate: 0.342022 m/s,
      LOS rate: 4.950647 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 318.382117 deg,
      new cmd heading: 320.669052 deg.

2020-12-13T21:46:01.110Z,1607895961.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:01.759Z,1607895961.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:02.161Z,1607895962.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:02.993Z,1607895962.993 [Micromodem](INFO): Nmea in: $SNTTA,0.210480,,,,214602.94*41

2020-12-13T21:46:03.390Z,1607895963.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.779999 m, bearing: 356.935960 deg, deltaT: 4.983997 s, approachRate: 0.156501 m/s, LOS rate: 11.584934 deg/s, posRepo size: 4
2020-12-13T21:46:03.390Z,1607895963.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.584934 deg/s. Setting heading cmd to target bearing of 356.935960deg and heading rate command to 0 deg/s.
2020-12-13T21:46:04.605Z,1607895964.605 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:46:05.118Z,1607895965.118 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:46:05.119Z,1607895965.119 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:46:05.119Z,1607895965.119 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:46:05.407Z,1607895965.407 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:46:05.791Z,1607895965.791 [Micromodem](INFO): Nmea in: $CADRQ,214606,1,9,0,64,1*49

2020-12-13T21:46:05.791Z,1607895965.791 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:46:05.947Z,1607895965.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:06.259Z,1607895966.259 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:46:06.619Z,1607895966.619 [Micromodem](INFO): Nmea in: $CADRQ,214606,1,9,0,64,2*4A

2020-12-13T21:46:06.619Z,1607895966.619 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:46:07.018Z,1607895967.018 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:46:07.018Z,1607895967.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:07.408Z,1607895967.408 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:46:07.408Z,1607895967.408 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:46:08.728Z,1607895968.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:10.042Z,1607895970.042 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:46:10.042Z,1607895970.042 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:46:10.440Z,1607895970.440 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214607.773033,3,0,200,4000,14500,1,1,9,1,2,2,3,70*78

2020-12-13T21:46:10.440Z,1607895970.440 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214607.773033,3,0,200,4000,14500,1,1,9,1,2,2,3,70*78

2020-12-13T21:46:11.288Z,1607895971.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:13.840Z,1607895973.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:16.563Z,1607895976.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:18.114Z,1607895978.114 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:18.538Z,1607895978.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:19.369Z,1607895979.369 [Micromodem](INFO): Nmea in: $SNTTA,0.207472,,,,214619.30*4E

2020-12-13T21:46:19.947Z,1607895979.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.159973 m, bearing: 16.370020 deg, deltaT: 16.258231 s, approachRate: -0.284165 m/s, LOS rate: 1.195337 deg/s, posRepo size: 4
2020-12-13T21:46:19.949Z,1607895979.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.159973 m,
      bearing: 16.370020 deg,
      approachRate: -0.284165 m/s,
      LOS rate: 1.195337 deg/s,
      cmd update: 3.586011 deg/s,
      cmd heading: 356.935960 deg,
      new cmd heading: 356.935960 deg.

2020-12-13T21:46:22.038Z,1607895982.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:22.655Z,1607895982.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:23.069Z,1607895983.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:23.885Z,1607895983.885 [Micromodem](INFO): Nmea in: $SNTTA,0.205855,,,,214623.84*43

2020-12-13T21:46:24.301Z,1607895984.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.759979 m, bearing: 22.957012 deg, deltaT: 4.537782 s, approachRate: -0.528891 m/s, LOS rate: 1.451588 deg/s, posRepo size: 4
2020-12-13T21:46:24.303Z,1607895984.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.759979 m,
      bearing: 22.957012 deg,
      approachRate: -0.528891 m/s,
      LOS rate: 1.451588 deg/s,
      cmd update: 4.354765 deg/s,
      cmd heading: 13.294656 deg,
      new cmd heading: 14.491436 deg.

2020-12-13T21:46:26.496Z,1607895986.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:27.109Z,1607895987.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:27.527Z,1607895987.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:28.334Z,1607895988.334 [Micromodem](INFO): Nmea in: $SNTTA,0.203949,,,,214628.29*45

2020-12-13T21:46:28.781Z,1607895988.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.759979 m, bearing: 67.975204 deg, deltaT: 4.564892 s, approachRate: -0.657190 m/s, LOS rate: 9.861831 deg/s, posRepo size: 4
2020-12-13T21:46:28.783Z,1607895988.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.759979 m,
      bearing: 67.975204 deg,
      approachRate: -0.657190 m/s,
      LOS rate: 9.861831 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 33.191847 deg,
      new cmd heading: 34.259379 deg.

2020-12-13T21:46:31.179Z,1607895991.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:31.955Z,1607895991.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:32.373Z,1607895992.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:33.195Z,1607895993.195 [Micromodem](INFO): Nmea in: $SNTTA,0.201593,,,,214633.14*48

2020-12-13T21:46:33.627Z,1607895993.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.220001 m, bearing: 64.158071 deg, deltaT: 4.674273 s, approachRate: -0.757332 m/s, LOS rate: -0.816626 deg/s, posRepo size: 4
2020-12-13T21:46:33.629Z,1607895993.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.220001 m,
      bearing: 64.158071 deg,
      approachRate: -0.757332 m/s,
      LOS rate: -0.816626 deg/s,
      cmd update: -2.449878 deg/s,
      cmd heading: 89.280041 deg,
      new cmd heading: 94.284029 deg.

2020-12-13T21:46:36.046Z,1607895996.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:36.815Z,1607895996.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:37.209Z,1607895997.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:38.026Z,1607895998.026 [Micromodem](INFO): Nmea in: $SNTTA,0.198828,,,,214638.00*48

2020-12-13T21:46:38.464Z,1607895998.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.019989 m, bearing: 68.400984 deg, deltaT: 4.830370 s, approachRate: -0.869501 m/s, LOS rate: 0.878383 deg/s, posRepo size: 4
2020-12-13T21:46:38.466Z,1607895998.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.019989 m,
      bearing: 68.400984 deg,
      approachRate: -0.869501 m/s,
      LOS rate: 0.878383 deg/s,
      cmd update: 2.635148 deg/s,
      cmd heading: 77.446183 deg,
      new cmd heading: 76.407971 deg.

2020-12-13T21:46:40.940Z,1607896000.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:41.711Z,1607896001.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:42.109Z,1607896002.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:42.945Z,1607896002.945 [Micromodem](INFO): Nmea in: $SNTTA,0.195824,,,,214642.89*45

2020-12-13T21:46:43.365Z,1607896003.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.579987 m, bearing: 68.221610 deg, deltaT: 4.956612 s, approachRate: -0.895774 m/s, LOS rate: -0.036189 deg/s, posRepo size: 4
2020-12-13T21:46:43.366Z,1607896003.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.579987 m,
      bearing: 68.221610 deg,
      approachRate: -0.895774 m/s,
      LOS rate: -0.036189 deg/s,
      cmd update: -0.108567 deg/s,
      cmd heading: 90.487386 deg,
      new cmd heading: 91.475210 deg.

2020-12-13T21:46:45.581Z,1607896005.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:46.151Z,1607896006.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:46.565Z,1607896006.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:47.394Z,1607896007.394 [Micromodem](INFO): Nmea in: $SNTTA,0.192926,,,,214647.33*45

2020-12-13T21:46:47.820Z,1607896007.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.259979 m, bearing: 71.004324 deg, deltaT: 4.659408 s, approachRate: -0.927158 m/s, LOS rate: 0.597225 deg/s, posRepo size: 4
2020-12-13T21:46:47.822Z,1607896007.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.259979 m,
      bearing: 71.004324 deg,
      approachRate: -0.927158 m/s,
      LOS rate: 0.597225 deg/s,
      cmd update: 1.791675 deg/s,
      cmd heading: 89.980659 deg,
      new cmd heading: 89.962933 deg.

2020-12-13T21:46:50.227Z,1607896010.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:51.015Z,1607896011.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:51.423Z,1607896011.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:52.249Z,1607896012.249 [Micromodem](INFO): Nmea in: $SNTTA,0.190086,,,,214652.20*42

2020-12-13T21:46:52.707Z,1607896012.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.820007 m, bearing: 68.490924 deg, deltaT: 4.626461 s, approachRate: -0.959691 m/s, LOS rate: -0.543266 deg/s, posRepo size: 4
2020-12-13T21:46:52.709Z,1607896012.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.820007 m,
      bearing: 68.490924 deg,
      approachRate: -0.959691 m/s,
      LOS rate: -0.543266 deg/s,
      cmd update: -1.629799 deg/s,
      cmd heading: 98.233558 deg,
      new cmd heading: 99.028949 deg.

2020-12-13T21:46:55.110Z,1607896015.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:46:55.863Z,1607896015.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:46:56.277Z,1607896016.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:46:57.101Z,1607896017.101 [Micromodem](INFO): Nmea in: $SNTTA,0.187498,,,,214657.05*4D

2020-12-13T21:46:57.545Z,1607896017.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.979980 m, bearing: 67.172766 deg, deltaT: 4.852323 s, approachRate: -0.791379 m/s, LOS rate: -0.271655 deg/s, posRepo size: 4
2020-12-13T21:46:57.547Z,1607896017.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.979980 m,
      bearing: 67.172766 deg,
      approachRate: -0.791379 m/s,
      LOS rate: -0.271655 deg/s,
      cmd update: -0.814965 deg/s,
      cmd heading: 90.292532 deg,
      new cmd heading: 89.624763 deg.

2020-12-13T21:46:59.965Z,1607896019.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:00.787Z,1607896020.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:01.181Z,1607896021.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:02.013Z,1607896022.013 [Micromodem](INFO): Nmea in: $SNTTA,0.184489,,,,214701.97*47

2020-12-13T21:47:02.430Z,1607896022.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.479980 m, bearing: 67.789990 deg, deltaT: 4.915338 s, approachRate: -0.915502 m/s, LOS rate: 0.125571 deg/s, posRepo size: 4
2020-12-13T21:47:02.432Z,1607896022.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.479980 m,
      bearing: 67.789990 deg,
      approachRate: -0.915502 m/s,
      LOS rate: 0.125571 deg/s,
      cmd update: 0.376713 deg/s,
      cmd heading: 86.289854 deg,
      new cmd heading: 85.978109 deg.

2020-12-13T21:47:04.737Z,1607896024.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:05.267Z,1607896025.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:05.677Z,1607896025.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:06.529Z,1607896026.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214706.45*59

2020-12-13T21:47:06.953Z,1607896026.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.799988 m, bearing: 68.808767 deg, deltaT: 4.699304 s, approachRate: -0.995891 m/s, LOS rate: 0.216793 deg/s, posRepo size: 4
2020-12-13T21:47:06.955Z,1607896026.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.799988 m,
      bearing: 68.808767 deg,
      approachRate: -0.995891 m/s,
      LOS rate: 0.216793 deg/s,
      cmd update: 0.650380 deg/s,
      cmd heading: 88.061596 deg,
      new cmd heading: 88.137875 deg.

2020-12-13T21:47:09.366Z,1607896029.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:10.155Z,1607896030.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:10.587Z,1607896030.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:10.613Z,1607896030.613 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:47:11.076Z,1607896031.076 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:47:11.076Z,1607896031.076 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:47:11.078Z,1607896031.078 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:47:11.618Z,1607896031.618 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:47:12.002Z,1607896032.002 [Micromodem](INFO): Nmea in: $CADRQ,214712,1,9,0,64,1*4D

2020-12-13T21:47:12.002Z,1607896032.002 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:47:12.117Z,1607896032.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.119995 m, bearing: 67.889949 deg, deltaT: 4.926522 s, approachRate: -0.949959 m/s, LOS rate: -0.186504 deg/s, posRepo size: 4
2020-12-13T21:47:12.119Z,1607896032.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.119995 m,
      bearing: 67.889949 deg,
      approachRate: -0.949959 m/s,
      LOS rate: -0.186504 deg/s,
      cmd update: -0.559513 deg/s,
      cmd heading: 91.250194 deg,
      new cmd heading: 91.549197 deg.

2020-12-13T21:47:12.415Z,1607896032.415 [Micromodem](INFO): Nmea in: $SNTTA,0.178189,,,,214711.34*49

2020-12-13T21:47:12.415Z,1607896032.415 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.178189,,,,214711.34*49

2020-12-13T21:47:13.625Z,1607896033.625 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:47:14.026Z,1607896034.026 [Micromodem](INFO): Nmea in: $CADRQ,214713,1,9,0,64,2*4F

2020-12-13T21:47:14.026Z,1607896034.026 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:47:14.416Z,1607896034.416 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:47:14.518Z,1607896034.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:14.830Z,1607896034.830 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:47:15.219Z,1607896035.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:17.246Z,1607896037.246 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:47:17.247Z,1607896037.247 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:47:17.306Z,1607896037.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:17.663Z,1607896037.663 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214715.182619,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:47:17.664Z,1607896037.664 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214715.182619,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:47:19.952Z,1607896039.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:21.527Z,1607896041.527 [CTD_Seabird](ERROR): Failed to parse device response: 3
2020-12-13T21:47:22.656Z,1607896042.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:25.478Z,1607896045.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:26.653Z,1607896046.653 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:27.025Z,1607896047.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:27.861Z,1607896047.861 [Micromodem](INFO): Nmea in: $SNTTA,0.167931,,,,214727.83*45

2020-12-13T21:47:28.279Z,1607896048.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.460007 m, bearing: 65.802527 deg, deltaT: 16.238532 s, approachRate: -0.964372 m/s, LOS rate: -0.128547 deg/s, posRepo size: 4
2020-12-13T21:47:28.281Z,1607896048.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.460007 m,
      bearing: 65.802527 deg,
      approachRate: -0.964372 m/s,
      LOS rate: -0.128547 deg/s,
      cmd update: -0.385642 deg/s,
      cmd heading: 82.151326 deg,
      new cmd heading: 81.947678 deg.

2020-12-13T21:47:30.866Z,1607896050.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:31.471Z,1607896051.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:31.894Z,1607896051.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:32.705Z,1607896052.705 [Micromodem](INFO): Nmea in: $SNTTA,0.164636,,,,214732.65*42

2020-12-13T21:47:33.116Z,1607896053.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.779999 m, bearing: 65.906203 deg, deltaT: 4.974789 s, approachRate: -0.940745 m/s, LOS rate: 0.020840 deg/s, posRepo size: 4
2020-12-13T21:47:33.118Z,1607896053.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.779999 m,
      bearing: 65.906203 deg,
      approachRate: -0.940745 m/s,
      LOS rate: 0.020840 deg/s,
      cmd update: 0.062521 deg/s,
      cmd heading: 80.232822 deg,
      new cmd heading: 80.145456 deg.

2020-12-13T21:47:35.566Z,1607896055.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:36.319Z,1607896056.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:36.733Z,1607896056.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:37.578Z,1607896057.578 [Micromodem](INFO): Nmea in: $SNTTA,0.161631,,,,214737.50*43

2020-12-13T21:47:37.966Z,1607896057.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.279984 m, bearing: 65.586803 deg, deltaT: 4.760798 s, approachRate: -0.945223 m/s, LOS rate: -0.067090 deg/s, posRepo size: 4
2020-12-13T21:47:37.968Z,1607896057.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.279984 m,
      bearing: 65.586803 deg,
      approachRate: -0.945223 m/s,
      LOS rate: -0.067090 deg/s,
      cmd update: -0.201269 deg/s,
      cmd heading: 80.530482 deg,
      new cmd heading: 80.550172 deg.

2020-12-13T21:47:40.423Z,1607896060.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:41.163Z,1607896061.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:41.602Z,1607896061.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:42.403Z,1607896062.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,214742.35*5E

2020-12-13T21:47:42.852Z,1607896062.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.359985 m, bearing: 64.485503 deg, deltaT: 4.797838 s, approachRate: -1.025462 m/s, LOS rate: -0.229541 deg/s, posRepo size: 4
2020-12-13T21:47:42.854Z,1607896062.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.359985 m,
      bearing: 64.485503 deg,
      approachRate: -1.025462 m/s,
      LOS rate: -0.229541 deg/s,
      cmd update: -0.688623 deg/s,
      cmd heading: 79.564819 deg,
      new cmd heading: 79.483700 deg.

2020-12-13T21:47:45.253Z,1607896065.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:46.043Z,1607896066.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:46.453Z,1607896066.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:47.286Z,1607896067.286 [Micromodem](INFO): Nmea in: $SNTTA,0.155241,,,,214747.22*45

2020-12-13T21:47:47.717Z,1607896067.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.619980 m, bearing: 65.075358 deg, deltaT: 4.851437 s, approachRate: -0.977031 m/s, LOS rate: 0.121584 deg/s, posRepo size: 4
2020-12-13T21:47:47.719Z,1607896067.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.619980 m,
      bearing: 65.075358 deg,
      approachRate: -0.977031 m/s,
      LOS rate: 0.121584 deg/s,
      cmd update: 0.364751 deg/s,
      cmd heading: 76.223889 deg,
      new cmd heading: 75.937253 deg.

2020-12-13T21:47:50.232Z,1607896070.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:50.887Z,1607896070.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:51.289Z,1607896071.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:52.117Z,1607896072.117 [Micromodem](INFO): Nmea in: $SNTTA,0.151945,,,,214752.07*4D

2020-12-13T21:47:52.554Z,1607896072.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.759995 m, bearing: 65.168194 deg, deltaT: 4.980450 s, approachRate: -0.975812 m/s, LOS rate: 0.018640 deg/s, posRepo size: 4
2020-12-13T21:47:52.556Z,1607896072.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.759995 m,
      bearing: 65.168194 deg,
      approachRate: -0.975812 m/s,
      LOS rate: 0.018640 deg/s,
      cmd update: 0.055920 deg/s,
      cmd heading: 78.040503 deg,
      new cmd heading: 78.140055 deg.

2020-12-13T21:47:54.953Z,1607896074.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:47:55.727Z,1607896075.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:47:56.133Z,1607896076.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:47:56.965Z,1607896076.965 [Micromodem](INFO): Nmea in: $SNTTA,0.148677,,,,214756.91*40

2020-12-13T21:47:57.406Z,1607896077.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.839981 m, bearing: 64.593024 deg, deltaT: 4.698424 s, approachRate: -1.047163 m/s, LOS rate: -0.122418 deg/s, posRepo size: 4
2020-12-13T21:47:57.409Z,1607896077.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.839981 m,
      bearing: 64.593024 deg,
      approachRate: -1.047163 m/s,
      LOS rate: -0.122418 deg/s,
      cmd update: -0.367253 deg/s,
      cmd heading: 78.303239 deg,
      new cmd heading: 78.327038 deg.

2020-12-13T21:47:59.871Z,1607896079.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:00.607Z,1607896080.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:00.997Z,1607896080.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:01.815Z,1607896081.815 [Micromodem](INFO): Nmea in: $SNTTA,0.145745,,,,214801.79*46

2020-12-13T21:48:02.239Z,1607896082.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.519989 m, bearing: 64.198259 deg, deltaT: 4.891065 s, approachRate: -0.883242 m/s, LOS rate: -0.080711 deg/s, posRepo size: 4
2020-12-13T21:48:02.241Z,1607896082.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.519989 m,
      bearing: 64.198259 deg,
      approachRate: -0.883242 m/s,
      LOS rate: -0.080711 deg/s,
      cmd update: -0.242134 deg/s,
      cmd heading: 76.506957 deg,
      new cmd heading: 76.371367 deg.

2020-12-13T21:48:04.379Z,1607896084.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:05.107Z,1607896085.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:05.586Z,1607896085.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:06.353Z,1607896086.353 [Micromodem](INFO): Nmea in: $SNTTA,0.142594,,,,214806.29*4D

2020-12-13T21:48:06.811Z,1607896086.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.839981 m, bearing: 64.471590 deg, deltaT: 4.571199 s, approachRate: -1.023803 m/s, LOS rate: 0.059794 deg/s, posRepo size: 4
2020-12-13T21:48:06.813Z,1607896086.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.839981 m,
      bearing: 64.471590 deg,
      approachRate: -1.023803 m/s,
      LOS rate: 0.059794 deg/s,
      cmd update: 0.179382 deg/s,
      cmd heading: 75.402448 deg,
      new cmd heading: 75.310707 deg.

2020-12-13T21:48:09.209Z,1607896089.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:10.067Z,1607896090.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:10.514Z,1607896090.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:11.313Z,1607896091.313 [Micromodem](INFO): Nmea in: $SNTTA,0.139459,,,,214811.25*4B

2020-12-13T21:48:11.866Z,1607896091.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.039993 m, bearing: 64.770049 deg, deltaT: 4.939350 s, approachRate: -0.971785 m/s, LOS rate: 0.060425 deg/s, posRepo size: 4
2020-12-13T21:48:11.868Z,1607896091.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.039993 m,
      bearing: 64.770049 deg,
      approachRate: -0.971785 m/s,
      LOS rate: 0.060425 deg/s,
      cmd update: 0.181274 deg/s,
      cmd heading: 76.288739 deg,
      new cmd heading: 76.377182 deg.

2020-12-13T21:48:14.123Z,1607896094.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:14.908Z,1607896094.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:15.322Z,1607896095.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:16.145Z,1607896096.145 [Micromodem](INFO): Nmea in: $SNTTA,0.136114,,,,214816.09*41

2020-12-13T21:48:16.145Z,1607896096.145 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:48:16.715Z,1607896096.715 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:48:16.716Z,1607896096.716 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:48:16.716Z,1607896096.716 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:48:16.836Z,1607896096.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.059982 m, bearing: 64.344029 deg, deltaT: 4.942826 s, approachRate: -1.007523 m/s, LOS rate: -0.086189 deg/s, posRepo size: 4
2020-12-13T21:48:16.842Z,1607896096.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.059982 m,
      bearing: 64.344029 deg,
      approachRate: -1.007523 m/s,
      LOS rate: -0.086189 deg/s,
      cmd update: -0.258568 deg/s,
      cmd heading: 77.186214 deg,
      new cmd heading: 77.279169 deg.

2020-12-13T21:48:17.442Z,1607896097.442 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:48:17.866Z,1607896097.866 [Micromodem](INFO): Nmea in: $CADRQ,214817,1,9,0,64,1*47

2020-12-13T21:48:17.866Z,1607896097.866 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:48:18.245Z,1607896098.245 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:48:18.655Z,1607896098.655 [Micromodem](INFO): Nmea in: $CADRQ,214819,1,9,0,64,2*4A

2020-12-13T21:48:18.655Z,1607896098.655 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:48:19.047Z,1607896099.047 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:48:19.064Z,1607896099.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:19.474Z,1607896099.474 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:48:19.847Z,1607896099.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:21.902Z,1607896101.902 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:48:21.903Z,1607896101.903 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:48:21.990Z,1607896101.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:22.271Z,1607896102.271 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214819.856108,3,0,200,4000,14500,1,1,9,1,2,2,3,70*78

2020-12-13T21:48:22.272Z,1607896102.272 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214819.856108,3,0,200,4000,14500,1,1,9,1,2,2,3,70*78

2020-12-13T21:48:24.909Z,1607896104.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:27.631Z,1607896107.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:30.423Z,1607896110.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:31.161Z,1607896111.161 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:31.617Z,1607896111.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:32.438Z,1607896112.438 [Micromodem](INFO): Nmea in: $SNTTA,0.124916,,,,214832.34*40

2020-12-13T21:48:32.527Z,1607896112.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.739990 m, bearing: 64.227219 deg, deltaT: 15.696073 s, approachRate: -1.039750 m/s, LOS rate: -0.007442 deg/s, posRepo size: 4
2020-12-13T21:48:32.533Z,1607896112.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.739990 m,
      bearing: 64.227219 deg,
      approachRate: -1.039750 m/s,
      LOS rate: -0.007442 deg/s,
      cmd update: -0.022326 deg/s,
      cmd heading: 73.127977 deg,
      new cmd heading: 72.996434 deg.

2020-12-13T21:48:34.875Z,1607896114.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:35.663Z,1607896115.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:35.917Z,1607896115.917 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T21:48:36.064Z,1607896116.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:36.878Z,1607896116.878 [Micromodem](INFO): Nmea in: $SNTTA,0.121963,,,,214836.84*48

2020-12-13T21:48:37.315Z,1607896117.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.760010 m, bearing: 63.206086 deg, deltaT: 4.935091 s, approachRate: -1.009096 m/s, LOS rate: -0.206913 deg/s, posRepo size: 4
2020-12-13T21:48:37.317Z,1607896117.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.760010 m,
      bearing: 63.206086 deg,
      approachRate: -1.009096 m/s,
      LOS rate: -0.206913 deg/s,
      cmd update: -0.620739 deg/s,
      cmd heading: 73.017862 deg,
      new cmd heading: 73.009737 deg.

2020-12-13T21:48:39.864Z,1607896119.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:40.590Z,1607896120.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:40.965Z,1607896120.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:41.774Z,1607896121.774 [Micromodem](INFO): Nmea in: $SNTTA,0.118532,,,,214841.77*46

2020-12-13T21:48:42.325Z,1607896122.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 61.506052 deg, deltaT: 4.885653 s, approachRate: -1.056154 m/s, LOS rate: -0.347965 deg/s, posRepo size: 4
2020-12-13T21:48:42.327Z,1607896122.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 61.506052 deg,
      approachRate: -1.056154 m/s,
      LOS rate: -0.347965 deg/s,
      cmd update: -1.043894 deg/s,
      cmd heading: 69.982756 deg,
      new cmd heading: 69.682045 deg.

2020-12-13T21:48:44.347Z,1607896124.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:44.995Z,1607896124.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:45.407Z,1607896125.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:46.226Z,1607896126.226 [Micromodem](INFO): Nmea in: $SNTTA,0.115642,,,,214846.18*41

2020-12-13T21:48:46.666Z,1607896126.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.280014 m, bearing: 62.114478 deg, deltaT: 4.420800 s, approachRate: -0.977197 m/s, LOS rate: 0.137628 deg/s, posRepo size: 4
2020-12-13T21:48:46.668Z,1607896126.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.280014 m,
      bearing: 62.114478 deg,
      approachRate: -0.977197 m/s,
      LOS rate: 0.137628 deg/s,
      cmd update: 0.412884 deg/s,
      cmd heading: 65.367845 deg,
      new cmd heading: 64.944910 deg.

2020-12-13T21:48:48.831Z,1607896128.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:49.439Z,1607896129.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:49.849Z,1607896129.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:50.694Z,1607896130.694 [Micromodem](INFO): Nmea in: $SNTTA,0.112812,,,,214850.62*47

2020-12-13T21:48:50.867Z,1607896130.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.280014 m, bearing: 63.050672 deg, deltaT: 4.032379 s, approachRate: 0.000000 m/s, LOS rate: 0.232169 deg/s, posRepo size: 4
2020-12-13T21:48:50.869Z,1607896130.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.280014 m,
      bearing: 63.050672 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.232169 deg/s,
      cmd update: 0.696507 deg/s,
      cmd heading: 67.032815 deg,
      new cmd heading: 67.269446 deg.

2020-12-13T21:48:53.079Z,1607896133.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:53.875Z,1607896133.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:54.281Z,1607896134.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:55.126Z,1607896135.126 [Micromodem](INFO): Nmea in: $SNTTA,0.109714,,,,214855.06*43

2020-12-13T21:48:55.284Z,1607896135.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 61.990148 deg, deltaT: 4.465101 s, approachRate: -1.988761 m/s, LOS rate: -0.237514 deg/s, posRepo size: 4
2020-12-13T21:48:55.286Z,1607896135.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 61.990148 deg,
      approachRate: -1.988761 m/s,
      LOS rate: -0.237514 deg/s,
      cmd update: -0.712542 deg/s,
      cmd heading: 70.142171 deg,
      new cmd heading: 70.508839 deg.

2020-12-13T21:48:57.291Z,1607896137.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:48:57.923Z,1607896137.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:48:58.325Z,1607896138.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:48:59.182Z,1607896139.182 [Micromodem](INFO): Nmea in: $SNTTA,0.107126,,,,214859.10*41

2020-12-13T21:48:59.207Z,1607896139.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 62.748914 deg, deltaT: 4.026944 s, approachRate: 0.000000 m/s, LOS rate: 0.188422 deg/s, posRepo size: 4
2020-12-13T21:48:59.209Z,1607896139.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 62.748914 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.188422 deg/s,
      cmd update: 0.565267 deg/s,
      cmd heading: 67.275053 deg,
      new cmd heading: 66.971671 deg.

2020-12-13T21:49:01.765Z,1607896141.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:02.367Z,1607896142.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:02.766Z,1607896142.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:03.622Z,1607896143.622 [Micromodem](INFO): Nmea in: $SNTTA,0.104133,,0.107819,,214903.55*51

2020-12-13T21:49:03.814Z,1607896143.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 63.084836 deg, deltaT: 4.441448 s, approachRate: -1.877762 m/s, LOS rate: 0.075634 deg/s, posRepo size: 4
2020-12-13T21:49:03.817Z,1607896143.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.060013 m,
      bearing: 63.084836 deg,
      approachRate: -1.877762 m/s,
      LOS rate: 0.075634 deg/s,
      cmd update: 0.226901 deg/s,
      cmd heading: 69.787865 deg,
      new cmd heading: 70.120034 deg.

2020-12-13T21:49:06.023Z,1607896146.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:06.803Z,1607896146.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:07.209Z,1607896147.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:08.050Z,1607896148.050 [Micromodem](INFO): Nmea in: $SNTTA,0.101092,,,,214907.98*43

2020-12-13T21:49:08.208Z,1607896148.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.500000 m, bearing: 62.882328 deg, deltaT: 4.486313 s, approachRate: -1.016428 m/s, LOS rate: -0.045139 deg/s, posRepo size: 4
2020-12-13T21:49:08.210Z,1607896148.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 62.882328 deg,
      approachRate: -1.016428 m/s,
      LOS rate: -0.045139 deg/s,
      cmd update: -0.135417 deg/s,
      cmd heading: 70.805790 deg,
      new cmd heading: 70.918115 deg.

2020-12-13T21:49:10.515Z,1607896150.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:11.251Z,1607896151.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:11.659Z,1607896151.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:12.522Z,1607896152.522 [Micromodem](INFO): Nmea in: $SNTTA,0.098005,,,,214912.43*4E

2020-12-13T21:49:12.562Z,1607896152.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 62.083988 deg, deltaT: 4.359043 s, approachRate: -1.059865 m/s, LOS rate: -0.183146 deg/s, posRepo size: 4
2020-12-13T21:49:12.570Z,1607896152.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.880005 m,
      bearing: 62.083988 deg,
      approachRate: -1.059865 m/s,
      LOS rate: -0.183146 deg/s,
      cmd update: -0.549437 deg/s,
      cmd heading: 70.215471 deg,
      new cmd heading: 70.149136 deg.

2020-12-13T21:49:14.725Z,1607896154.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:15.315Z,1607896155.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:15.729Z,1607896155.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:16.572Z,1607896156.572 [Micromodem](INFO): Nmea in: $SNTTA,0.095310,,,,214916.50*42

2020-12-13T21:49:16.774Z,1607896156.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.800003 m, bearing: 61.668555 deg, deltaT: 4.095727 s, approachRate: -0.996161 m/s, LOS rate: -0.101431 deg/s, posRepo size: 4
2020-12-13T21:49:16.776Z,1607896156.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.800003 m,
      bearing: 61.668555 deg,
      approachRate: -0.996161 m/s,
      LOS rate: -0.101431 deg/s,
      cmd update: -0.304292 deg/s,
      cmd heading: 67.965124 deg,
      new cmd heading: 67.632372 deg.

2020-12-13T21:49:18.995Z,1607896158.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:19.811Z,1607896159.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:20.205Z,1607896160.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:21.012Z,1607896161.012 [Micromodem](INFO): Nmea in: $SNTTA,0.092247,,0.097760,,214920.99*57

2020-12-13T21:49:21.199Z,1607896161.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 62.874282 deg, deltaT: 4.503543 s, approachRate: -0.999213 m/s, LOS rate: 0.267728 deg/s, posRepo size: 4
2020-12-13T21:49:21.203Z,1607896161.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.300003 m,
      bearing: 62.874282 deg,
      approachRate: -0.999213 m/s,
      LOS rate: 0.267728 deg/s,
      cmd update: 0.803185 deg/s,
      cmd heading: 66.595509 deg,
      new cmd heading: 66.435154 deg.

2020-12-13T21:49:21.950Z,1607896161.950 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:49:22.532Z,1607896162.532 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:49:22.532Z,1607896162.532 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:49:22.540Z,1607896162.540 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:49:22.818Z,1607896162.818 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:49:23.211Z,1607896163.211 [Micromodem](INFO): Nmea in: $CADRQ,214923,1,9,0,64,1*41

2020-12-13T21:49:23.212Z,1607896163.212 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:49:23.536Z,1607896163.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:23.707Z,1607896163.707 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:49:24.103Z,1607896164.103 [Micromodem](INFO): Nmea in: $CADRQ,214924,1,9,0,64,2*45

2020-12-13T21:49:24.103Z,1607896164.103 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:49:24.531Z,1607896164.531 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:49:24.531Z,1607896164.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:24.896Z,1607896164.896 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:49:24.896Z,1607896164.896 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:49:26.156Z,1607896166.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:27.327Z,1607896167.327 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:49:27.327Z,1607896167.327 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:49:27.739Z,1607896167.739 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,214925.261423,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T21:49:27.740Z,1607896167.740 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,214925.261423,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T21:49:29.022Z,1607896169.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:31.889Z,1607896171.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:34.693Z,1607896174.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:35.834Z,1607896175.834 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:36.250Z,1607896176.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:37.086Z,1607896177.086 [Micromodem](INFO): Nmea in: $SNTTA,0.081732,,,,214937.02*47

2020-12-13T21:49:37.104Z,1607896177.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 59.648541 deg, deltaT: 16.023807 s, approachRate: -0.992274 m/s, LOS rate: -0.201309 deg/s, posRepo size: 4
2020-12-13T21:49:37.106Z,1607896177.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 59.648541 deg,
      approachRate: -0.992274 m/s,
      LOS rate: -0.201309 deg/s,
      cmd update: -0.603928 deg/s,
      cmd heading: 79.467560 deg,
      new cmd heading: 79.795891 deg.

2020-12-13T21:49:39.535Z,1607896179.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:40.287Z,1607896180.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:40.701Z,1607896180.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:41.558Z,1607896181.558 [Micromodem](INFO): Nmea in: $SNTTA,0.078535,,,,214941.47*44

2020-12-13T21:49:41.625Z,1607896181.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 59.914249 deg, deltaT: 4.423350 s, approachRate: -1.085151 m/s, LOS rate: 0.060069 deg/s, posRepo size: 4
2020-12-13T21:49:41.627Z,1607896181.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.599998 m,
      bearing: 59.914249 deg,
      approachRate: -1.085151 m/s,
      LOS rate: 0.060069 deg/s,
      cmd update: 0.180208 deg/s,
      cmd heading: 76.796138 deg,
      new cmd heading: 76.490754 deg.

2020-12-13T21:49:43.625Z,1607896183.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:44.335Z,1607896184.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:44.744Z,1607896184.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:45.610Z,1607896185.610 [Micromodem](INFO): Nmea in: $SNTTA,0.075859,,,,214945.52*4E

2020-12-13T21:49:45.693Z,1607896185.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 60.272513 deg, deltaT: 4.063912 s, approachRate: -0.989192 m/s, LOS rate: 0.088157 deg/s, posRepo size: 4
2020-12-13T21:49:45.695Z,1607896185.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 60.272513 deg,
      approachRate: -0.989192 m/s,
      LOS rate: 0.088157 deg/s,
      cmd update: 0.264472 deg/s,
      cmd heading: 77.527741 deg,
      new cmd heading: 77.619724 deg.

2020-12-13T21:49:45.703Z,1607896185.703 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T21:39:45.4Z
2020-12-13T21:49:45.704Z,1607896185.704 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:49:45.704Z,1607896185.704 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:49:45.704Z,1607896185.704 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:49:45.704Z,1607896185.704 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:49:45.704Z,1607896185.704 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T21:49:45.978Z,1607896185.978 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:49:45.979Z,1607896185.979 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:49:45.979Z,1607896185.979 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:49:45.979Z,1607896185.979 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:49:45.979Z,1607896185.979 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:49:47.983Z,1607896187.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:48.771Z,1607896188.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:49.181Z,1607896189.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:50.010Z,1607896190.010 [Micromodem](INFO): Nmea in: $SNTTA,0.073101,,,,214949.95*4B

2020-12-13T21:49:50.053Z,1607896190.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 57.682860 deg, deltaT: 4.465600 s, approachRate: -0.940524 m/s, LOS rate: -0.579911 deg/s, posRepo size: 4
2020-12-13T21:49:50.055Z,1607896190.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.380005 m,
      bearing: 57.682860 deg,
      approachRate: -0.940524 m/s,
      LOS rate: -0.579911 deg/s,
      cmd update: -1.739734 deg/s,
      cmd heading: 78.709871 deg,
      new cmd heading: 78.816881 deg.

2020-12-13T21:49:52.431Z,1607896192.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:53.283Z,1607896193.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:53.681Z,1607896193.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:54.534Z,1607896194.534 [Micromodem](INFO): Nmea in: $SNTTA,0.070054,,,,214954.46*4B

2020-12-13T21:49:54.615Z,1607896194.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 59.860659 deg, deltaT: 4.453829 s, approachRate: -1.010367 m/s, LOS rate: 0.488972 deg/s, posRepo size: 4
2020-12-13T21:49:54.623Z,1607896194.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.880005 m,
      bearing: 59.860659 deg,
      approachRate: -1.010367 m/s,
      LOS rate: 0.488972 deg/s,
      cmd update: 1.466917 deg/s,
      cmd heading: 70.961368 deg,
      new cmd heading: 70.068927 deg.

2020-12-13T21:49:56.990Z,1607896196.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:49:57.719Z,1607896197.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:49:58.129Z,1607896198.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:49:58.970Z,1607896198.970 [Micromodem](INFO): Nmea in: $SNTTA,0.067120,,,,214958.90*48

2020-12-13T21:49:58.992Z,1607896198.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.560005 m, bearing: 58.281799 deg, deltaT: 4.553751 s, approachRate: -0.948668 m/s, LOS rate: -0.346716 deg/s, posRepo size: 4
2020-12-13T21:49:58.994Z,1607896198.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.560005 m,
      bearing: 58.281799 deg,
      approachRate: -0.948668 m/s,
      LOS rate: -0.346716 deg/s,
      cmd update: -1.040149 deg/s,
      cmd heading: 77.635468 deg,
      new cmd heading: 78.134123 deg.

2020-12-13T21:50:01.442Z,1607896201.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:02.163Z,1607896202.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:02.622Z,1607896202.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:03.436Z,1607896203.436 [Micromodem](INFO): Nmea in: $SNTTA,0.064313,,,,215003.34*41

2020-12-13T21:50:03.528Z,1607896203.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 59.549476 deg, deltaT: 4.382130 s, approachRate: -1.013206 m/s, LOS rate: 0.289283 deg/s, posRepo size: 4
2020-12-13T21:50:03.534Z,1607896203.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 59.549476 deg,
      approachRate: -1.013206 m/s,
      LOS rate: 0.289283 deg/s,
      cmd update: 0.867849 deg/s,
      cmd heading: 73.073223 deg,
      new cmd heading: 72.564056 deg.

2020-12-13T21:50:05.897Z,1607896205.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:06.658Z,1607896206.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:07.101Z,1607896207.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:07.926Z,1607896207.926 [Micromodem](INFO): Nmea in: $SNTTA,0.061413,,,,215007.84*4C

2020-12-13T21:50:07.990Z,1607896207.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.159996 m, bearing: 55.296727 deg, deltaT: 4.517832 s, approachRate: -0.876528 m/s, LOS rate: -0.941325 deg/s, posRepo size: 4
2020-12-13T21:50:07.992Z,1607896207.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.159996 m,
      bearing: 55.296727 deg,
      approachRate: -0.876528 m/s,
      LOS rate: -0.941325 deg/s,
      cmd update: -2.823975 deg/s,
      cmd heading: 76.993990 deg,
      new cmd heading: 77.370505 deg.

2020-12-13T21:50:10.347Z,1607896210.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:11.159Z,1607896211.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:11.578Z,1607896211.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:12.378Z,1607896212.378 [Micromodem](INFO): Nmea in: $SNTTA,0.058253,,,,215012.34*4B

2020-12-13T21:50:12.406Z,1607896212.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 55.944112 deg, deltaT: 4.414380 s, approachRate: -1.128129 m/s, LOS rate: 0.146654 deg/s, posRepo size: 4
2020-12-13T21:50:12.409Z,1607896212.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.180008 m,
      bearing: 55.944112 deg,
      approachRate: -1.128129 m/s,
      LOS rate: 0.146654 deg/s,
      cmd update: 0.439962 deg/s,
      cmd heading: 64.527740 deg,
      new cmd heading: 63.300971 deg.

2020-12-13T21:50:14.862Z,1607896214.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:15.586Z,1607896215.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:15.985Z,1607896215.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:16.826Z,1607896216.826 [Micromodem](INFO): Nmea in: $SNTTA,0.055149,,0.078844,,215016.77*54

2020-12-13T21:50:16.876Z,1607896216.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.800003 m, bearing: 58.636600 deg, deltaT: 4.492689 s, approachRate: -0.974918 m/s, LOS rate: 0.599304 deg/s, posRepo size: 4
2020-12-13T21:50:16.878Z,1607896216.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.800003 m,
      bearing: 58.636600 deg,
      approachRate: -0.974918 m/s,
      LOS rate: 0.599304 deg/s,
      cmd update: 1.797913 deg/s,
      cmd heading: 66.502573 deg,
      new cmd heading: 66.686092 deg.

2020-12-13T21:50:19.250Z,1607896219.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:20.031Z,1607896220.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:20.438Z,1607896220.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:21.286Z,1607896221.286 [Micromodem](INFO): Nmea in: $SNTTA,0.052332,,,,215021.21*43

2020-12-13T21:50:21.348Z,1607896221.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 55.037859 deg, deltaT: 4.454370 s, approachRate: -0.996774 m/s, LOS rate: -0.807913 deg/s, posRepo size: 4
2020-12-13T21:50:21.350Z,1607896221.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.360001 m,
      bearing: 55.037859 deg,
      approachRate: -0.996774 m/s,
      LOS rate: -0.807913 deg/s,
      cmd update: -2.423737 deg/s,
      cmd heading: 74.518369 deg,
      new cmd heading: 75.286068 deg.

2020-12-13T21:50:23.702Z,1607896223.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:24.471Z,1607896224.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:24.911Z,1607896224.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:25.718Z,1607896225.718 [Micromodem](INFO): Nmea in: $SNTTA,0.049283,,,0.091339,215025.65*59

2020-12-13T21:50:25.797Z,1607896225.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 55.859193 deg, deltaT: 4.405109 s, approachRate: -1.035163 m/s, LOS rate: 0.186450 deg/s, posRepo size: 4
2020-12-13T21:50:25.799Z,1607896225.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 55.859193 deg,
      approachRate: -1.035163 m/s,
      LOS rate: 0.186450 deg/s,
      cmd update: 0.559351 deg/s,
      cmd heading: 63.851410 deg,
      new cmd heading: 62.702084 deg.

2020-12-13T21:50:27.717Z,1607896227.717 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:50:28.308Z,1607896228.308 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:50:28.312Z,1607896228.312 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:50:28.313Z,1607896228.313 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:50:28.617Z,1607896228.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:28.758Z,1607896228.758 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:50:29.144Z,1607896229.144 [Micromodem](INFO): Nmea in: $CADRQ,215029,1,9,0,64,1*43

2020-12-13T21:50:29.145Z,1607896229.145 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:50:29.576Z,1607896229.576 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:50:29.577Z,1607896229.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:29.956Z,1607896229.956 [Micromodem](INFO): Nmea in: $CADRQ,215030,1,9,0,64,2*48

2020-12-13T21:50:29.956Z,1607896229.956 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,215030,1,9,0,64,2*48

2020-12-13T21:50:30.381Z,1607896230.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:30.771Z,1607896230.771 [Micromodem](INFO): Nmea in: $SNTTA,0.045925,,,,215030.76*4B

2020-12-13T21:50:30.823Z,1607896230.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.699997 m, bearing: 50.614236 deg, deltaT: 5.127929 s, approachRate: -0.994553 m/s, LOS rate: -1.022822 deg/s, posRepo size: 4
2020-12-13T21:50:30.825Z,1607896230.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.699997 m,
      bearing: 50.614236 deg,
      approachRate: -0.994553 m/s,
      LOS rate: -1.022822 deg/s,
      cmd update: -3.068465 deg/s,
      cmd heading: 66.719768 deg,
      new cmd heading: 66.930335 deg.

2020-12-13T21:50:33.205Z,1607896233.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:33.999Z,1607896233.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:34.406Z,1607896234.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:35.262Z,1607896235.262 [Micromodem](INFO): Nmea in: $SNTTA,0.043199,,,,215035.18*4F

2020-12-13T21:50:35.295Z,1607896235.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 50.129419 deg, deltaT: 4.449774 s, approachRate: -0.916899 m/s, LOS rate: -0.108953 deg/s, posRepo size: 4
2020-12-13T21:50:35.297Z,1607896235.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.620003 m,
      bearing: 50.129419 deg,
      approachRate: -0.916899 m/s,
      LOS rate: -0.108953 deg/s,
      cmd update: -0.326860 deg/s,
      cmd heading: 53.053591 deg,
      new cmd heading: 51.841508 deg.

2020-12-13T21:50:37.727Z,1607896237.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:38.493Z,1607896238.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:38.885Z,1607896238.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:39.726Z,1607896239.726 [Micromodem](INFO): Nmea in: $SNTTA,0.039875,,,,215039.67*4D

2020-12-13T21:50:39.810Z,1607896239.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.640003 m, bearing: 52.866497 deg, deltaT: 4.410062 s, approachRate: -1.129236 m/s, LOS rate: 0.620644 deg/s, posRepo size: 4
2020-12-13T21:50:39.817Z,1607896239.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.640003 m,
      bearing: 52.866497 deg,
      approachRate: -1.129236 m/s,
      LOS rate: 0.620644 deg/s,
      cmd update: 1.861932 deg/s,
      cmd heading: 51.612112 deg,
      new cmd heading: 51.450248 deg.

2020-12-13T21:50:41.825Z,1607896241.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:42.609Z,1607896242.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:43.007Z,1607896243.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:43.822Z,1607896243.822 [Micromodem](INFO): Nmea in: $SNTTA,0.037180,,,,215043.79*42

2020-12-13T21:50:43.867Z,1607896243.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 53.116657 deg, deltaT: 4.119954 s, approachRate: -0.975741 m/s, LOS rate: 0.060719 deg/s, posRepo size: 4
2020-12-13T21:50:43.869Z,1607896243.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 53.116657 deg,
      approachRate: -0.975741 m/s,
      LOS rate: 0.060719 deg/s,
      cmd update: 0.182157 deg/s,
      cmd heading: 59.241537 deg,
      new cmd heading: 60.096194 deg.

2020-12-13T21:50:46.285Z,1607896246.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:47.019Z,1607896247.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:47.453Z,1607896247.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:48.283Z,1607896248.283 [Micromodem](INFO): Nmea in: $SNTTA,0.034286,,,,215048.20*43

2020-12-13T21:50:48.332Z,1607896248.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 51.864358 deg, deltaT: 4.467650 s, approachRate: -0.966951 m/s, LOS rate: -0.280304 deg/s, posRepo size: 4
2020-12-13T21:50:48.334Z,1607896248.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 51.864358 deg,
      approachRate: -0.966951 m/s,
      LOS rate: -0.280304 deg/s,
      cmd update: -0.840911 deg/s,
      cmd heading: 60.056479 deg,
      new cmd heading: 60.138547 deg.

2020-12-13T21:50:50.726Z,1607896250.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:51.511Z,1607896251.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:51.989Z,1607896251.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:52.810Z,1607896252.810 [Micromodem](INFO): Nmea in: $SNTTA,0.031228,,,,215052.69*44

2020-12-13T21:50:52.878Z,1607896252.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.680000 m, bearing: 50.675762 deg, deltaT: 4.514425 s, approachRate: -1.023385 m/s, LOS rate: -0.263289 deg/s, posRepo size: 4
2020-12-13T21:50:52.880Z,1607896252.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.680000 m,
      bearing: 50.675762 deg,
      approachRate: -1.023385 m/s,
      LOS rate: -0.263289 deg/s,
      cmd update: -0.789866 deg/s,
      cmd heading: 56.250513 deg,
      new cmd heading: 55.854700 deg.

2020-12-13T21:50:54.922Z,1607896254.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:55.647Z,1607896255.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:50:56.025Z,1607896256.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:50:56.870Z,1607896256.870 [Micromodem](INFO): Nmea in: $SNTTA,0.028402,,0.057402,,215056.83*58

2020-12-13T21:50:56.921Z,1607896256.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 50.737295 deg, deltaT: 4.050915 s, approachRate: -1.051615 m/s, LOS rate: 0.015190 deg/s, posRepo size: 4
2020-12-13T21:50:56.923Z,1607896256.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.419998 m,
      bearing: 50.737295 deg,
      approachRate: -1.051615 m/s,
      LOS rate: 0.015190 deg/s,
      cmd update: 0.045570 deg/s,
      cmd heading: 53.050817 deg,
      new cmd heading: 52.685778 deg.

2020-12-13T21:50:59.256Z,1607896259.256 [Micromodem](INFO): Nmea in: $CAERR,215100,DATA_TIMEOUT,2*4A

2020-12-13T21:50:59.319Z,1607896259.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:50:59.667Z,1607896259.667 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T21:51:00.075Z,1607896260.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:01.275Z,1607896261.275 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T21:51:01.275Z,1607896261.275 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T21:51:01.680Z,1607896261.680 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215100.366700,3,0,200,4000,14500,1,1,9,1,2,1,3,64*78

2020-12-13T21:51:01.680Z,1607896261.680 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215100.366700,3,0,200,4000,14500,1,1,9,1,2,1,3,64*78

2020-12-13T21:51:02.139Z,1607896262.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:04.764Z,1607896264.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:07.371Z,1607896267.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:10.195Z,1607896270.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:11.390Z,1607896271.390 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:11.801Z,1607896271.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:12.654Z,1607896272.654 [Micromodem](INFO): Nmea in: $SNTTA,0.017760,,,,215112.57*41

2020-12-13T21:51:12.758Z,1607896272.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 47.666835 deg, deltaT: 15.804041 s, approachRate: -1.009868 m/s, LOS rate: -0.194283 deg/s, posRepo size: 4
2020-12-13T21:51:12.759Z,1607896272.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.46 m.
2020-12-13T21:51:12.767Z,1607896272.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.460001 m,
      bearing: 47.666835 deg,
      approachRate: -1.009868 m/s,
      LOS rate: -0.194283 deg/s,
      cmd update: -0.582850 deg/s,
      cmd heading: 53.771211 deg,
      new cmd heading: 53.793593 deg.

2020-12-13T21:51:13.189Z,1607896273.189 [PowerOnly](INFO): Powering up loadControl
2020-12-13T21:51:15.095Z,1607896275.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:15.913Z,1607896275.913 [DDM](ERROR): Could not parse whisker state
2020-12-13T21:51:15.925Z,1607896275.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:16.265Z,1607896276.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:17.141Z,1607896277.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.919998 m, bearing: 46.033887 deg, deltaT: 4.439198 s, approachRate: -0.797442 m/s, LOS rate: -0.367848 deg/s, posRepo size: 4
2020-12-13T21:51:17.142Z,1607896277.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.92 m.
2020-12-13T21:51:17.144Z,1607896277.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.919998 m,
      bearing: 46.033887 deg,
      approachRate: -0.797442 m/s,
      LOS rate: -0.367848 deg/s,
      cmd update: -1.103543 deg/s,
      cmd heading: 51.183901 deg,
      new cmd heading: 50.930518 deg.

2020-12-13T21:51:17.488Z,1607896277.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215117.11*5F

2020-12-13T21:51:19.755Z,1607896279.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:20.315Z,1607896280.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:20.733Z,1607896280.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:21.601Z,1607896281.601 [Micromodem](INFO): Nmea in: $SNTTA,0.012120,,,,215121.50*41

2020-12-13T21:51:21.650Z,1607896281.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.260002 m, bearing: 43.419707 deg, deltaT: 4.447531 s, approachRate: -0.822928 m/s, LOS rate: -0.587782 deg/s, posRepo size: 4
2020-12-13T21:51:21.651Z,1607896281.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.26 m.
2020-12-13T21:51:21.653Z,1607896281.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.260002 m,
      bearing: 43.419707 deg,
      approachRate: -0.822928 m/s,
      LOS rate: -0.587782 deg/s,
      cmd update: -1.763347 deg/s,
      cmd heading: 46.276205 deg,
      new cmd heading: 45.727988 deg.

2020-12-13T21:51:23.665Z,1607896283.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:24.420Z,1607896284.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:24.813Z,1607896284.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:25.679Z,1607896285.679 [Micromodem](INFO): Nmea in: $SNTTA,0.009846,,,,215125.62*47

2020-12-13T21:51:25.751Z,1607896285.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 41.415221 deg, deltaT: 4.126984 s, approachRate: -1.148539 m/s, LOS rate: -0.485702 deg/s, posRepo size: 4
2020-12-13T21:51:25.752Z,1607896285.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.52 m.
2020-12-13T21:51:25.758Z,1607896285.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 41.415221 deg,
      approachRate: -1.148539 m/s,
      LOS rate: -0.485702 deg/s,
      cmd update: -1.457108 deg/s,
      cmd heading: 38.998417 deg,
      new cmd heading: 38.168291 deg.

2020-12-13T21:51:28.070Z,1607896288.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:28.855Z,1607896288.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:29.249Z,1607896289.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:30.094Z,1607896290.094 [Micromodem](INFO): Nmea in: $SNTTA,0.007715,,,,215130.04*44

2020-12-13T21:51:30.131Z,1607896290.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.339997 m, bearing: 40.284346 deg, deltaT: 4.478710 s, approachRate: -0.710027 m/s, LOS rate: -0.252500 deg/s, posRepo size: 4
2020-12-13T21:51:30.132Z,1607896290.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.34 m.
2020-12-13T21:51:30.132Z,1607896290.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 11.34 m.
2020-12-13T21:51:30.132Z,1607896290.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T21:51:30.134Z,1607896290.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 40.284346 deg,
      approachRate: -0.710027 m/s,
      LOS rate: -0.252500 deg/s,
      cmd update: -0.757500 deg/s,
      cmd heading: 32.478048 deg,
      new cmd heading: 31.930772 deg.

2020-12-13T21:51:32.827Z,1607896292.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:33.420Z,1607896293.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:33.809Z,1607896293.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:33.829Z,1607896293.829 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:51:34.335Z,1607896294.335 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:51:34.336Z,1607896294.336 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:51:34.336Z,1607896294.336 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:51:34.682Z,1607896294.682 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:51:34.736Z,1607896294.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 35.686468 deg, deltaT: 4.616364 s, approachRate: -0.740843 m/s, LOS rate: -0.995996 deg/s, posRepo size: 4
2020-12-13T21:51:34.742Z,1607896294.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 35.686468 deg,
      approachRate: -0.740843 m/s,
      LOS rate: -0.995996 deg/s,
      cmd update: -2.987987 deg/s,
      cmd heading: 28.983110 deg,
      new cmd heading: 28.705537 deg.

2020-12-13T21:51:35.050Z,1607896295.050 [Micromodem](INFO): Nmea in: $CADRQ,215135,1,9,0,64,1*4F

2020-12-13T21:51:35.050Z,1607896295.050 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:51:35.442Z,1607896295.442 [Micromodem](INFO): Nmea in: $SNTTA,0.005472,,0.008259,,215134.60*5A

2020-12-13T21:51:35.443Z,1607896295.443 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.005472,,0.008259,,215134.60*5A

2020-12-13T21:51:36.678Z,1607896296.678 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:51:37.047Z,1607896297.047 [Micromodem](INFO): Nmea in: $CADRQ,215136,1,9,0,64,2*4F

2020-12-13T21:51:37.048Z,1607896297.048 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:51:37.265Z,1607896297.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:37.472Z,1607896297.472 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:51:37.847Z,1607896297.847 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:51:37.847Z,1607896297.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:39.962Z,1607896299.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:40.274Z,1607896300.274 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:51:40.275Z,1607896300.275 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:51:40.681Z,1607896300.681 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215138.202243,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T21:51:40.682Z,1607896300.682 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215138.202243,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T21:51:42.754Z,1607896302.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:45.808Z,1607896305.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:48.457Z,1607896308.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:49.238Z,1607896309.238 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:49.654Z,1607896309.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:50.497Z,1607896310.497 [Micromodem](INFO): Nmea in: $SNTTA,0.003966,,,,215150.42*4E

2020-12-13T21:51:50.563Z,1607896310.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 4.015394 deg, deltaT: 15.828183 s, approachRate: -0.125093 m/s, LOS rate: -2.000929 deg/s, posRepo size: 4
2020-12-13T21:51:50.577Z,1607896310.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 4.015394 deg,
      approachRate: -0.125093 m/s,
      LOS rate: -2.000929 deg/s,
      cmd update: -6.002788 deg/s,
      cmd heading: 341.669024 deg,
      new cmd heading: 340.615096 deg.

2020-12-13T21:51:52.915Z,1607896312.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:53.679Z,1607896313.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:54.088Z,1607896314.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:54.928Z,1607896314.928 [Micromodem](INFO): Nmea in: $SNTTA,0.005378,,,,215154.86*41

2020-12-13T21:51:54.978Z,1607896314.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 313.589885 deg, deltaT: 4.348283 s, approachRate: 0.482949 m/s, LOS rate: -11.596646 deg/s, posRepo size: 4
2020-12-13T21:51:54.979Z,1607896314.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.596646 deg/s. Setting heading cmd to target bearing of 313.589885deg and heading rate command to 0 deg/s.
2020-12-13T21:51:57.358Z,1607896317.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:51:58.123Z,1607896318.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:51:58.556Z,1607896318.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:51:59.395Z,1607896319.395 [Micromodem](INFO): Nmea in: $SNTTA,0.006842,,,,215159.31*41

2020-12-13T21:51:59.445Z,1607896319.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.319998 m, bearing: 307.274064 deg, deltaT: 4.432808 s, approachRate: 0.514346 m/s, LOS rate: -1.424790 deg/s, posRepo size: 4
2020-12-13T21:51:59.448Z,1607896319.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 307.274064 deg,
      approachRate: 0.514346 m/s,
      LOS rate: -1.424790 deg/s,
      cmd update: -4.274370 deg/s,
      cmd heading: 313.589885 deg,
      new cmd heading: 313.589885 deg.

2020-12-13T21:52:01.859Z,1607896321.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:02.637Z,1607896322.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:03.017Z,1607896323.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:03.846Z,1607896323.846 [Micromodem](INFO): Nmea in: $SNTTA,0.008102,,,,215203.82*46

2020-12-13T21:52:03.914Z,1607896323.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 287.099762 deg, deltaT: 4.453765 s, approachRate: 0.431097 m/s, LOS rate: -4.529719 deg/s, posRepo size: 4
2020-12-13T21:52:03.916Z,1607896323.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 287.099762 deg,
      approachRate: 0.431097 m/s,
      LOS rate: -4.529719 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 294.552814 deg,
      new cmd heading: 292.540774 deg.

2020-12-13T21:52:06.293Z,1607896326.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:07.055Z,1607896327.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:07.481Z,1607896327.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:08.298Z,1607896328.298 [Micromodem](INFO): Nmea in: $SNTTA,0.009110,,0.037916,,215208.23*50

2020-12-13T21:52:08.335Z,1607896328.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 309.667964 deg, deltaT: 4.517146 s, approachRate: 0.371915 m/s, LOS rate: 4.996119 deg/s, posRepo size: 4
2020-12-13T21:52:08.336Z,1607896328.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.92 m. Rolling out.
2020-12-13T21:52:08.336Z,1607896328.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T21:52:10.810Z,1607896330.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:11.576Z,1607896331.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:12.049Z,1607896332.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:12.874Z,1607896332.874 [Micromodem](INFO): Nmea in: $SNTTA,0.009665,,,,215212.76*4A

2020-12-13T21:52:12.942Z,1607896332.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 263.817450 deg, deltaT: 4.519207 s, approachRate: 0.132768 m/s, LOS rate: -10.145699 deg/s, posRepo size: 4
2020-12-13T21:52:15.324Z,1607896335.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:16.087Z,1607896336.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:16.518Z,1607896336.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:17.336Z,1607896337.336 [Micromodem](INFO): Nmea in: $SNTTA,0.009726,,,,215217.27*4D

2020-12-13T21:52:17.369Z,1607896337.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.579999 m, bearing: 250.798126 deg, deltaT: 4.509275 s, approachRate: 0.013305 m/s, LOS rate: -2.887232 deg/s, posRepo size: 4
2020-12-13T21:52:19.766Z,1607896339.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:20.587Z,1607896340.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:20.941Z,1607896340.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:21.776Z,1607896341.776 [Micromodem](INFO): Nmea in: $SNTTA,0.009324,,,,215221.77*4B

2020-12-13T21:52:21.854Z,1607896341.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 177.604931 deg, deltaT: 4.397497 s, approachRate: -0.163729 m/s, LOS rate: -16.644285 deg/s, posRepo size: 4
2020-12-13T21:52:24.334Z,1607896344.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:24.999Z,1607896344.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:25.437Z,1607896345.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:26.258Z,1607896346.258 [Micromodem](INFO): Nmea in: $SNTTA,0.008803,,0.044942,,215226.18*5B

2020-12-13T21:52:26.283Z,1607896346.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.080002 m, bearing: 173.744153 deg, deltaT: 4.492052 s, approachRate: -0.173640 m/s, LOS rate: -0.859469 deg/s, posRepo size: 4
2020-12-13T21:52:28.840Z,1607896348.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:29.463Z,1607896349.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:29.877Z,1607896349.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:30.706Z,1607896350.706 [Micromodem](INFO): Nmea in: $SNTTA,0.008283,,,,215230.64*44

2020-12-13T21:52:30.914Z,1607896350.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 204.118578 deg, deltaT: 4.454092 s, approachRate: -0.148179 m/s, LOS rate: 6.819443 deg/s, posRepo size: 4
2020-12-13T21:52:33.154Z,1607896353.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:33.922Z,1607896353.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:34.321Z,1607896354.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:35.158Z,1607896355.158 [Micromodem](INFO): Nmea in: $SNTTA,0.007948,,,,215235.11*40

2020-12-13T21:52:35.323Z,1607896355.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 201.564019 deg, deltaT: 4.471808 s, approachRate: -0.093922 m/s, LOS rate: -0.571259 deg/s, posRepo size: 4
2020-12-13T21:52:37.326Z,1607896357.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:38.007Z,1607896358.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:38.423Z,1607896358.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:39.258Z,1607896359.258 [Micromodem](INFO): Nmea in: $SNTTA,0.007840,,,,215239.19*4D

2020-12-13T21:52:39.282Z,1607896359.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.820001 m, bearing: 189.855121 deg, deltaT: 4.091297 s, approachRate: -0.043995 m/s, LOS rate: -2.861904 deg/s, posRepo size: 4
2020-12-13T21:52:39.670Z,1607896359.670 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:52:40.181Z,1607896360.181 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:52:40.181Z,1607896360.181 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:52:40.182Z,1607896360.182 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:52:40.460Z,1607896360.460 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:52:40.873Z,1607896360.873 [Micromodem](INFO): Nmea in: $CADRQ,215241,1,9,0,64,1*4F

2020-12-13T21:52:40.874Z,1607896360.874 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:52:41.247Z,1607896361.247 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:52:41.420Z,1607896361.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:41.668Z,1607896361.668 [Micromodem](INFO): Nmea in: $CADRQ,215242,1,9,0,64,2*4F

2020-12-13T21:52:41.670Z,1607896361.670 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:52:42.043Z,1607896362.043 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:52:42.044Z,1607896362.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:42.455Z,1607896362.455 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:52:42.455Z,1607896362.455 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:52:44.091Z,1607896364.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:44.874Z,1607896364.874 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:52:44.875Z,1607896364.875 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:52:45.288Z,1607896365.288 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215242.821998,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:52:45.288Z,1607896365.288 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215242.821998,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T21:52:46.917Z,1607896366.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:47.861Z,1607896367.861 [PowerOnly](INFO): Powering down loadControl
2020-12-13T21:52:49.916Z,1607896369.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:52.637Z,1607896372.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:53.417Z,1607896373.417 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:53.812Z,1607896373.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:54.664Z,1607896374.664 [Micromodem](INFO): Nmea in: $SNTTA,0.009328,,,,215254.60*43

2020-12-13T21:52:54.712Z,1607896374.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.359997 m, bearing: 205.132014 deg, deltaT: 15.335249 s, approachRate: 0.230840 m/s, LOS rate: 0.996195 deg/s, posRepo size: 4
2020-12-13T21:52:56.738Z,1607896376.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:52:57.451Z,1607896377.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:52:57.865Z,1607896377.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:52:58.694Z,1607896378.694 [Micromodem](INFO): Nmea in: $SNTTA,0.010221,,,,215258.63*4C

2020-12-13T21:52:58.753Z,1607896378.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.599998 m, bearing: 224.971746 deg, deltaT: 4.050074 s, approachRate: 0.059259 m/s, LOS rate: 4.898610 deg/s, posRepo size: 4
2020-12-13T21:53:01.118Z,1607896381.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:01.895Z,1607896381.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:02.310Z,1607896382.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:03.122Z,1607896383.122 [Micromodem](INFO): Nmea in: $SNTTA,0.011324,,,,215303.08*4B

2020-12-13T21:53:03.977Z,1607896383.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:05.526Z,1607896385.526 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:53:06.947Z,1607896386.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:07.587Z,1607896387.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:07.953Z,1607896387.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:08.788Z,1607896388.788 [Micromodem](INFO): Nmea in: $SNTTA,0.012713,,,,215308.77*4B

2020-12-13T21:53:08.966Z,1607896388.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 196.220789 deg, deltaT: 10.107961 s, approachRate: 0.463002 m/s, LOS rate: -2.844387 deg/s, posRepo size: 4
2020-12-13T21:53:10.889Z,1607896390.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:11.671Z,1607896391.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:12.085Z,1607896392.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:12.926Z,1607896392.926 [Micromodem](INFO): Nmea in: $SNTTA,0.013666,,,,215312.85*4F

2020-12-13T21:53:13.106Z,1607896393.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 269.577540 deg, deltaT: 4.139696 s, approachRate: 0.289876 m/s, LOS rate: 17.720323 deg/s, posRepo size: 4
2020-12-13T21:53:15.108Z,1607896395.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:15.711Z,1607896395.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:16.121Z,1607896396.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:16.966Z,1607896396.966 [Micromodem](INFO): Nmea in: $SNTTA,0.014750,,0.052657,,215316.89*59

2020-12-13T21:53:17.000Z,1607896397.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 187.817962 deg, deltaT: 4.082343 s, approachRate: 0.191067 m/s, LOS rate: -20.027610 deg/s, posRepo size: 4
2020-12-13T21:53:19.146Z,1607896399.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:19.759Z,1607896399.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:20.166Z,1607896400.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:20.000Z,1607896401.000 [Micromodem](INFO): Nmea in: $SNTTA,0.015742,,0.045817,,215320.94*5E

2020-12-13T21:53:21.177Z,1607896401.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 191.133391 deg, deltaT: 4.038040 s, approachRate: 0.356608 m/s, LOS rate: 0.821049 deg/s, posRepo size: 4
2020-12-13T21:53:23.432Z,1607896403.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:24.199Z,1607896404.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:24.633Z,1607896404.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:25.447Z,1607896405.447 [Micromodem](INFO): Nmea in: $SNTTA,0.017144,,0.054662,,215325.38*53

2020-12-13T21:53:25.686Z,1607896405.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 259.914899 deg, deltaT: 4.412325 s, approachRate: 0.489538 m/s, LOS rate: 15.588495 deg/s, posRepo size: 4
2020-12-13T21:53:27.727Z,1607896407.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:28.447Z,1607896408.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:28.841Z,1607896408.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:29.698Z,1607896409.698 [Micromodem](INFO): Nmea in: $SNTTA,0.018277,,0.042607,,215329.63*59

2020-12-13T21:53:29.749Z,1607896409.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 206.953666 deg, deltaT: 4.215092 s, approachRate: 0.398567 m/s, LOS rate: -12.564668 deg/s, posRepo size: 4
2020-12-13T21:53:31.899Z,1607896411.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:32.485Z,1607896412.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:32.982Z,1607896412.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:33.734Z,1607896413.734 [Micromodem](INFO): Nmea in: $SNTTA,0.019336,,0.043885,,215333.67*56

2020-12-13T21:53:33.946Z,1607896413.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.160002 m, bearing: 265.604965 deg, deltaT: 4.051610 s, approachRate: 0.399842 m/s, LOS rate: 14.476048 deg/s, posRepo size: 4
2020-12-13T21:53:36.158Z,1607896416.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:36.955Z,1607896416.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:37.353Z,1607896417.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:38.194Z,1607896418.194 [Micromodem](INFO): Nmea in: $SNTTA,0.020872,,,,215338.14*44

2020-12-13T21:53:38.378Z,1607896418.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 216.367101 deg, deltaT: 4.500522 s, approachRate: 0.506608 m/s, LOS rate: -10.940478 deg/s, posRepo size: 4
2020-12-13T21:53:40.412Z,1607896420.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:40.999Z,1607896420.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:41.411Z,1607896421.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:42.246Z,1607896422.246 [Micromodem](INFO): Nmea in: $SNTTA,0.021967,,,,215342.18*41

2020-12-13T21:53:42.264Z,1607896422.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 243.352045 deg, deltaT: 4.046189 s, approachRate: 0.548664 m/s, LOS rate: 6.669225 deg/s, posRepo size: 4
2020-12-13T21:53:44.843Z,1607896424.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:45.451Z,1607896425.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:45.861Z,1607896425.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:53:45.873Z,1607896425.873 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:53:46.378Z,1607896426.378 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:53:46.379Z,1607896426.379 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:53:46.379Z,1607896426.379 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:53:46.726Z,1607896426.726 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:53:46.900Z,1607896426.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.820000 m, bearing: 243.206125 deg, deltaT: 4.612769 s, approachRate: 0.468265 m/s, LOS rate: -0.031634 deg/s, posRepo size: 4
2020-12-13T21:53:47.106Z,1607896427.106 [Micromodem](INFO): Nmea in: $CADRQ,215347,1,9,0,64,1*48

2020-12-13T21:53:47.106Z,1607896427.106 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:53:47.522Z,1607896427.522 [Micromodem](INFO): Nmea in: $SNTTA,0.023388,,,,215346.63*40

2020-12-13T21:53:47.522Z,1607896427.522 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.023388,,,,215346.63*40

2020-12-13T21:53:48.721Z,1607896428.721 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:53:49.119Z,1607896429.119 [Micromodem](INFO): Nmea in: $CADRQ,215348,1,9,0,64,2*44

2020-12-13T21:53:49.119Z,1607896429.119 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:53:49.195Z,1607896429.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:49.539Z,1607896429.539 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:53:49.923Z,1607896429.923 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:53:49.923Z,1607896429.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:53:52.019Z,1607896432.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:52.343Z,1607896432.343 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:53:52.343Z,1607896432.343 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:53:52.744Z,1607896432.744 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215350.273172,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:53:52.744Z,1607896432.744 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215350.273172,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:53:54.816Z,1607896434.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:53:57.783Z,1607896437.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:00.454Z,1607896440.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:01.242Z,1607896441.242 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:01.645Z,1607896441.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:02.475Z,1607896442.475 [Micromodem](INFO): Nmea in: $SNTTA,0.028162,,,,215402.42*49

2020-12-13T21:54:03.278Z,1607896443.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:04.870Z,1607896444.870 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:54:06.242Z,1607896446.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:06.895Z,1607896446.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:07.308Z,1607896447.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:08.138Z,1607896448.138 [Micromodem](INFO): Nmea in: $SNTTA,0.029991,,,,215408.08*48

2020-12-13T21:54:08.160Z,1607896448.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 244.262209 deg, deltaT: 21.264360 s, approachRate: 0.474033 m/s, LOS rate: 0.049665 deg/s, posRepo size: 4
2020-12-13T21:54:10.755Z,1607896450.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:11.335Z,1607896451.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:11.750Z,1607896451.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:12.614Z,1607896452.614 [Micromodem](INFO): Nmea in: $SNTTA,0.031538,,0.057618,0.065518,215412.52*48

2020-12-13T21:54:12.773Z,1607896452.773 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-13T21:54:12.773Z,1607896452.773 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-13T21:54:12.773Z,1607896452.773 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-13T21:54:12.818Z,1607896452.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.419998 m, bearing: 215.162693 deg, deltaT: 4.474001 s, approachRate: 0.563254 m/s, LOS rate: -6.504137 deg/s, posRepo size: 4
2020-12-13T21:54:13.000Z,1607896453.000 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-13T21:54:13.145Z,1607896453.145 [RDI_Pathfinder](INFO): Powering down
2020-12-13T21:54:14.056Z,1607896454.056 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-13T21:54:14.056Z,1607896454.056 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-13T21:54:15.114Z,1607896455.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:15.875Z,1607896455.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:16.286Z,1607896456.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:17.126Z,1607896457.126 [Micromodem](INFO): Nmea in: $SNTTA,0.033060,,,,215417.05*47

2020-12-13T21:54:17.151Z,1607896457.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 244.134293 deg, deltaT: 4.638445 s, approachRate: 0.452738 m/s, LOS rate: 6.245972 deg/s, posRepo size: 4
2020-12-13T21:54:19.583Z,1607896459.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:20.328Z,1607896460.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:20.729Z,1607896460.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:21.590Z,1607896461.590 [Micromodem](INFO): Nmea in: $SNTTA,0.034558,,,,215421.51*4A

2020-12-13T21:54:21.620Z,1607896461.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 223.760986 deg, deltaT: 4.286294 s, approachRate: 0.531928 m/s, LOS rate: -4.753129 deg/s, posRepo size: 4
2020-12-13T21:54:23.999Z,1607896463.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:24.772Z,1607896464.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:25.181Z,1607896465.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:26.030Z,1607896466.030 [Micromodem](INFO): Nmea in: $SNTTA,0.036016,,,,215425.95*4B

2020-12-13T21:54:26.048Z,1607896466.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 244.456131 deg, deltaT: 4.468041 s, approachRate: 0.389434 m/s, LOS rate: 4.631816 deg/s, posRepo size: 4
2020-12-13T21:54:28.460Z,1607896468.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:29.216Z,1607896469.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:29.621Z,1607896469.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:30.468Z,1607896470.468 [Micromodem](INFO): Nmea in: $SNTTA,0.037543,,,,215430.40*43

2020-12-13T21:54:30.543Z,1607896470.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.000004 m, bearing: 239.675381 deg, deltaT: 4.465091 s, approachRate: 0.550940 m/s, LOS rate: -1.070695 deg/s, posRepo size: 4
2020-12-13T21:54:32.906Z,1607896472.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:33.277Z,1607896473.277 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:54:33.660Z,1607896473.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:34.065Z,1607896474.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:34.902Z,1607896474.902 [Micromodem](INFO): Nmea in: $SNTTA,0.038909,,,,215434.84*42

2020-12-13T21:54:34.924Z,1607896474.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 245.413150 deg, deltaT: 4.508546 s, approachRate: 0.439165 m/s, LOS rate: 1.272643 deg/s, posRepo size: 4
2020-12-13T21:54:37.364Z,1607896477.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:38.124Z,1607896478.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:38.581Z,1607896478.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:39.399Z,1607896479.399 [Micromodem](INFO): Nmea in: $SNTTA,0.040373,,,,215439.31*49

2020-12-13T21:54:39.474Z,1607896479.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.080002 m, bearing: 244.151969 deg, deltaT: 4.409916 s, approachRate: 0.476200 m/s, LOS rate: -0.285987 deg/s, posRepo size: 4
2020-12-13T21:54:41.827Z,1607896481.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:42.595Z,1607896482.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:43.013Z,1607896483.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:43.838Z,1607896483.838 [Micromodem](INFO): Nmea in: $SNTTA,0.041799,,0.060917,,215443.78*5F

2020-12-13T21:54:43.907Z,1607896483.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.299999 m, bearing: 243.534712 deg, deltaT: 4.462667 s, approachRate: 0.497460 m/s, LOS rate: -0.138316 deg/s, posRepo size: 4
2020-12-13T21:54:46.269Z,1607896486.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:47.043Z,1607896487.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:47.490Z,1607896487.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:48.463Z,1607896488.463 [Micromodem](INFO): Nmea in: $SNTTA,0.043288,,,,215448.22*4B

2020-12-13T21:54:48.555Z,1607896488.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.520004 m, bearing: 246.752086 deg, deltaT: 4.645819 s, approachRate: 0.477850 m/s, LOS rate: 0.692531 deg/s, posRepo size: 4
2020-12-13T21:54:51.038Z,1607896491.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:51.663Z,1607896491.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:52.073Z,1607896492.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:54:52.085Z,1607896492.085 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:54:52.646Z,1607896492.646 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:54:52.647Z,1607896492.647 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:54:52.647Z,1607896492.647 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:54:52.938Z,1607896492.938 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:54:52.956Z,1607896492.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 244.756960 deg, deltaT: 4.615593 s, approachRate: 0.441980 m/s, LOS rate: -0.432258 deg/s, posRepo size: 4
2020-12-13T21:54:53.318Z,1607896493.318 [Micromodem](INFO): Nmea in: $CADRQ,215453,1,9,0,64,1*4A

2020-12-13T21:54:53.318Z,1607896493.318 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:54:53.718Z,1607896493.718 [Micromodem](INFO): Nmea in: $SNTTA,0.044743,,,,215452.84*49

2020-12-13T21:54:53.718Z,1607896493.718 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.044743,,,,215452.84*49

2020-12-13T21:54:54.926Z,1607896494.926 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:54:55.325Z,1607896495.325 [Micromodem](INFO): Nmea in: $CADRQ,215454,1,9,0,64,2*4E

2020-12-13T21:54:55.325Z,1607896495.325 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:54:55.588Z,1607896495.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:55.775Z,1607896495.775 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:54:56.186Z,1607896496.186 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:54:56.187Z,1607896496.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:54:58.245Z,1607896498.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:54:58.606Z,1607896498.606 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:54:58.607Z,1607896498.607 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:54:59.012Z,1607896499.012 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215456.482591,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:54:59.012Z,1607896499.012 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215456.482591,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T21:55:01.058Z,1607896501.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:04.022Z,1607896504.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:06.769Z,1607896506.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:07.578Z,1607896507.578 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:07.953Z,1607896507.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:08.786Z,1607896508.786 [Micromodem](INFO): Nmea in: $SNTTA,0.049870,,,,215508.76*48

2020-12-13T21:55:08.816Z,1607896508.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 243.768085 deg, deltaT: 15.704948 s, approachRate: 0.469915 m/s, LOS rate: -0.062966 deg/s, posRepo size: 4
2020-12-13T21:55:11.270Z,1607896511.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:11.991Z,1607896511.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:12.414Z,1607896512.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:13.234Z,1607896513.234 [Micromodem](INFO): Nmea in: $SNTTA,0.051088,,,,215513.17*43

2020-12-13T21:55:13.278Z,1607896513.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.099998 m, bearing: 243.177056 deg, deltaT: 4.424798 s, approachRate: 0.488157 m/s, LOS rate: -0.133572 deg/s, posRepo size: 4
2020-12-13T21:55:15.727Z,1607896515.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:16.467Z,1607896516.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:16.912Z,1607896516.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:17.726Z,1607896517.726 [Micromodem](INFO): Nmea in: $SNTTA,0.052588,,,,215517.65*44

2020-12-13T21:55:17.792Z,1607896517.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.260002 m, bearing: 243.783003 deg, deltaT: 4.477600 s, approachRate: 0.482402 m/s, LOS rate: 0.135329 deg/s, posRepo size: 4
2020-12-13T21:55:20.274Z,1607896520.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:20.935Z,1607896520.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:21.345Z,1607896521.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:22.201Z,1607896522.201 [Micromodem](INFO): Nmea in: $SNTTA,0.054111,,,,215522.12*40

2020-12-13T21:55:22.267Z,1607896522.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 241.876642 deg, deltaT: 4.471906 s, approachRate: 0.523268 m/s, LOS rate: -0.426297 deg/s, posRepo size: 4
2020-12-13T21:55:24.627Z,1607896524.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:25.382Z,1607896525.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:25.789Z,1607896525.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:26.650Z,1607896526.650 [Micromodem](INFO): Nmea in: $SNTTA,0.055560,,,,215526.56*47

2020-12-13T21:55:26.703Z,1607896526.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 243.873462 deg, deltaT: 4.427631 s, approachRate: 0.487845 m/s, LOS rate: 0.450991 deg/s, posRepo size: 4
2020-12-13T21:55:29.207Z,1607896529.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:29.827Z,1607896529.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:30.229Z,1607896530.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:31.074Z,1607896531.074 [Micromodem](INFO): Nmea in: $SNTTA,0.056918,,,,215531.01*43

2020-12-13T21:55:31.092Z,1607896531.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 246.904126 deg, deltaT: 4.440071 s, approachRate: 0.459452 m/s, LOS rate: 0.682571 deg/s, posRepo size: 4
2020-12-13T21:55:33.685Z,1607896533.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:34.279Z,1607896534.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:34.677Z,1607896534.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:35.522Z,1607896535.522 [Micromodem](INFO): Nmea in: $SNTTA,0.058302,,,,215535.46*4B

2020-12-13T21:55:35.710Z,1607896535.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.780006 m, bearing: 243.373820 deg, deltaT: 4.501446 s, approachRate: 0.439859 m/s, LOS rate: -0.784260 deg/s, posRepo size: 4
2020-12-13T21:55:37.948Z,1607896537.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:38.715Z,1607896538.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:39.165Z,1607896539.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:39.966Z,1607896539.966 [Micromodem](INFO): Nmea in: $SNTTA,0.059683,,,,215539.90*41

2020-12-13T21:55:39.991Z,1607896539.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.640007 m, bearing: 245.123332 deg, deltaT: 4.582968 s, approachRate: 0.405851 m/s, LOS rate: 0.381742 deg/s, posRepo size: 4
2020-12-13T21:55:42.430Z,1607896542.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:43.187Z,1607896543.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:43.569Z,1607896543.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:44.388Z,1607896544.388 [Micromodem](INFO): Nmea in: $SNTTA,0.061186,0.063243,,,215544.37*51

2020-12-13T21:55:44.486Z,1607896544.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.920006 m, bearing: 247.344646 deg, deltaT: 4.247865 s, approachRate: 0.536740 m/s, LOS rate: 0.522925 deg/s, posRepo size: 4
2020-12-13T21:55:46.841Z,1607896546.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:47.603Z,1607896547.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:48.024Z,1607896548.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:48.850Z,1607896548.850 [Micromodem](INFO): Nmea in: $SNTTA,0.062570,,,,215548.79*47

2020-12-13T21:55:48.879Z,1607896548.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 246.131386 deg, deltaT: 4.520715 s, approachRate: 0.451256 m/s, LOS rate: -0.268378 deg/s, posRepo size: 4
2020-12-13T21:55:51.273Z,1607896551.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:52.043Z,1607896552.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:52.465Z,1607896552.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:53.302Z,1607896553.302 [Micromodem](INFO): Nmea in: $SNTTA,0.064076,,0.065369,,215553.22*57

2020-12-13T21:55:53.339Z,1607896553.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 240.189667 deg, deltaT: 4.360419 s, approachRate: 0.605446 m/s, LOS rate: -1.362648 deg/s, posRepo size: 4
2020-12-13T21:55:55.748Z,1607896555.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:55:56.520Z,1607896556.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:55:56.913Z,1607896556.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:55:57.738Z,1607896557.738 [Micromodem](INFO): Nmea in: $SNTTA,0.065546,,,,215557.70*42

2020-12-13T21:55:57.738Z,1607896557.738 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:55:57.782Z,1607896557.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 244.400698 deg, deltaT: 4.473785 s, approachRate: 0.415755 m/s, LOS rate: 0.941268 deg/s, posRepo size: 4
2020-12-13T21:55:58.464Z,1607896558.464 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:55:58.465Z,1607896558.465 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:55:58.465Z,1607896558.465 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:55:59.155Z,1607896559.155 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:55:59.562Z,1607896559.562 [Micromodem](INFO): Nmea in: $CADRQ,215559,1,9,0,64,1*41

2020-12-13T21:55:59.562Z,1607896559.562 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:55:59.939Z,1607896559.939 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:55:59.994Z,1607896559.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:00.348Z,1607896560.348 [Micromodem](INFO): Nmea in: $CADRQ,215600,1,9,0,64,2*4D

2020-12-13T21:56:00.351Z,1607896560.351 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:56:00.383Z,1607896560.383 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:56:00.755Z,1607896560.755 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:56:00.756Z,1607896560.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:01.182Z,1607896561.182 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:56:01.182Z,1607896561.182 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T21:56:02.812Z,1607896562.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:03.583Z,1607896563.583 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:56:03.583Z,1607896563.583 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:56:03.984Z,1607896563.984 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215601.504220,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T21:56:03.984Z,1607896563.984 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215601.504220,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T21:56:05.344Z,1607896565.344 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T21:56:05.369Z,1607896565.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:08.046Z,1607896568.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:10.877Z,1607896570.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:12.054Z,1607896572.054 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:12.469Z,1607896572.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:13.302Z,1607896573.302 [Micromodem](INFO): Nmea in: $SNTTA,0.070542,,,,215613.24*40

2020-12-13T21:56:13.344Z,1607896573.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 245.885362 deg, deltaT: 15.612614 s, approachRate: 0.476537 m/s, LOS rate: 0.095094 deg/s, posRepo size: 4
2020-12-13T21:56:15.323Z,1607896575.323 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:56:15.726Z,1607896575.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:16.518Z,1607896576.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:16.905Z,1607896576.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:17.726Z,1607896577.726 [Micromodem](INFO): Nmea in: $SNTTA,0.071896,,,,215617.70*40

2020-12-13T21:56:17.797Z,1607896577.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.940002 m, bearing: 247.019310 deg, deltaT: 4.389581 s, approachRate: 0.464737 m/s, LOS rate: 0.258327 deg/s, posRepo size: 4
2020-12-13T21:56:20.312Z,1607896580.312 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:56:20.327Z,1607896580.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:20.939Z,1607896580.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:21.349Z,1607896581.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:22.206Z,1607896582.206 [Micromodem](INFO): Nmea in: $SNTTA,0.073319,,,0.088531,215622.12*55

2020-12-13T21:56:22.248Z,1607896582.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 247.885515 deg, deltaT: 4.432748 s, approachRate: 0.487281 m/s, LOS rate: 0.195410 deg/s, posRepo size: 4
2020-12-13T21:56:24.738Z,1607896584.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:25.387Z,1607896585.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:25.793Z,1607896585.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:26.228Z,1607896586.228 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T21:56:26.634Z,1607896586.634 [Micromodem](INFO): Nmea in: $SNTTA,0.074867,,,,215626.57*4C

2020-12-13T21:56:26.797Z,1607896586.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.560005 m, bearing: 247.810710 deg, deltaT: 4.450092 s, approachRate: 0.552799 m/s, LOS rate: -0.016810 deg/s, posRepo size: 4
2020-12-13T21:56:29.035Z,1607896589.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:29.831Z,1607896589.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:30.241Z,1607896590.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:31.078Z,1607896591.078 [Micromodem](INFO): Nmea in: $SNTTA,0.076189,,0.092700,,215631.01*50

2020-12-13T21:56:31.301Z,1607896591.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 244.364033 deg, deltaT: 4.455271 s, approachRate: 0.457885 m/s, LOS rate: -0.773618 deg/s, posRepo size: 4
2020-12-13T21:56:33.290Z,1607896593.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:33.894Z,1607896593.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:34.289Z,1607896594.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:35.165Z,1607896595.165 [Micromodem](INFO): Nmea in: $SNTTA,0.077472,,,,215635.08*4F

2020-12-13T21:56:35.205Z,1607896595.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 246.012595 deg, deltaT: 4.018855 s, approachRate: 0.462819 m/s, LOS rate: 0.410207 deg/s, posRepo size: 4
2020-12-13T21:56:37.734Z,1607896597.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:38.323Z,1607896598.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:38.741Z,1607896598.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:39.582Z,1607896599.582 [Micromodem](INFO): Nmea in: $SNTTA,0.078870,,,,215639.51*4E

2020-12-13T21:56:39.786Z,1607896599.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 247.311150 deg, deltaT: 4.488946 s, approachRate: 0.427715 m/s, LOS rate: 0.289278 deg/s, posRepo size: 4
2020-12-13T21:56:41.983Z,1607896601.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:42.795Z,1607896602.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:43.197Z,1607896603.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:44.018Z,1607896604.018 [Micromodem](INFO): Nmea in: $SNTTA,0.080298,,0.112248,,215643.97*50

2020-12-13T21:56:44.220Z,1607896604.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.540001 m, bearing: 245.423423 deg, deltaT: 4.443318 s, approachRate: 0.486124 m/s, LOS rate: -0.424846 deg/s, posRepo size: 4
2020-12-13T21:56:46.238Z,1607896606.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:46.815Z,1607896606.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:47.233Z,1607896607.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:48.066Z,1607896608.066 [Micromodem](INFO): Nmea in: $SNTTA,0.081615,,,,215647.99*48

2020-12-13T21:56:48.084Z,1607896608.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.519997 m, bearing: 246.660834 deg, deltaT: 4.022602 s, approachRate: 0.492218 m/s, LOS rate: 0.307615 deg/s, posRepo size: 4
2020-12-13T21:56:50.667Z,1607896610.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:51.263Z,1607896611.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:51.674Z,1607896611.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:52.518Z,1607896612.518 [Micromodem](INFO): Nmea in: $SNTTA,0.083155,,,,215652.45*4C

2020-12-13T21:56:52.691Z,1607896612.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.979996 m, bearing: 244.674588 deg, deltaT: 4.481237 s, approachRate: 0.548955 m/s, LOS rate: -0.443236 deg/s, posRepo size: 4
2020-12-13T21:56:54.939Z,1607896614.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:55.711Z,1607896615.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:56:56.150Z,1607896616.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:56:56.946Z,1607896616.946 [Micromodem](INFO): Nmea in: $SNTTA,0.084578,,,,215656.89*44

2020-12-13T21:56:57.151Z,1607896617.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 246.376699 deg, deltaT: 4.453012 s, approachRate: 0.485067 m/s, LOS rate: 0.382238 deg/s, posRepo size: 4
2020-12-13T21:56:59.109Z,1607896619.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:56:59.755Z,1607896619.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:00.187Z,1607896620.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:01.006Z,1607896621.006 [Micromodem](INFO): Nmea in: $SNTTA,0.085839,,,,215700.94*43

2020-12-13T21:57:01.031Z,1607896621.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 245.513445 deg, deltaT: 3.993913 s, approachRate: 0.435662 m/s, LOS rate: -0.216142 deg/s, posRepo size: 4
2020-12-13T21:57:03.610Z,1607896623.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:03.809Z,1607896623.809 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:57:04.199Z,1607896624.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:04.593Z,1607896624.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:04.734Z,1607896624.734 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:57:04.734Z,1607896624.734 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:57:04.735Z,1607896624.735 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:57:05.009Z,1607896625.009 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:57:05.442Z,1607896625.442 [Micromodem](INFO): Nmea in: $CADRQ,215705,1,9,0,64,1*4A

2020-12-13T21:57:05.442Z,1607896625.442 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:57:05.716Z,1607896625.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 244.106917 deg, deltaT: 4.465790 s, approachRate: 0.470239 m/s, LOS rate: -0.314956 deg/s, posRepo size: 4
2020-12-13T21:57:05.958Z,1607896625.958 [Micromodem](INFO): Nmea in: $SNTTA,0.087265,,,,215705.38*41

2020-12-13T21:57:05.958Z,1607896625.958 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.087265,,,,215705.38*41

2020-12-13T21:57:07.181Z,1607896627.181 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:57:07.575Z,1607896627.575 [Micromodem](INFO): Nmea in: $CADRQ,215706,1,9,0,64,2*4A

2020-12-13T21:57:07.575Z,1607896627.575 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:57:07.643Z,1607896627.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:07.963Z,1607896627.963 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:57:08.361Z,1607896628.361 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:57:08.361Z,1607896628.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:10.213Z,1607896630.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:10.783Z,1607896630.783 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:57:10.783Z,1607896630.783 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:57:11.192Z,1607896631.192 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215708.727527,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T21:57:11.192Z,1607896631.192 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215708.727527,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T21:57:12.822Z,1607896632.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:13.616Z,1607896633.616 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T21:57:15.685Z,1607896635.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:18.746Z,1607896638.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:19.738Z,1607896639.738 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:20.167Z,1607896640.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:20.986Z,1607896640.986 [Micromodem](INFO): Nmea in: $SNTTA,0.092567,,,,215720.92*47

2020-12-13T21:57:21.000Z,1607896641.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 241.678348 deg, deltaT: 15.530688 s, approachRate: 0.509959 m/s, LOS rate: -0.156372 deg/s, posRepo size: 4
2020-12-13T21:57:23.203Z,1607896643.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:23.783Z,1607896643.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:24.209Z,1607896644.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:25.026Z,1607896645.026 [Micromodem](INFO): Nmea in: $SNTTA,0.093845,,,,215724.96*4B

2020-12-13T21:57:25.263Z,1607896645.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.300003 m, bearing: 240.564918 deg, deltaT: 4.055058 s, approachRate: 0.591852 m/s, LOS rate: -0.274578 deg/s, posRepo size: 4
2020-12-13T21:57:27.537Z,1607896647.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:28.251Z,1607896648.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:28.671Z,1607896648.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:29.509Z,1607896649.509 [Micromodem](INFO): Nmea in: $SNTTA,0.095399,,,,215729.43*42

2020-12-13T21:57:29.721Z,1607896649.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 246.385714 deg, deltaT: 4.462992 s, approachRate: 0.483981 m/s, LOS rate: 1.304236 deg/s, posRepo size: 4
2020-12-13T21:57:31.683Z,1607896651.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:32.307Z,1607896652.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:32.709Z,1607896652.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:33.568Z,1607896653.568 [Micromodem](INFO): Nmea in: $SNTTA,0.096796,,,,215733.49*4B

2020-12-13T21:57:33.603Z,1607896653.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.260010 m, bearing: 243.680331 deg, deltaT: 4.069683 s, approachRate: 0.442296 m/s, LOS rate: -0.664765 deg/s, posRepo size: 4
2020-12-13T21:57:36.157Z,1607896656.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:36.743Z,1607896656.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:37.170Z,1607896657.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:37.994Z,1607896657.994 [Micromodem](INFO): Nmea in: $SNTTA,0.098214,,,,215737.92*48

2020-12-13T21:57:38.246Z,1607896658.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.420013 m, bearing: 247.487670 deg, deltaT: 4.442027 s, approachRate: 0.486265 m/s, LOS rate: 0.857117 deg/s, posRepo size: 4
2020-12-13T21:57:40.496Z,1607896660.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:41.239Z,1607896661.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:41.645Z,1607896661.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:42.519Z,1607896662.519 [Micromodem](INFO): Nmea in: $SNTTA,0.099835,,,,215742.42*4F

2020-12-13T21:57:42.567Z,1607896662.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 246.059887 deg, deltaT: 4.650734 s, approachRate: 0.528947 m/s, LOS rate: -0.307002 deg/s, posRepo size: 4
2020-12-13T21:57:44.900Z,1607896664.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:45.695Z,1607896665.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:46.102Z,1607896666.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:46.938Z,1607896666.938 [Micromodem](INFO): Nmea in: $SNTTA,0.101330,,,,215746.88*43

2020-12-13T21:57:46.989Z,1607896666.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.099991 m, bearing: 242.896608 deg, deltaT: 4.324152 s, approachRate: 0.513392 m/s, LOS rate: -0.731537 deg/s, posRepo size: 4
2020-12-13T21:57:49.378Z,1607896669.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:50.167Z,1607896670.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:50.569Z,1607896670.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:51.360Z,1607896671.360 [Micromodem](INFO): Nmea in: $SNTTA,0.102743,,,,215751.35*40

2020-12-13T21:57:52.249Z,1607896672.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:53.770Z,1607896673.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:57:55.243Z,1607896675.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:57:55.835Z,1607896675.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:57:56.237Z,1607896676.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:57:56.627Z,1607896676.627 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F98,000,064
8,184,80,80,86,FF
2020-12-13T21:57:57.055Z,1607896677.055 [Micromodem](INFO): Nmea in: $SNTTA,0.104644,,,,215757.02*42

2020-12-13T21:57:57.931Z,1607896677.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:00.750Z,1607896680.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:03.738Z,1607896683.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:04.347Z,1607896684.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:04.763Z,1607896684.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:05.606Z,1607896685.606 [Micromodem](INFO): Nmea in: $SNTTA,0.107455,,,,215805.53*4F

2020-12-13T21:58:05.630Z,1607896685.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 242.984608 deg, deltaT: 18.646644 s, approachRate: 0.492315 m/s, LOS rate: 0.004719 deg/s, posRepo size: 4
2020-12-13T21:58:08.011Z,1607896688.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:08.787Z,1607896688.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:09.209Z,1607896689.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:10.054Z,1607896690.054 [Micromodem](INFO): Nmea in: $SNTTA,0.108846,0.145111,,,215809.97*55

2020-12-13T21:58:10.055Z,1607896690.055 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:58:10.101Z,1607896690.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.380005 m, bearing: 243.787183 deg, deltaT: 4.532672 s, approachRate: 0.463301 m/s, LOS rate: 0.177064 deg/s, posRepo size: 4
2020-12-13T21:58:10.570Z,1607896690.570 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:58:10.570Z,1607896690.570 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:58:10.571Z,1607896690.571 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:58:11.249Z,1607896691.249 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:58:11.650Z,1607896691.650 [Micromodem](INFO): Nmea in: $CADRQ,215811,1,9,0,64,1*40

2020-12-13T21:58:11.650Z,1607896691.650 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:58:12.050Z,1607896692.050 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:58:12.455Z,1607896692.455 [Micromodem](INFO): Nmea in: $CADRQ,215812,1,9,0,64,2*40

2020-12-13T21:58:12.455Z,1607896692.455 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:58:12.579Z,1607896692.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:12.855Z,1607896692.855 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:58:13.259Z,1607896693.259 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:58:13.259Z,1607896693.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:15.391Z,1607896695.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:15.676Z,1607896695.676 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:58:15.676Z,1607896695.676 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:58:16.083Z,1607896696.083 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215813.611394,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:58:16.084Z,1607896696.084 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215813.611394,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T21:58:18.169Z,1607896698.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:20.732Z,1607896700.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:23.399Z,1607896703.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:24.576Z,1607896704.576 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:24.986Z,1607896704.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:25.810Z,1607896705.810 [Micromodem](INFO): Nmea in: $SNTTA,0.114112,,,0.133437,215825.76*51

2020-12-13T21:58:25.853Z,1607896705.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.380005 m, bearing: 247.917098 deg, deltaT: 15.666570 s, approachRate: 0.000000 m/s, LOS rate: 0.263613 deg/s, posRepo size: 4
2020-12-13T21:58:28.255Z,1607896708.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:29.015Z,1607896709.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:29.435Z,1607896709.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:30.286Z,1607896710.286 [Micromodem](INFO): Nmea in: $SNTTA,0.115602,,,,215830.20*4E

2020-12-13T21:58:30.330Z,1607896710.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.380005 m, bearing: 247.303938 deg, deltaT: 4.425624 s, approachRate: 0.000000 m/s, LOS rate: -0.138548 deg/s, posRepo size: 4
2020-12-13T21:58:32.691Z,1607896712.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:33.455Z,1607896713.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:33.867Z,1607896713.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:34.710Z,1607896714.710 [Micromodem](INFO): Nmea in: $SNTTA,0.117156,,,,215834.64*4E

2020-12-13T21:58:34.768Z,1607896714.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.380005 m, bearing: 248.232625 deg, deltaT: 4.446370 s, approachRate: 0.000000 m/s, LOS rate: 0.208864 deg/s, posRepo size: 4
2020-12-13T21:58:37.118Z,1607896717.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:37.899Z,1607896717.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:38.305Z,1607896718.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:39.158Z,1607896719.158 [Micromodem](INFO): Nmea in: $SNTTA,0.118552,,,,215839.08*46

2020-12-13T21:58:39.716Z,1607896719.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 247.670965 deg, deltaT: 4.881066 s, approachRate: 2.950174 m/s, LOS rate: -0.115069 deg/s, posRepo size: 4
2020-12-13T21:58:41.747Z,1607896721.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:42.343Z,1607896722.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:42.753Z,1607896722.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:43.598Z,1607896723.598 [Micromodem](INFO): Nmea in: $SNTTA,0.119778,,,,215843.52*4F

2020-12-13T21:58:43.622Z,1607896723.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 246.693811 deg, deltaT: 4.008342 s, approachRate: 0.493973 m/s, LOS rate: -0.243780 deg/s, posRepo size: 4
2020-12-13T21:58:46.195Z,1607896726.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:46.779Z,1607896726.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:47.205Z,1607896727.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:48.030Z,1607896728.030 [Micromodem](INFO): Nmea in: $SNTTA,0.121180,,,,215847.96*49

2020-12-13T21:58:48.248Z,1607896728.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 245.778183 deg, deltaT: 4.450116 s, approachRate: 0.000000 m/s, LOS rate: -0.205754 deg/s, posRepo size: 4
2020-12-13T21:58:50.529Z,1607896730.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:51.234Z,1607896731.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:51.638Z,1607896731.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:52.510Z,1607896732.510 [Micromodem](INFO): Nmea in: $SNTTA,0.122622,,,,215852.41*4B

2020-12-13T21:58:52.689Z,1607896732.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.760010 m, bearing: 243.017612 deg, deltaT: 4.454486 s, approachRate: 0.000000 m/s, LOS rate: -0.619728 deg/s, posRepo size: 4
2020-12-13T21:58:54.709Z,1607896734.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:55.326Z,1607896735.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:58:55.709Z,1607896735.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:58:56.549Z,1607896736.549 [Micromodem](INFO): Nmea in: $SNTTA,0.123976,,,,215856.51*41

2020-12-13T21:58:56.555Z,1607896736.555 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T21:58:56.963Z,1607896736.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 246.058740 deg, deltaT: 4.491863 s, approachRate: 1.415890 m/s, LOS rate: 0.677030 deg/s, posRepo size: 4
2020-12-13T21:58:59.110Z,1607896739.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:58:59.751Z,1607896739.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:00.177Z,1607896740.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:00.995Z,1607896740.995 [Micromodem](INFO): Nmea in: $SNTTA,0.125536,,,,215900.93*43

2020-12-13T21:59:01.436Z,1607896741.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.399994 m, bearing: 246.771702 deg, deltaT: 4.609080 s, approachRate: 0.494675 m/s, LOS rate: 0.154687 deg/s, posRepo size: 4
2020-12-13T21:59:03.843Z,1607896743.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:04.623Z,1607896744.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:05.021Z,1607896745.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:05.954Z,1607896745.954 [Micromodem](INFO): Nmea in: $SNTTA,0.127121,,,,215905.80*44

2020-12-13T21:59:06.378Z,1607896746.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.799988 m, bearing: 249.552819 deg, deltaT: 4.756182 s, approachRate: 0.504605 m/s, LOS rate: 0.584737 deg/s, posRepo size: 4
2020-12-13T21:59:08.840Z,1607896748.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:09.575Z,1607896749.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:09.985Z,1607896749.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:10.811Z,1607896750.811 [Micromodem](INFO): Nmea in: $SNTTA,0.128914,,,,215910.76*48

2020-12-13T21:59:11.642Z,1607896751.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:13.206Z,1607896753.206 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:59:14.229Z,1607896754.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:14.831Z,1607896754.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:15.241Z,1607896755.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:15.626Z,1607896755.626 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T21:59:16.051Z,1607896756.051 [Micromodem](INFO): Nmea in: $SNTTA,0.130692,,,,215916.01*46

2020-12-13T21:59:16.214Z,1607896756.214 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T21:59:16.215Z,1607896756.215 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T21:59:16.215Z,1607896756.215 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T21:59:16.909Z,1607896756.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:17.263Z,1607896757.263 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T21:59:17.667Z,1607896757.667 [Micromodem](INFO): Nmea in: $CADRQ,215917,1,9,0,64,1*47

2020-12-13T21:59:17.667Z,1607896757.667 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T21:59:18.080Z,1607896758.080 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T21:59:18.474Z,1607896758.474 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T21:59:18.475Z,1607896758.475 [Micromodem](INFO): Nmea in: $CADRQ,215918,1,9,0,64,2*4B

2020-12-13T21:59:18.475Z,1607896758.475 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T21:59:18.923Z,1607896758.923 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T21:59:19.314Z,1607896759.314 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T21:59:19.779Z,1607896759.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:20.560Z,1607896760.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:21.739Z,1607896761.739 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T21:59:21.739Z,1607896761.739 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T21:59:22.179Z,1607896762.179 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,215919.634943,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T21:59:22.179Z,1607896762.179 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,215919.634943,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T21:59:22.601Z,1607896762.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:25.161Z,1607896765.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:27.831Z,1607896767.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:30.692Z,1607896770.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:31.846Z,1607896771.846 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:32.249Z,1607896772.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:33.085Z,1607896773.085 [Micromodem](INFO): Nmea in: $SNTTA,0.136100,,,,215933.03*49

2020-12-13T21:59:33.689Z,1607896773.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.240005 m, bearing: 244.809853 deg, deltaT: 27.193593 s, approachRate: 0.494235 m/s, LOS rate: -0.174415 deg/s, posRepo size: 4
2020-12-13T21:59:35.898Z,1607896775.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:36.691Z,1607896776.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:37.101Z,1607896777.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:37.997Z,1607896777.997 [Micromodem](INFO): Nmea in: $SNTTA,0.137731,,,,215937.87*44

2020-12-13T21:59:38.565Z,1607896778.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.759979 m, bearing: 245.555628 deg, deltaT: 5.158109 s, approachRate: 0.488546 m/s, LOS rate: 0.144583 deg/s, posRepo size: 4
2020-12-13T21:59:40.962Z,1607896780.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:41.747Z,1607896781.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:42.185Z,1607896782.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:42.993Z,1607896782.993 [Micromodem](INFO): Nmea in: $SNTTA,0.140038,,0.141281,,215942.93*5C

2020-12-13T21:59:43.433Z,1607896783.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.219986 m, bearing: 240.497135 deg, deltaT: 4.695003 s, approachRate: 0.523963 m/s, LOS rate: -1.077421 deg/s, posRepo size: 4
2020-12-13T21:59:45.857Z,1607896785.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:46.283Z,1607896786.283 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T21:49:45.0Z
2020-12-13T21:59:46.283Z,1607896786.283 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T21:59:46.283Z,1607896786.283 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:59:46.283Z,1607896786.283 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T21:59:46.283Z,1607896786.283 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:59:46.283Z,1607896786.283 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T21:59:46.611Z,1607896786.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:46.922Z,1607896786.922 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T21:59:46.922Z,1607896786.922 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T21:59:46.922Z,1607896786.922 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T21:59:46.922Z,1607896786.922 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T21:59:46.922Z,1607896786.922 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T21:59:47.313Z,1607896787.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:48.149Z,1607896788.149 [Micromodem](INFO): Nmea in: $SNTTA,0.141024,,,,215947.79*40

2020-12-13T21:59:48.214Z,1607896788.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.679977 m, bearing: 241.974915 deg, deltaT: 4.731944 s, approachRate: 0.519869 m/s, LOS rate: 0.312299 deg/s, posRepo size: 4
2020-12-13T21:59:50.605Z,1607896790.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:51.351Z,1607896791.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:51.753Z,1607896791.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:52.589Z,1607896792.589 [Micromodem](INFO): Nmea in: $SNTTA,0.142635,,,,215952.53*49

2020-12-13T21:59:53.189Z,1607896793.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.080002 m, bearing: 241.618379 deg, deltaT: 4.891361 s, approachRate: 0.490666 m/s, LOS rate: -0.072891 deg/s, posRepo size: 4
2020-12-13T21:59:55.439Z,1607896795.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T21:59:56.199Z,1607896796.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T21:59:56.612Z,1607896796.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T21:59:57.453Z,1607896797.453 [Micromodem](INFO): Nmea in: $SNTTA,0.144295,,,,215957.38*49

2020-12-13T21:59:57.865Z,1607896797.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.600006 m, bearing: 240.847770 deg, deltaT: 5.027463 s, approachRate: 0.501248 m/s, LOS rate: -0.153280 deg/s, posRepo size: 4
2020-12-13T22:00:00.287Z,1607896800.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:01.059Z,1607896801.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:01.517Z,1607896801.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:02.293Z,1607896802.293 [Micromodem](INFO): Nmea in: $SNTTA,0.145793,,,,220002.24*49

2020-12-13T22:00:02.729Z,1607896802.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.759979 m, bearing: 242.340986 deg, deltaT: 4.652488 s, approachRate: 0.464262 m/s, LOS rate: 0.320950 deg/s, posRepo size: 4
2020-12-13T22:00:05.181Z,1607896805.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:05.907Z,1607896805.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:06.389Z,1607896806.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:07.218Z,1607896807.218 [Micromodem](INFO): Nmea in: $SNTTA,0.147251,,,,220007.09*4A

2020-12-13T22:00:07.276Z,1607896807.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.979980 m, bearing: 246.183787 deg, deltaT: 4.536595 s, approachRate: 0.489354 m/s, LOS rate: 0.847067 deg/s, posRepo size: 4
2020-12-13T22:00:09.678Z,1607896809.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:10.443Z,1607896810.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:10.841Z,1607896810.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:11.666Z,1607896811.666 [Micromodem](INFO): Nmea in: $SNTTA,0.148726,,,,220011.62*4A

2020-12-13T22:00:12.272Z,1607896812.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.199997 m, bearing: 242.869615 deg, deltaT: 4.865605 s, approachRate: 0.456267 m/s, LOS rate: -0.681143 deg/s, posRepo size: 4
2020-12-13T22:00:14.566Z,1607896814.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:15.291Z,1607896815.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:15.693Z,1607896815.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:16.532Z,1607896816.532 [Micromodem](INFO): Nmea in: $SNTTA,0.150274,,,,220016.48*4E

2020-12-13T22:00:16.924Z,1607896816.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.479996 m, bearing: 243.958948 deg, deltaT: 4.988525 s, approachRate: 0.457049 m/s, LOS rate: 0.218368 deg/s, posRepo size: 4
2020-12-13T22:00:19.356Z,1607896819.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:20.143Z,1607896820.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:20.582Z,1607896820.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:21.371Z,1607896821.371 [Micromodem](INFO): Nmea in: $SNTTA,0.152103,,,,220021.32*46

2020-12-13T22:00:21.372Z,1607896821.372 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:00:21.918Z,1607896821.918 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:00:21.919Z,1607896821.919 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:00:21.919Z,1607896821.919 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:00:22.002Z,1607896822.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.179993 m, bearing: 245.414625 deg, deltaT: 4.693913 s, approachRate: 0.575212 m/s, LOS rate: 0.310120 deg/s, posRepo size: 4
2020-12-13T22:00:22.606Z,1607896822.606 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:00:22.998Z,1607896822.998 [Micromodem](INFO): Nmea in: $CADRQ,220023,1,9,0,64,1*4F

2020-12-13T22:00:22.998Z,1607896822.998 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:00:23.470Z,1607896823.470 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:00:23.862Z,1607896823.862 [Micromodem](INFO): Nmea in: $CADRQ,220024,1,9,0,64,2*4B

2020-12-13T22:00:23.862Z,1607896823.862 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:00:23.935Z,1607896823.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:24.260Z,1607896824.260 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:00:24.651Z,1607896824.651 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:00:24.652Z,1607896824.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:26.696Z,1607896826.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:27.083Z,1607896827.083 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:00:27.083Z,1607896827.083 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:00:27.491Z,1607896827.491 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220025.015805,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:00:27.492Z,1607896827.492 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220025.015805,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:00:29.687Z,1607896829.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:32.346Z,1607896832.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:35.205Z,1607896835.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:35.966Z,1607896835.966 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:36.425Z,1607896836.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:37.225Z,1607896837.225 [Micromodem](INFO): Nmea in: $SNTTA,0.157021,,,,220037.15*40

2020-12-13T22:00:37.679Z,1607896837.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.679977 m, bearing: 244.860260 deg, deltaT: 15.883199 s, approachRate: 0.472196 m/s, LOS rate: -0.034903 deg/s, posRepo size: 4
2020-12-13T22:00:40.051Z,1607896840.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:40.847Z,1607896840.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:41.249Z,1607896841.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:42.073Z,1607896842.073 [Micromodem](INFO): Nmea in: $SNTTA,0.158747,,,,220042.03*4D

2020-12-13T22:00:42.683Z,1607896842.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.199982 m, bearing: 241.240888 deg, deltaT: 4.869544 s, approachRate: 0.517503 m/s, LOS rate: -0.743267 deg/s, posRepo size: 4
2020-12-13T22:00:44.680Z,1607896844.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:45.295Z,1607896845.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:45.697Z,1607896845.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:46.546Z,1607896846.546 [Micromodem](INFO): Nmea in: $SNTTA,0.160199,,,,220046.47*47

2020-12-13T22:00:46.951Z,1607896846.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.419983 m, bearing: 243.485042 deg, deltaT: 4.424138 s, approachRate: 0.501793 m/s, LOS rate: 0.507252 deg/s, posRepo size: 4
2020-12-13T22:00:49.361Z,1607896849.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:50.142Z,1607896850.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:50.568Z,1607896850.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:51.381Z,1607896851.381 [Micromodem](INFO): Nmea in: $SNTTA,0.161744,,,,220051.32*44

2020-12-13T22:00:51.796Z,1607896851.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.699997 m, bearing: 247.303337 deg, deltaT: 4.854971 s, approachRate: 0.469625 m/s, LOS rate: 0.786471 deg/s, posRepo size: 4
2020-12-13T22:00:54.233Z,1607896854.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:54.983Z,1607896854.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:00:55.407Z,1607896855.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:00:56.237Z,1607896856.237 [Micromodem](INFO): Nmea in: $SNTTA,0.163345,,,,220056.16*42

2020-12-13T22:00:56.693Z,1607896856.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.099991 m, bearing: 247.452672 deg, deltaT: 4.845829 s, approachRate: 0.495270 m/s, LOS rate: 0.030817 deg/s, posRepo size: 4
2020-12-13T22:00:59.067Z,1607896859.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:00:59.867Z,1607896859.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:00.261Z,1607896860.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:01.101Z,1607896861.101 [Micromodem](INFO): Nmea in: $SNTTA,0.164946,,,,220101.05*4D

2020-12-13T22:01:01.570Z,1607896861.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.559998 m, bearing: 248.694236 deg, deltaT: 4.874437 s, approachRate: 0.504675 m/s, LOS rate: 0.254709 deg/s, posRepo size: 4
2020-12-13T22:01:04.223Z,1607896864.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:04.792Z,1607896864.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:05.211Z,1607896865.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:06.038Z,1607896866.038 [Micromodem](INFO): Nmea in: $SNTTA,0.167258,,,,220105.97*45

2020-12-13T22:01:06.837Z,1607896866.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:08.434Z,1607896868.434 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:09.697Z,1607896869.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:10.479Z,1607896870.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:10.945Z,1607896870.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:11.759Z,1607896871.759 [Micromodem](INFO): Nmea in: $SNTTA,0.168612,,,,220111.66*4B

2020-12-13T22:01:12.205Z,1607896872.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:13.770Z,1607896873.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:14.766Z,1607896874.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:15.415Z,1607896875.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:15.805Z,1607896875.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:16.618Z,1607896876.618 [Micromodem](INFO): Nmea in: $SNTTA,0.170192,,,,220116.59*46

2020-12-13T22:01:17.456Z,1607896877.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:19.030Z,1607896879.030 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:20.277Z,1607896880.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:21.061Z,1607896881.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:21.527Z,1607896881.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:22.319Z,1607896882.319 [Micromodem](INFO): Nmea in: $SNTTA,0.171947,,,,220122.24*4A

2020-12-13T22:01:22.786Z,1607896882.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:24.730Z,1607896884.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:25.591Z,1607896885.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:26.357Z,1607896886.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:26.757Z,1607896886.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:27.195Z,1607896887.195 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:01:27.593Z,1607896887.593 [Micromodem](INFO): Nmea in: $SNTTA,0.173742,,,,220127.54*41

2020-12-13T22:01:27.732Z,1607896887.732 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:01:27.733Z,1607896887.733 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:01:27.733Z,1607896887.733 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:01:28.311Z,1607896888.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.699982 m, bearing: 245.145134 deg, deltaT: 26.852605 s, approachRate: 0.489337 m/s, LOS rate: -0.132170 deg/s, posRepo size: 4
2020-12-13T22:01:29.096Z,1607896889.096 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:01:29.500Z,1607896889.500 [Micromodem](INFO): Nmea in: $CADRQ,220128,1,9,0,64,1*45

2020-12-13T22:01:29.502Z,1607896889.502 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:01:29.898Z,1607896889.898 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:01:30.291Z,1607896890.291 [Micromodem](INFO): Nmea in: $CADRQ,220130,1,9,0,64,2*4F

2020-12-13T22:01:30.291Z,1607896890.291 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:01:30.695Z,1607896890.695 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:01:30.741Z,1607896890.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:31.118Z,1607896891.118 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:01:31.527Z,1607896891.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:33.551Z,1607896893.551 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:01:33.551Z,1607896893.551 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:01:33.577Z,1607896893.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:33.927Z,1607896893.927 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220131.447445,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:01:33.928Z,1607896893.928 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220131.447445,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:01:36.578Z,1607896896.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:39.253Z,1607896899.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:42.107Z,1607896902.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:42.871Z,1607896902.871 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:43.328Z,1607896903.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:44.154Z,1607896904.154 [Micromodem](INFO): Nmea in: $SNTTA,0.179067,,,,220144.05*4A

2020-12-13T22:01:44.976Z,1607896904.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:45.347Z,1607896905.347 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:01:46.175Z,1607896906.175 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:47.812Z,1607896907.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:48.571Z,1607896908.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:48.973Z,1607896908.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:49.819Z,1607896909.819 [Micromodem](INFO): Nmea in: $SNTTA,0.181547,,,,220149.75*40

2020-12-13T22:01:50.650Z,1607896910.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:52.240Z,1607896912.240 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:53.651Z,1607896913.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:54.251Z,1607896914.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:01:54.649Z,1607896914.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:01:55.526Z,1607896915.526 [Micromodem](INFO): Nmea in: $SNTTA,0.183244,,,,220155.43*4E

2020-12-13T22:01:56.313Z,1607896916.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:57.909Z,1607896917.909 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:01:59.175Z,1607896919.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:01:59.915Z,1607896919.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:00.452Z,1607896920.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:01.204Z,1607896921.204 [Micromodem](INFO): Nmea in: $SNTTA,0.185183,,,,220201.09*4C

2020-12-13T22:02:02.221Z,1607896922.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:03.230Z,1607896923.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:02:04.887Z,1607896924.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:05.663Z,1607896925.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:06.066Z,1607896926.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:06.887Z,1607896926.887 [Micromodem](INFO): Nmea in: $SNTTA,0.186651,,,,220206.84*45

2020-12-13T22:02:07.730Z,1607896927.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:09.298Z,1607896929.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:02:10.577Z,1607896930.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:11.311Z,1607896931.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:11.713Z,1607896931.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:12.565Z,1607896932.565 [Micromodem](INFO): Nmea in: $SNTTA,0.188536,,,,220212.49*4D

2020-12-13T22:02:13.157Z,1607896933.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.959991 m, bearing: 247.332187 deg, deltaT: 44.614166 s, approachRate: 0.498945 m/s, LOS rate: 0.049022 deg/s, posRepo size: 4
2020-12-13T22:02:15.140Z,1607896935.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:15.761Z,1607896935.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:16.194Z,1607896936.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:16.992Z,1607896936.992 [Micromodem](INFO): Nmea in: $SNTTA,0.190190,,,,220216.94*48

2020-12-13T22:02:17.825Z,1607896937.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:19.398Z,1607896939.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:02:20.660Z,1607896940.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:21.431Z,1607896941.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:21.873Z,1607896941.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:22.689Z,1607896942.689 [Micromodem](INFO): Nmea in: $SNTTA,0.191854,,,,220222.61*45

2020-12-13T22:02:23.156Z,1607896943.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.940002 m, bearing: 244.633689 deg, deltaT: 10.130570 s, approachRate: 0.491583 m/s, LOS rate: -0.266372 deg/s, posRepo size: 4
2020-12-13T22:02:25.574Z,1607896945.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:26.311Z,1607896946.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:26.721Z,1607896946.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:27.557Z,1607896947.557 [Micromodem](INFO): Nmea in: $SNTTA,0.193411,,,,220227.49*45

2020-12-13T22:02:28.155Z,1607896948.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.220001 m, bearing: 246.791564 deg, deltaT: 4.865996 s, approachRate: 0.468557 m/s, LOS rate: 0.443460 deg/s, posRepo size: 4
2020-12-13T22:02:30.407Z,1607896950.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:31.207Z,1607896951.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:31.573Z,1607896951.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:32.411Z,1607896952.411 [Micromodem](INFO): Nmea in: $SNTTA,0.195115,,,,220232.39*41

2020-12-13T22:02:32.802Z,1607896952.802 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:02:32.835Z,1607896952.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.799988 m, bearing: 244.424002 deg, deltaT: 5.015506 s, approachRate: 0.514402 m/s, LOS rate: -0.472049 deg/s, posRepo size: 4
2020-12-13T22:02:33.353Z,1607896953.353 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:02:33.354Z,1607896953.354 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:02:33.354Z,1607896953.354 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:02:33.674Z,1607896953.674 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:02:34.075Z,1607896954.075 [Micromodem](INFO): Nmea in: $CADRQ,220234,1,9,0,64,1*4B

2020-12-13T22:02:34.075Z,1607896954.075 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:02:34.484Z,1607896954.484 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:02:34.886Z,1607896954.886 [Micromodem](INFO): Nmea in: $CADRQ,220235,1,9,0,64,2*49

2020-12-13T22:02:34.886Z,1607896954.886 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:02:35.271Z,1607896955.271 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:02:35.316Z,1607896955.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:35.678Z,1607896955.678 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:02:36.079Z,1607896956.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:38.160Z,1607896958.160 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:02:38.160Z,1607896958.160 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:02:38.335Z,1607896958.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:38.528Z,1607896958.528 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220236.042835,3,0,200,4000,14500,1,1,9,1,2,2,3,70*72

2020-12-13T22:02:38.529Z,1607896958.529 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220236.042835,3,0,200,4000,14500,1,1,9,1,2,2,3,70*72

2020-12-13T22:02:41.086Z,1607896961.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:43.788Z,1607896963.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:46.685Z,1607896966.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:47.422Z,1607896967.422 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:47.861Z,1607896967.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:48.278Z,1607896968.278 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:02:48.678Z,1607896968.678 [Micromodem](INFO): Nmea in: $SNTTA,0.200455,,,,220248.60*4E

2020-12-13T22:02:49.128Z,1607896969.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.779999 m, bearing: 246.111906 deg, deltaT: 16.113801 s, approachRate: 0.495228 m/s, LOS rate: 0.104749 deg/s, posRepo size: 4
2020-12-13T22:02:49.130Z,1607896969.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 300.78 m. Resuming terminal guidance.
2020-12-13T22:02:49.130Z,1607896969.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T22:02:50.697Z,1607896970.697 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:02:51.572Z,1607896971.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:52.307Z,1607896972.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:52.713Z,1607896972.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:53.561Z,1607896973.561 [Micromodem](INFO): Nmea in: $SNTTA,0.202165,,,,220253.49*4B

2020-12-13T22:02:54.075Z,1607896974.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.359985 m, bearing: 244.902033 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T22:02:54.076Z,1607896974.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 244.902033deg and heading rate command to 0 deg/s.
2020-12-13T22:02:56.385Z,1607896976.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:02:57.167Z,1607896977.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:02:57.565Z,1607896977.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:02:58.385Z,1607896978.385 [Micromodem](INFO): Nmea in: $SNTTA,0.203682,,,,220258.35*44

2020-12-13T22:02:58.838Z,1607896978.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.579987 m, bearing: 247.478108 deg, deltaT: 5.012667 s, approachRate: 0.442878 m/s, LOS rate: 0.513913 deg/s, posRepo size: 2
2020-12-13T22:02:58.840Z,1607896978.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.579987 m,
      bearing: 247.478108 deg,
      approachRate: 0.442878 m/s,
      LOS rate: 0.513913 deg/s,
      cmd update: 1.541739 deg/s,
      cmd heading: 244.902033 deg,
      new cmd heading: 244.902033 deg.

2020-12-13T22:03:01.274Z,1607896981.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:02.055Z,1607896982.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:02.469Z,1607896982.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:03.278Z,1607896983.278 [Micromodem](INFO): Nmea in: $SNTTA,0.205269,,,,220303.24*4C

2020-12-13T22:03:03.716Z,1607896983.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.980011 m, bearing: 253.611126 deg, deltaT: 4.673189 s, approachRate: 0.513573 m/s, LOS rate: 1.312384 deg/s, posRepo size: 3
2020-12-13T22:03:03.718Z,1607896983.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.980011 m,
      bearing: 253.611126 deg,
      approachRate: 0.513573 m/s,
      LOS rate: 1.312384 deg/s,
      cmd update: 3.937152 deg/s,
      cmd heading: 252.106648 deg,
      new cmd heading: 252.743412 deg.

2020-12-13T22:03:06.172Z,1607896986.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:06.911Z,1607896986.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:07.393Z,1607896987.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:08.201Z,1607896988.201 [Micromodem](INFO): Nmea in: $SNTTA,0.206833,,,,220308.09*4E

2020-12-13T22:03:08.645Z,1607896988.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.380005 m, bearing: 265.574229 deg, deltaT: 4.978176 s, approachRate: 0.482103 m/s, LOS rate: 2.403110 deg/s, posRepo size: 4
2020-12-13T22:03:08.647Z,1607896988.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.380005 m,
      bearing: 265.574229 deg,
      approachRate: 0.482103 m/s,
      LOS rate: 2.403110 deg/s,
      cmd update: 7.209330 deg/s,
      cmd heading: 271.697505 deg,
      new cmd heading: 273.139951 deg.

2020-12-13T22:03:10.668Z,1607896990.668 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:03:11.226Z,1607896991.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:11.831Z,1607896991.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:12.243Z,1607896992.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:13.070Z,1607896993.070 [Micromodem](INFO): Nmea in: $SNTTA,0.208398,,,,220313.01*48

2020-12-13T22:03:13.889Z,1607896993.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:15.522Z,1607896995.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:03:15.552Z,1607896995.552 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:03:16.737Z,1607896996.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:17.513Z,1607896997.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:17.965Z,1607896997.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:18.776Z,1607896998.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220318.69*5B

2020-12-13T22:03:19.256Z,1607896999.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.199982 m, bearing: 328.147450 deg, deltaT: 10.573918 s, approachRate: 0.266692 m/s, LOS rate: 5.917695 deg/s, posRepo size: 4
2020-12-13T22:03:19.258Z,1607896999.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.199982 m,
      bearing: 328.147450 deg,
      approachRate: 0.266692 m/s,
      LOS rate: 5.917695 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 347.945652 deg,
      new cmd heading: 350.839945 deg.

2020-12-13T22:03:21.635Z,1607897001.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:22.421Z,1607897002.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:22.817Z,1607897002.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:23.637Z,1607897003.637 [Micromodem](INFO): Nmea in: $SNTTA,0.209087,,,,220323.60*40

2020-12-13T22:03:24.263Z,1607897004.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.619995 m, bearing: 17.092058 deg, deltaT: 4.833897 s, approachRate: 0.086889 m/s, LOS rate: 10.125289 deg/s, posRepo size: 4
2020-12-13T22:03:24.265Z,1607897004.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.619995 m,
      bearing: 17.092058 deg,
      approachRate: 0.086889 m/s,
      LOS rate: 10.125289 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.952190 deg,
      new cmd heading: 52.837634 deg.

2020-12-13T22:03:25.753Z,1607897005.753 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:03:26.331Z,1607897006.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:26.936Z,1607897006.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:27.341Z,1607897007.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:28.195Z,1607897008.195 [Micromodem](INFO): Nmea in: $SNTTA,0.208649,,,,220328.11*48

2020-12-13T22:03:28.617Z,1607897008.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.019989 m, bearing: 308.390254 deg, deltaT: 4.534861 s, approachRate: -0.132310 m/s, LOS rate: -15.149705 deg/s, posRepo size: 4
2020-12-13T22:03:28.618Z,1607897008.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.149705 deg/s. Setting heading cmd to target bearing of 308.390254deg and heading rate command to 0 deg/s.
2020-12-13T22:03:30.746Z,1607897010.746 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:03:30.773Z,1607897010.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:31.387Z,1607897011.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:31.796Z,1607897011.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:32.632Z,1607897012.632 [Micromodem](INFO): Nmea in: $SNTTA,0.207606,,,0.210117,220332.57*5F

2020-12-13T22:03:33.049Z,1607897013.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.399994 m, bearing: 322.414299 deg, deltaT: 4.621991 s, approachRate: -0.350497 m/s, LOS rate: 3.034200 deg/s, posRepo size: 4
2020-12-13T22:03:33.051Z,1607897013.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.399994 m,
      bearing: 322.414299 deg,
      approachRate: -0.350497 m/s,
      LOS rate: 3.034200 deg/s,
      cmd update: 9.102600 deg/s,
      cmd heading: 308.390254 deg,
      new cmd heading: 308.390254 deg.

2020-12-13T22:03:35.468Z,1607897015.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:35.857Z,1607897015.857 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:03:36.236Z,1607897016.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:36.657Z,1607897016.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:37.502Z,1607897017.502 [Micromodem](INFO): Nmea in: $SNTTA,0.205659,,,,220337.41*4F

2020-12-13T22:03:37.895Z,1607897017.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.339996 m, bearing: 48.380040 deg, deltaT: 4.718467 s, approachRate: -0.648515 m/s, LOS rate: 18.218997 deg/s, posRepo size: 4
2020-12-13T22:03:37.896Z,1607897017.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.218997 deg/s. Setting heading cmd to target bearing of 48.380040deg and heading rate command to 0 deg/s.
2020-12-13T22:03:38.685Z,1607897018.685 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:03:39.245Z,1607897019.245 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:03:39.245Z,1607897019.245 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:03:39.245Z,1607897019.245 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:03:39.630Z,1607897019.630 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:03:40.019Z,1607897020.019 [Micromodem](INFO): Nmea in: $CADRQ,220340,1,9,0,64,1*49

2020-12-13T22:03:40.019Z,1607897020.019 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:03:40.171Z,1607897020.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:40.428Z,1607897020.428 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:03:40.541Z,1607897020.541 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:03:40.831Z,1607897020.831 [Micromodem](INFO): Nmea in: $CADRQ,220341,1,9,0,64,2*4B

2020-12-13T22:03:40.831Z,1607897020.831 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:03:41.243Z,1607897021.243 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:03:41.243Z,1607897021.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:41.639Z,1607897021.639 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:03:41.639Z,1607897021.639 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:03:42.910Z,1607897022.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:44.055Z,1607897024.055 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:03:44.055Z,1607897024.055 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:03:44.491Z,1607897024.491 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220341.988353,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T22:03:44.492Z,1607897024.492 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220341.988353,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T22:03:45.468Z,1607897025.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:48.175Z,1607897028.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:50.602Z,1607897030.602 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:03:50.986Z,1607897030.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:52.554Z,1607897032.554 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:52.961Z,1607897032.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:53.805Z,1607897033.805 [Micromodem](INFO): Nmea in: $SNTTA,0.196415,,,,220353.73*4F

2020-12-13T22:03:54.249Z,1607897034.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.419983 m, bearing: 48.006613 deg, deltaT: 16.281470 s, approachRate: -0.854961 m/s, LOS rate: -0.022936 deg/s, posRepo size: 4
2020-12-13T22:03:54.251Z,1607897034.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.419983 m,
      bearing: 48.006613 deg,
      approachRate: -0.854961 m/s,
      LOS rate: -0.022936 deg/s,
      cmd update: -0.068807 deg/s,
      cmd heading: 48.380040 deg,
      new cmd heading: 48.380040 deg.

2020-12-13T22:03:55.833Z,1607897035.833 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:03:56.390Z,1607897036.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:03:57.008Z,1607897037.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:03:57.415Z,1607897037.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:03:58.249Z,1607897038.249 [Micromodem](INFO): Nmea in: $SNTTA,0.193504,,,,220358.19*4C

2020-12-13T22:03:58.666Z,1607897038.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.100006 m, bearing: 47.947962 deg, deltaT: 4.595576 s, approachRate: -0.940029 m/s, LOS rate: -0.012762 deg/s, posRepo size: 4
2020-12-13T22:03:58.667Z,1607897038.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.100006 m,
      bearing: 47.947962 deg,
      approachRate: -0.940029 m/s,
      LOS rate: -0.012762 deg/s,
      cmd update: -0.038287 deg/s,
      cmd heading: 48.063832 deg,
      new cmd heading: 48.048395 deg.

2020-12-13T22:04:01.074Z,1607897041.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:01.863Z,1607897041.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:02.265Z,1607897042.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:03.099Z,1607897043.099 [Micromodem](INFO): Nmea in: $SNTTA,0.190270,,,,220403.04*4E

2020-12-13T22:04:03.572Z,1607897043.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.239990 m, bearing: 48.572774 deg, deltaT: 4.709088 s, approachRate: -1.032050 m/s, LOS rate: 0.132682 deg/s, posRepo size: 4
2020-12-13T22:04:03.585Z,1607897043.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.239990 m,
      bearing: 48.572774 deg,
      approachRate: -1.032050 m/s,
      LOS rate: 0.132682 deg/s,
      cmd update: 0.398047 deg/s,
      cmd heading: 47.884563 deg,
      new cmd heading: 47.867397 deg.

2020-12-13T22:04:05.950Z,1607897045.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:06.719Z,1607897046.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:07.121Z,1607897047.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:07.934Z,1607897047.934 [Micromodem](INFO): Nmea in: $SNTTA,0.186981,,,,220407.90*45

2020-12-13T22:04:08.359Z,1607897048.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.319977 m, bearing: 46.726728 deg, deltaT: 4.797858 s, approachRate: -1.025460 m/s, LOS rate: -0.384765 deg/s, posRepo size: 4
2020-12-13T22:04:08.361Z,1607897048.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.319977 m,
      bearing: 46.726728 deg,
      approachRate: -1.025460 m/s,
      LOS rate: -0.384765 deg/s,
      cmd update: -1.154294 deg/s,
      cmd heading: 49.805031 deg,
      new cmd heading: 49.968694 deg.

2020-12-13T22:04:10.801Z,1607897050.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:11.571Z,1607897051.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:11.974Z,1607897051.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:12.775Z,1607897052.775 [Micromodem](INFO): Nmea in: $SNTTA,0.184027,,,,220412.75*4D

2020-12-13T22:04:13.234Z,1607897053.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.759979 m, bearing: 46.082590 deg, deltaT: 4.880746 s, approachRate: -0.934283 m/s, LOS rate: -0.131975 deg/s, posRepo size: 4
2020-12-13T22:04:13.236Z,1607897053.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.759979 m,
      bearing: 46.082590 deg,
      approachRate: -0.934283 m/s,
      LOS rate: -0.131975 deg/s,
      cmd update: -0.395926 deg/s,
      cmd heading: 44.175949 deg,
      new cmd heading: 43.703208 deg.

2020-12-13T22:04:15.766Z,1607897055.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:16.417Z,1607897056.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:16.809Z,1607897056.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:17.633Z,1607897057.633 [Micromodem](INFO): Nmea in: $SNTTA,0.180945,,,,220417.60*45

2020-12-13T22:04:18.042Z,1607897058.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.779999 m, bearing: 47.819852 deg, deltaT: 4.971665 s, approachRate: -1.001673 m/s, LOS rate: 0.349433 deg/s, posRepo size: 4
2020-12-13T22:04:18.043Z,1607897058.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.779999 m,
      bearing: 47.819852 deg,
      approachRate: -1.001673 m/s,
      LOS rate: 0.349433 deg/s,
      cmd update: 1.048298 deg/s,
      cmd heading: 42.205899 deg,
      new cmd heading: 42.110554 deg.

2020-12-13T22:04:20.452Z,1607897060.452 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:04:20.560Z,1607897060.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:21.243Z,1607897061.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:21.649Z,1607897061.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:22.494Z,1607897062.494 [Micromodem](INFO): Nmea in: $SNTTA,0.177328,,,,220422.42*4A

2020-12-13T22:04:22.914Z,1607897062.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.799988 m, bearing: 48.336439 deg, deltaT: 4.748420 s, approachRate: -1.048772 m/s, LOS rate: 0.108791 deg/s, posRepo size: 4
2020-12-13T22:04:22.916Z,1607897062.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.799988 m,
      bearing: 48.336439 deg,
      approachRate: -1.048772 m/s,
      LOS rate: 0.108791 deg/s,
      cmd update: 0.326374 deg/s,
      cmd heading: 47.179317 deg,
      new cmd heading: 47.566463 deg.

2020-12-13T22:04:25.463Z,1607897065.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:26.195Z,1607897066.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:26.601Z,1607897066.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:27.431Z,1607897067.431 [Micromodem](INFO): Nmea in: $SNTTA,0.174069,,,,220427.37*48

2020-12-13T22:04:27.997Z,1607897067.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.940002 m, bearing: 47.840103 deg, deltaT: 4.973617 s, approachRate: -0.977153 m/s, LOS rate: -0.099794 deg/s, posRepo size: 4
2020-12-13T22:04:28.013Z,1607897068.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.940002 m,
      bearing: 47.840103 deg,
      approachRate: -0.977153 m/s,
      LOS rate: -0.099794 deg/s,
      cmd update: -0.299381 deg/s,
      cmd heading: 48.799479 deg,
      new cmd heading: 48.956176 deg.

2020-12-13T22:04:30.466Z,1607897070.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:31.097Z,1607897071.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:31.521Z,1607897071.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:32.335Z,1607897072.335 [Micromodem](INFO): Nmea in: $SNTTA,0.171081,,,,220432.28*41

2020-12-13T22:04:33.184Z,1607897073.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:34.726Z,1607897074.726 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:04:36.062Z,1607897076.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:36.815Z,1607897076.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:37.261Z,1607897077.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:38.076Z,1607897078.076 [Micromodem](INFO): Nmea in: $SNTTA,0.167179,,,,220437.99*4F

2020-12-13T22:04:38.561Z,1607897078.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.500000 m, bearing: 48.900961 deg, deltaT: 10.646206 s, approachRate: -0.980631 m/s, LOS rate: 0.099647 deg/s, posRepo size: 4
2020-12-13T22:04:38.564Z,1607897078.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.500000 m,
      bearing: 48.900961 deg,
      approachRate: -0.980631 m/s,
      LOS rate: 0.099647 deg/s,
      cmd update: 0.298940 deg/s,
      cmd heading: 45.610522 deg,
      new cmd heading: 45.491017 deg.

2020-12-13T22:04:40.953Z,1607897080.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:41.694Z,1607897081.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:42.103Z,1607897082.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:42.937Z,1607897082.937 [Micromodem](INFO): Nmea in: $SNTTA,0.163773,,,,220442.87*4A

2020-12-13T22:04:43.531Z,1607897083.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.519974 m, bearing: 47.967394 deg, deltaT: 4.815563 s, approachRate: -1.034152 m/s, LOS rate: -0.193865 deg/s, posRepo size: 4
2020-12-13T22:04:43.537Z,1607897083.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.519974 m,
      bearing: 47.967394 deg,
      approachRate: -1.034152 m/s,
      LOS rate: -0.193865 deg/s,
      cmd update: -0.581594 deg/s,
      cmd heading: 47.047656 deg,
      new cmd heading: 47.215802 deg.

2020-12-13T22:04:44.561Z,1607897084.561 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:04:45.083Z,1607897085.083 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:04:45.083Z,1607897085.083 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:04:45.084Z,1607897085.084 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:04:45.350Z,1607897085.350 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:04:45.746Z,1607897085.746 [Micromodem](INFO): Nmea in: $CADRQ,220446,1,9,0,64,1*48

2020-12-13T22:04:45.747Z,1607897085.747 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:04:45.873Z,1607897085.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:46.187Z,1607897086.187 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:04:46.559Z,1607897086.559 [Micromodem](INFO): Nmea in: $CADRQ,220446,1,9,0,64,2*4B

2020-12-13T22:04:46.559Z,1607897086.559 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:04:46.946Z,1607897086.946 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:04:46.947Z,1607897086.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:47.362Z,1607897087.362 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:04:47.363Z,1607897087.363 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:04:48.600Z,1607897088.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:49.783Z,1607897089.783 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:04:49.783Z,1607897089.783 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:04:50.209Z,1607897090.209 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220447.712310,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:04:50.209Z,1607897090.209 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220447.712310,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:04:51.436Z,1607897091.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:54.376Z,1607897094.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:57.074Z,1607897097.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:04:58.258Z,1607897098.258 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:04:58.672Z,1607897098.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:04:59.521Z,1607897099.521 [Micromodem](INFO): Nmea in: $SNTTA,0.152519,,,,220459.44*43

2020-12-13T22:04:59.532Z,1607897099.532 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:04:59.908Z,1607897099.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.659988 m, bearing: 48.341880 deg, deltaT: 16.606631 s, approachRate: -1.015256 m/s, LOS rate: 0.022550 deg/s, posRepo size: 4
2020-12-13T22:04:59.910Z,1607897099.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.659988 m,
      bearing: 48.341880 deg,
      approachRate: -1.015256 m/s,
      LOS rate: 0.022550 deg/s,
      cmd update: 0.067651 deg/s,
      cmd heading: 37.382291 deg,
      new cmd heading: 37.195376 deg.

2020-12-13T22:05:02.355Z,1607897102.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:03.103Z,1607897103.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:03.533Z,1607897103.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:04.354Z,1607897104.354 [Micromodem](INFO): Nmea in: $SNTTA,0.149390,,,,220504.28*4D

2020-12-13T22:05:04.781Z,1607897104.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.919998 m, bearing: 48.098021 deg, deltaT: 4.788176 s, approachRate: -0.989937 m/s, LOS rate: -0.050929 deg/s, posRepo size: 4
2020-12-13T22:05:04.783Z,1607897104.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.919998 m,
      bearing: 48.098021 deg,
      approachRate: -0.989937 m/s,
      LOS rate: -0.050929 deg/s,
      cmd update: -0.152788 deg/s,
      cmd heading: 37.706488 deg,
      new cmd heading: 37.733421 deg.

2020-12-13T22:05:07.362Z,1607897107.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:07.962Z,1607897107.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:08.357Z,1607897108.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:09.216Z,1607897109.216 [Micromodem](INFO): Nmea in: $SNTTA,0.146221,,,,220509.14*4B

2020-12-13T22:05:09.646Z,1607897109.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.179993 m, bearing: 48.378185 deg, deltaT: 5.052271 s, approachRate: -0.938193 m/s, LOS rate: 0.055453 deg/s, posRepo size: 4
2020-12-13T22:05:09.648Z,1607897109.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.179993 m,
      bearing: 48.378185 deg,
      approachRate: -0.938193 m/s,
      LOS rate: 0.055453 deg/s,
      cmd update: 0.166359 deg/s,
      cmd heading: 36.937246 deg,
      new cmd heading: 36.901794 deg.

2020-12-13T22:05:12.059Z,1607897112.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:12.831Z,1607897112.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:13.247Z,1607897113.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:14.095Z,1607897114.095 [Micromodem](INFO): Nmea in: $SNTTA,0.142948,,,,220514.01*43

2020-12-13T22:05:14.573Z,1607897114.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.319992 m, bearing: 49.139967 deg, deltaT: 4.711872 s, approachRate: -1.031437 m/s, LOS rate: 0.161673 deg/s, posRepo size: 4
2020-12-13T22:05:14.575Z,1607897114.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.319992 m,
      bearing: 49.139967 deg,
      approachRate: -1.031437 m/s,
      LOS rate: 0.161673 deg/s,
      cmd update: 0.485018 deg/s,
      cmd heading: 37.718679 deg,
      new cmd heading: 37.794778 deg.

2020-12-13T22:05:16.949Z,1607897116.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:17.711Z,1607897117.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:17.738Z,1607897117.738 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:05:18.148Z,1607897118.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:18.945Z,1607897118.945 [Micromodem](INFO): Nmea in: $SNTTA,0.139692,,,,220518.89*4B

2020-12-13T22:05:19.378Z,1607897119.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.339996 m, bearing: 48.354447 deg, deltaT: 4.835736 s, approachRate: -1.029832 m/s, LOS rate: -0.162441 deg/s, posRepo size: 4
2020-12-13T22:05:19.380Z,1607897119.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.339996 m,
      bearing: 48.354447 deg,
      approachRate: -1.029832 m/s,
      LOS rate: -0.162441 deg/s,
      cmd update: -0.487322 deg/s,
      cmd heading: 40.069963 deg,
      new cmd heading: 40.272949 deg.

2020-12-13T22:05:21.818Z,1607897121.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:22.567Z,1607897122.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:22.981Z,1607897122.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:23.809Z,1607897123.809 [Micromodem](INFO): Nmea in: $SNTTA,0.136651,,,,220523.75*40

2020-12-13T22:05:24.269Z,1607897124.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.779999 m, bearing: 48.365515 deg, deltaT: 4.877518 s, approachRate: -0.934901 m/s, LOS rate: 0.002269 deg/s, posRepo size: 4
2020-12-13T22:05:24.271Z,1607897124.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.779999 m,
      bearing: 48.365515 deg,
      approachRate: -0.934901 m/s,
      LOS rate: 0.002269 deg/s,
      cmd update: 0.006808 deg/s,
      cmd heading: 37.694967 deg,
      new cmd heading: 37.482124 deg.

2020-12-13T22:05:26.787Z,1607897126.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:27.420Z,1607897127.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:27.833Z,1607897127.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:28.653Z,1607897128.653 [Micromodem](INFO): Nmea in: $SNTTA,0.133662,,,,220528.60*4A

2020-12-13T22:05:29.075Z,1607897129.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.279984 m, bearing: 48.262622 deg, deltaT: 4.966234 s, approachRate: -0.906122 m/s, LOS rate: -0.020719 deg/s, posRepo size: 4
2020-12-13T22:05:29.077Z,1607897129.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.279984 m,
      bearing: 48.262622 deg,
      approachRate: -0.906122 m/s,
      LOS rate: -0.020719 deg/s,
      cmd update: -0.062156 deg/s,
      cmd heading: 37.728939 deg,
      new cmd heading: 37.730659 deg.

2020-12-13T22:05:31.539Z,1607897131.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:32.255Z,1607897132.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:32.682Z,1607897132.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:33.526Z,1607897133.526 [Micromodem](INFO): Nmea in: $SNTTA,0.130291,,,,220533.44*4D

2020-12-13T22:05:33.936Z,1607897133.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.179993 m, bearing: 48.231268 deg, deltaT: 4.746533 s, approachRate: -1.074467 m/s, LOS rate: -0.006606 deg/s, posRepo size: 4
2020-12-13T22:05:33.938Z,1607897133.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.179993 m,
      bearing: 48.231268 deg,
      approachRate: -1.074467 m/s,
      LOS rate: -0.006606 deg/s,
      cmd update: -0.019817 deg/s,
      cmd heading: 37.435159 deg,
      new cmd heading: 37.411143 deg.

2020-12-13T22:05:36.382Z,1607897136.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:37.126Z,1607897137.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:37.540Z,1607897137.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:38.345Z,1607897138.345 [Micromodem](INFO): Nmea in: $SNTTA,0.127254,,,,220538.30*4A

2020-12-13T22:05:38.773Z,1607897138.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 48.188965 deg, deltaT: 4.831150 s, approachRate: -0.919036 m/s, LOS rate: -0.008756 deg/s, posRepo size: 4
2020-12-13T22:05:38.775Z,1607897138.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 48.188965 deg,
      approachRate: -0.919036 m/s,
      LOS rate: -0.008756 deg/s,
      cmd update: -0.026269 deg/s,
      cmd heading: 37.339078 deg,
      new cmd heading: 37.331640 deg.

2020-12-13T22:05:41.249Z,1607897141.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:41.955Z,1607897141.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:42.365Z,1607897142.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:43.205Z,1607897143.205 [Micromodem](INFO): Nmea in: $SNTTA,0.124207,,,,220543.13*42

2020-12-13T22:05:43.626Z,1607897143.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.119995 m, bearing: 48.792956 deg, deltaT: 4.828290 s, approachRate: -0.956859 m/s, LOS rate: 0.125094 deg/s, posRepo size: 4
2020-12-13T22:05:43.628Z,1607897143.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.119995 m,
      bearing: 48.792956 deg,
      approachRate: -0.956859 m/s,
      LOS rate: 0.125094 deg/s,
      cmd update: 0.375282 deg/s,
      cmd heading: 37.212173 deg,
      new cmd heading: 37.201747 deg.

2020-12-13T22:05:46.206Z,1607897146.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:46.807Z,1607897146.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:47.212Z,1607897147.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:48.035Z,1607897148.035 [Micromodem](INFO): Nmea in: $SNTTA,0.120911,,,,220547.99*4C

2020-12-13T22:05:48.861Z,1607897148.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:50.450Z,1607897150.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:05:50.450Z,1607897150.450 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:05:51.066Z,1607897151.066 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:05:51.066Z,1607897151.066 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:05:51.066Z,1607897151.066 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:05:51.339Z,1607897151.339 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:05:51.386Z,1607897151.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:51.743Z,1607897151.743 [Micromodem](INFO): Nmea in: $CADRQ,220552,1,9,0,64,1*4C

2020-12-13T22:05:51.746Z,1607897151.746 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:05:52.153Z,1607897152.153 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:05:52.154Z,1607897152.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:52.567Z,1607897152.567 [Micromodem](INFO): Nmea in: $CADRQ,220552,1,9,0,64,2*4F

2020-12-13T22:05:52.568Z,1607897152.568 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,220552,1,9,0,64,2*4F

2020-12-13T22:05:52.949Z,1607897152.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:53.360Z,1607897153.360 [Micromodem](INFO): Nmea in: $SNTTA,0.117357,,,,220553.33*45

2020-12-13T22:05:53.828Z,1607897153.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.919998 m, bearing: 50.231609 deg, deltaT: 10.178588 s, approachRate: -1.002103 m/s, LOS rate: 0.141341 deg/s, posRepo size: 4
2020-12-13T22:05:53.832Z,1607897153.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.919998 m,
      bearing: 50.231609 deg,
      approachRate: -1.002103 m/s,
      LOS rate: 0.141341 deg/s,
      cmd update: 0.424023 deg/s,
      cmd heading: 41.023630 deg,
      new cmd heading: 41.188727 deg.

2020-12-13T22:05:56.301Z,1607897156.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:05:56.987Z,1607897156.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:05:57.393Z,1607897157.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:05:58.238Z,1607897158.238 [Micromodem](INFO): Nmea in: $SNTTA,0.114253,,,,220558.17*4E

2020-12-13T22:05:58.286Z,1607897158.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.919998 m, bearing: 50.133244 deg, deltaT: 4.452936 s, approachRate: 0.000000 m/s, LOS rate: -0.022090 deg/s, posRepo size: 4
2020-12-13T22:05:58.288Z,1607897158.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.919998 m,
      bearing: 50.133244 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.022090 deg/s,
      cmd update: -0.066270 deg/s,
      cmd heading: 42.914381 deg,
      new cmd heading: 43.101949 deg.

2020-12-13T22:06:00.688Z,1607897160.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:01.513Z,1607897161.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:01.925Z,1607897161.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:02.754Z,1607897162.754 [Micromodem](INFO): Nmea in: $SNTTA,0.111290,,,,220602.69*41

2020-12-13T22:06:02.778Z,1607897162.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.800003 m, bearing: 49.691310 deg, deltaT: 4.580281 s, approachRate: -1.991143 m/s, LOS rate: -0.096486 deg/s, posRepo size: 4
2020-12-13T22:06:02.780Z,1607897162.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.800003 m,
      bearing: 49.691310 deg,
      approachRate: -1.991143 m/s,
      LOS rate: -0.096486 deg/s,
      cmd update: -0.289458 deg/s,
      cmd heading: 42.610160 deg,
      new cmd heading: 42.587425 deg.

2020-12-13T22:06:05.351Z,1607897165.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:05.959Z,1607897165.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:06.374Z,1607897166.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:07.218Z,1607897167.218 [Micromodem](INFO): Nmea in: $SNTTA,0.108393,,,,220607.14*44

2020-12-13T22:06:07.392Z,1607897167.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.960007 m, bearing: 48.069693 deg, deltaT: 4.378015 s, approachRate: -0.877109 m/s, LOS rate: -0.370400 deg/s, posRepo size: 4
2020-12-13T22:06:07.395Z,1607897167.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.960007 m,
      bearing: 48.069693 deg,
      approachRate: -0.877109 m/s,
      LOS rate: -0.370400 deg/s,
      cmd update: -1.111200 deg/s,
      cmd heading: 41.341462 deg,
      new cmd heading: 41.175169 deg.

2020-12-13T22:06:09.719Z,1607897169.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:10.499Z,1607897170.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:10.907Z,1607897170.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:11.742Z,1607897171.742 [Micromodem](INFO): Nmea in: $SNTTA,0.105333,,,,220611.68*4F

2020-12-13T22:06:11.765Z,1607897171.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 49.141951 deg, deltaT: 4.716357 s, approachRate: -3.256751 m/s, LOS rate: 0.227349 deg/s, posRepo size: 4
2020-12-13T22:06:11.767Z,1607897171.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.600006 m,
      bearing: 49.141951 deg,
      approachRate: -3.256751 m/s,
      LOS rate: 0.227349 deg/s,
      cmd update: 0.682046 deg/s,
      cmd heading: 36.099694 deg,
      new cmd heading: 35.843740 deg.

2020-12-13T22:06:14.197Z,1607897174.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:14.943Z,1607897174.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:15.341Z,1607897175.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:16.207Z,1607897176.207 [Micromodem](INFO): Nmea in: $SNTTA,0.102531,,,,220616.12*46

2020-12-13T22:06:16.263Z,1607897176.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 49.706514 deg, deltaT: 4.262230 s, approachRate: 1.407710 m/s, LOS rate: 0.132457 deg/s, posRepo size: 4
2020-12-13T22:06:16.269Z,1607897176.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 49.706514 deg,
      approachRate: 1.407710 m/s,
      LOS rate: 0.132457 deg/s,
      cmd update: 0.397372 deg/s,
      cmd heading: 38.990691 deg,
      new cmd heading: 39.324542 deg.

2020-12-13T22:06:18.620Z,1607897178.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:19.412Z,1607897179.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:19.791Z,1607897179.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:20.622Z,1607897180.622 [Micromodem](INFO): Nmea in: $SNTTA,0.099643,,,,220620.59*49

2020-12-13T22:06:20.690Z,1607897180.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.279999 m, bearing: 49.239261 deg, deltaT: 4.438175 s, approachRate: -0.973371 m/s, LOS rate: -0.105280 deg/s, posRepo size: 4
2020-12-13T22:06:20.692Z,1607897180.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.279999 m,
      bearing: 49.239261 deg,
      approachRate: -0.973371 m/s,
      LOS rate: -0.105280 deg/s,
      cmd update: -0.315841 deg/s,
      cmd heading: 40.763503 deg,
      new cmd heading: 40.944487 deg.

2020-12-13T22:06:22.222Z,1607897182.222 [Micromodem](INFO): Nmea in: $CAERR,220622,DATA_TIMEOUT,2*4B

2020-12-13T22:06:22.653Z,1607897182.653 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:06:23.039Z,1607897183.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:23.827Z,1607897183.827 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:06:23.828Z,1607897183.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:24.238Z,1607897184.238 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220622.967125,3,0,200,4000,14500,1,1,9,1,2,1,3,64*73

2020-12-13T22:06:24.238Z,1607897184.238 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220622.967125,3,0,200,4000,14500,1,1,9,1,2,1,3,64*73

2020-12-13T22:06:24.727Z,1607897184.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:25.132Z,1607897185.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,220625.01*5E

2020-12-13T22:06:25.614Z,1607897185.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:27.145Z,1607897187.145 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:06:28.392Z,1607897188.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:29.187Z,1607897189.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:29.565Z,1607897189.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:30.419Z,1607897190.419 [Micromodem](INFO): Nmea in: $SNTTA,0.093453,,,,220630.37*49

2020-12-13T22:06:30.464Z,1607897190.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 50.959946 deg, deltaT: 9.786843 s, approachRate: -0.944125 m/s, LOS rate: 0.175816 deg/s, posRepo size: 4
2020-12-13T22:06:30.469Z,1607897190.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.039993 m,
      bearing: 50.959946 deg,
      approachRate: -0.944125 m/s,
      LOS rate: 0.175816 deg/s,
      cmd update: 0.527448 deg/s,
      cmd heading: 37.675710 deg,
      new cmd heading: 37.532771 deg.

2020-12-13T22:06:32.971Z,1607897192.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:33.667Z,1607897193.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:34.069Z,1607897194.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:34.920Z,1607897194.920 [Micromodem](INFO): Nmea in: $SNTTA,0.090690,,,,220634.85*4A

2020-12-13T22:06:34.943Z,1607897194.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 50.590217 deg, deltaT: 4.550694 s, approachRate: -0.909751 m/s, LOS rate: -0.081247 deg/s, posRepo size: 4
2020-12-13T22:06:34.945Z,1607897194.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.899994 m,
      bearing: 50.590217 deg,
      approachRate: -0.909751 m/s,
      LOS rate: -0.081247 deg/s,
      cmd update: -0.243740 deg/s,
      cmd heading: 40.081653 deg,
      new cmd heading: 40.277101 deg.

2020-12-13T22:06:37.562Z,1607897197.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:38.146Z,1607897198.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:38.561Z,1607897198.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:39.382Z,1607897199.382 [Micromodem](INFO): Nmea in: $SNTTA,0.087582,,,,220639.33*4C

2020-12-13T22:06:39.630Z,1607897199.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.220001 m, bearing: 50.712187 deg, deltaT: 4.431551 s, approachRate: -1.056062 m/s, LOS rate: 0.027523 deg/s, posRepo size: 4
2020-12-13T22:06:39.631Z,1607897199.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.220001 m,
      bearing: 50.712187 deg,
      approachRate: -1.056062 m/s,
      LOS rate: 0.027523 deg/s,
      cmd update: 0.082569 deg/s,
      cmd heading: 39.001557 deg,
      new cmd heading: 38.849171 deg.

2020-12-13T22:06:41.539Z,1607897201.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:42.239Z,1607897202.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:42.645Z,1607897202.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:43.505Z,1607897203.505 [Micromodem](INFO): Nmea in: $SNTTA,0.084879,,,,220643.42*4D

2020-12-13T22:06:43.568Z,1607897203.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.200005 m, bearing: 51.224841 deg, deltaT: 4.066167 s, approachRate: -0.988645 m/s, LOS rate: 0.126078 deg/s, posRepo size: 4
2020-12-13T22:06:43.570Z,1607897203.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.200005 m,
      bearing: 51.224841 deg,
      approachRate: -0.988645 m/s,
      LOS rate: 0.126078 deg/s,
      cmd update: 0.378234 deg/s,
      cmd heading: 39.337292 deg,
      new cmd heading: 39.378368 deg.

2020-12-13T22:06:46.070Z,1607897206.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:46.691Z,1607897206.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:47.089Z,1607897207.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:47.934Z,1607897207.934 [Micromodem](INFO): Nmea in: $SNTTA,0.082048,,,,220647.87*4C

2020-12-13T22:06:47.956Z,1607897207.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.820007 m, bearing: 50.809091 deg, deltaT: 4.501055 s, approachRate: -0.973105 m/s, LOS rate: -0.092367 deg/s, posRepo size: 4
2020-12-13T22:06:47.958Z,1607897207.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 50.809091 deg,
      approachRate: -0.973105 m/s,
      LOS rate: -0.092367 deg/s,
      cmd update: -0.277102 deg/s,
      cmd heading: 41.035309 deg,
      new cmd heading: 41.185293 deg.

2020-12-13T22:06:50.544Z,1607897210.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:51.153Z,1607897211.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:51.561Z,1607897211.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:52.366Z,1607897212.366 [Micromodem](INFO): Nmea in: $SNTTA,0.079050,,,,220652.33*4A

2020-12-13T22:06:52.612Z,1607897212.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 51.581216 deg, deltaT: 4.410367 s, approachRate: -1.006721 m/s, LOS rate: 0.175071 deg/s, posRepo size: 4
2020-12-13T22:06:52.616Z,1607897212.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 51.581216 deg,
      approachRate: -1.006721 m/s,
      LOS rate: 0.175071 deg/s,
      cmd update: 0.525212 deg/s,
      cmd heading: 39.809926 deg,
      new cmd heading: 39.635270 deg.

2020-12-13T22:06:54.816Z,1607897214.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:55.599Z,1607897215.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:06:56.009Z,1607897216.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:06:56.418Z,1607897216.418 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:06:56.842Z,1607897216.842 [Micromodem](INFO): Nmea in: $SNTTA,0.076432,,,,220656.78*4E

2020-12-13T22:06:56.975Z,1607897216.975 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:06:56.975Z,1607897216.975 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:06:56.975Z,1607897216.975 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:06:57.210Z,1607897217.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.419998 m, bearing: 51.558612 deg, deltaT: 4.560049 s, approachRate: -0.868412 m/s, LOS rate: -0.004957 deg/s, posRepo size: 4
2020-12-13T22:06:57.212Z,1607897217.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 51.558612 deg,
      approachRate: -0.868412 m/s,
      LOS rate: -0.004957 deg/s,
      cmd update: -0.014871 deg/s,
      cmd heading: 42.199575 deg,
      new cmd heading: 42.555795 deg.

2020-12-13T22:06:58.210Z,1607897218.210 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:06:58.250Z,1607897218.250 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:06:58.594Z,1607897218.594 [Micromodem](INFO): Nmea in: $CADRQ,220658,1,9,0,64,1*45

2020-12-13T22:06:58.594Z,1607897218.594 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:06:58.991Z,1607897218.991 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:06:59.227Z,1607897219.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:06:59.400Z,1607897219.400 [Micromodem](INFO): Nmea in: $CADRQ,220659,1,9,0,64,2*47

2020-12-13T22:06:59.402Z,1607897219.402 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:06:59.807Z,1607897219.807 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:06:59.808Z,1607897219.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:00.203Z,1607897220.203 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:07:00.204Z,1607897220.204 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:07:01.905Z,1607897221.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:02.623Z,1607897222.623 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:07:02.623Z,1607897222.623 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:07:03.032Z,1607897223.032 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220700.556832,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T22:07:03.032Z,1607897223.032 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220700.556832,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T22:07:04.709Z,1607897224.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:07.606Z,1607897227.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:10.391Z,1607897230.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:11.158Z,1607897231.158 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:11.568Z,1607897231.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:12.382Z,1607897232.382 [Micromodem](INFO): Nmea in: $SNTTA,0.066501,,,,220712.34*47

2020-12-13T22:07:12.442Z,1607897232.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.300003 m, bearing: 52.243594 deg, deltaT: 15.615759 s, approachRate: -0.968252 m/s, LOS rate: 0.043865 deg/s, posRepo size: 4
2020-12-13T22:07:12.444Z,1607897232.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.300003 m,
      bearing: 52.243594 deg,
      approachRate: -0.968252 m/s,
      LOS rate: 0.043865 deg/s,
      cmd update: 0.131594 deg/s,
      cmd heading: 41.967614 deg,
      new cmd heading: 41.962963 deg.

2020-12-13T22:07:14.832Z,1607897234.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:15.587Z,1607897235.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:16.001Z,1607897236.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:16.867Z,1607897236.867 [Micromodem](INFO): Nmea in: $SNTTA,0.063386,,,,220716.77*48

2020-12-13T22:07:16.895Z,1607897236.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 52.590411 deg, deltaT: 4.472856 s, approachRate: -0.979241 m/s, LOS rate: 0.077538 deg/s, posRepo size: 4
2020-12-13T22:07:16.897Z,1607897236.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.919998 m,
      bearing: 52.590411 deg,
      approachRate: -0.979241 m/s,
      LOS rate: 0.077538 deg/s,
      cmd update: 0.232614 deg/s,
      cmd heading: 42.559921 deg,
      new cmd heading: 42.594688 deg.

2020-12-13T22:07:17.214Z,1607897237.214 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,220717,AUV,2.0.321
 expected 19
2020-12-13T22:07:19.285Z,1607897239.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:20.031Z,1607897240.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:20.437Z,1607897240.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:21.269Z,1607897241.269 [Micromodem](INFO): Nmea in: $SNTTA,0.060380,,,,220721.21*4A

2020-12-13T22:07:21.319Z,1607897241.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.420006 m, bearing: 53.334792 deg, deltaT: 4.234116 s, approachRate: -1.062794 m/s, LOS rate: 0.175806 deg/s, posRepo size: 4
2020-12-13T22:07:21.326Z,1607897241.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.420006 m,
      bearing: 53.334792 deg,
      approachRate: -1.062794 m/s,
      LOS rate: 0.175806 deg/s,
      cmd update: 0.527417 deg/s,
      cmd heading: 43.544822 deg,
      new cmd heading: 43.650400 deg.

2020-12-13T22:07:23.725Z,1607897243.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:24.480Z,1607897244.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:24.906Z,1607897244.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:25.763Z,1607897245.763 [Micromodem](INFO): Nmea in: $SNTTA,0.057696,,,,220725.66*4B

2020-12-13T22:07:25.789Z,1607897245.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 52.780280 deg, deltaT: 4.508020 s, approachRate: -0.958292 m/s, LOS rate: -0.123006 deg/s, posRepo size: 4
2020-12-13T22:07:25.791Z,1607897245.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.100006 m,
      bearing: 52.780280 deg,
      approachRate: -0.958292 m/s,
      LOS rate: -0.123006 deg/s,
      cmd update: -0.369017 deg/s,
      cmd heading: 45.922455 deg,
      new cmd heading: 46.141745 deg.

2020-12-13T22:07:26.202Z,1607897246.202 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:07:28.214Z,1607897248.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:28.967Z,1607897248.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:29.369Z,1607897249.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:30.220Z,1607897250.220 [Micromodem](INFO): Nmea in: $SNTTA,0.054504,,,,220730.15*40

2020-12-13T22:07:30.244Z,1607897250.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 53.639460 deg, deltaT: 4.450803 s, approachRate: -1.024535 m/s, LOS rate: 0.193039 deg/s, posRepo size: 4
2020-12-13T22:07:30.246Z,1607897250.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 53.639460 deg,
      approachRate: -1.024535 m/s,
      LOS rate: 0.193039 deg/s,
      cmd update: 0.579118 deg/s,
      cmd heading: 44.281504 deg,
      new cmd heading: 44.124763 deg.

2020-12-13T22:07:32.717Z,1607897252.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:33.443Z,1607897253.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:33.845Z,1607897253.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:34.678Z,1607897254.678 [Micromodem](INFO): Nmea in: $SNTTA,0.051691,,,,220734.62*4E

2020-12-13T22:07:34.722Z,1607897254.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 54.719296 deg, deltaT: 4.440703 s, approachRate: -0.932285 m/s, LOS rate: 0.243168 deg/s, posRepo size: 4
2020-12-13T22:07:34.724Z,1607897254.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.400002 m,
      bearing: 54.719296 deg,
      approachRate: -0.932285 m/s,
      LOS rate: 0.243168 deg/s,
      cmd update: 0.729503 deg/s,
      cmd heading: 46.855389 deg,
      new cmd heading: 47.118023 deg.

2020-12-13T22:07:37.174Z,1607897257.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:37.871Z,1607897257.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:38.336Z,1607897258.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:39.166Z,1607897259.166 [Micromodem](INFO): Nmea in: $SNTTA,0.048827,,,,220739.05*49

2020-12-13T22:07:39.237Z,1607897259.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.019997 m, bearing: 55.401095 deg, deltaT: 4.504624 s, approachRate: -0.972335 m/s, LOS rate: 0.151356 deg/s, posRepo size: 4
2020-12-13T22:07:39.239Z,1607897259.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.019997 m,
      bearing: 55.401095 deg,
      approachRate: -0.972335 m/s,
      LOS rate: 0.151356 deg/s,
      cmd update: 0.454067 deg/s,
      cmd heading: 50.138745 deg,
      new cmd heading: 50.483275 deg.

2020-12-13T22:07:41.595Z,1607897261.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:42.355Z,1607897262.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:42.883Z,1607897262.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:43.693Z,1607897263.693 [Micromodem](INFO): Nmea in: $SNTTA,0.045592,,,,220743.54*4E

2020-12-13T22:07:43.756Z,1607897263.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 54.119690 deg, deltaT: 4.557735 s, approachRate: -1.039990 m/s, LOS rate: -0.281150 deg/s, posRepo size: 4
2020-12-13T22:07:43.758Z,1607897263.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.279999 m,
      bearing: 54.119690 deg,
      approachRate: -1.039990 m/s,
      LOS rate: -0.281150 deg/s,
      cmd update: -0.843449 deg/s,
      cmd heading: 52.210091 deg,
      new cmd heading: 52.405171 deg.

2020-12-13T22:07:45.874Z,1607897265.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:46.623Z,1607897266.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:47.029Z,1607897267.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:47.862Z,1607897267.862 [Micromodem](INFO): Nmea in: $SNTTA,0.042817,,,,220747.80*44

2020-12-13T22:07:47.886Z,1607897267.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 54.445832 deg, deltaT: 4.194112 s, approachRate: -1.001401 m/s, LOS rate: 0.077762 deg/s, posRepo size: 4
2020-12-13T22:07:47.888Z,1607897267.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 54.445832 deg,
      approachRate: -1.001401 m/s,
      LOS rate: 0.077762 deg/s,
      cmd update: 0.233285 deg/s,
      cmd heading: 48.697196 deg,
      new cmd heading: 48.364389 deg.

2020-12-13T22:07:50.318Z,1607897270.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:51.067Z,1607897271.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:51.564Z,1607897271.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:52.358Z,1607897272.358 [Micromodem](INFO): Nmea in: $SNTTA,0.039802,,,,220752.25*47

2020-12-13T22:07:52.433Z,1607897272.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.520004 m, bearing: 54.385777 deg, deltaT: 4.424891 s, approachRate: -1.030535 m/s, LOS rate: -0.013572 deg/s, posRepo size: 4
2020-12-13T22:07:52.435Z,1607897272.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.520004 m,
      bearing: 54.385777 deg,
      approachRate: -1.030535 m/s,
      LOS rate: -0.013572 deg/s,
      cmd update: -0.040716 deg/s,
      cmd heading: 49.736262 deg,
      new cmd heading: 49.848805 deg.

2020-12-13T22:07:54.819Z,1607897274.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:07:55.575Z,1607897275.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:07:55.979Z,1607897275.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:07:56.827Z,1607897276.827 [Micromodem](INFO): Nmea in: $SNTTA,0.036749,,0.047898,,220756.75*5D

2020-12-13T22:07:56.886Z,1607897276.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 54.142397 deg, deltaT: 4.491632 s, approachRate: -1.015221 m/s, LOS rate: -0.054185 deg/s, posRepo size: 4
2020-12-13T22:07:56.888Z,1607897276.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.960007 m,
      bearing: 54.142397 deg,
      approachRate: -1.015221 m/s,
      LOS rate: -0.054185 deg/s,
      cmd update: -0.162556 deg/s,
      cmd heading: 49.553405 deg,
      new cmd heading: 49.535133 deg.

2020-12-13T22:07:59.249Z,1607897279.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:00.007Z,1607897280.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:00.427Z,1607897280.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:01.250Z,1607897281.250 [Micromodem](INFO): Nmea in: $SNTTA,0.034199,,,,220801.19*47

2020-12-13T22:08:01.335Z,1607897281.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.180000 m, bearing: 55.778429 deg, deltaT: 4.417308 s, approachRate: -0.855726 m/s, LOS rate: 0.370369 deg/s, posRepo size: 4
2020-12-13T22:08:01.342Z,1607897281.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.180000 m,
      bearing: 55.778429 deg,
      approachRate: -0.855726 m/s,
      LOS rate: 0.370369 deg/s,
      cmd update: 1.111106 deg/s,
      cmd heading: 48.835274 deg,
      new cmd heading: 48.758029 deg.

2020-12-13T22:08:02.046Z,1607897282.046 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:08:02.608Z,1607897282.608 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:08:02.608Z,1607897282.608 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:08:02.609Z,1607897282.609 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:08:02.882Z,1607897282.882 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:08:03.284Z,1607897283.284 [Micromodem](INFO): Nmea in: $CADRQ,220803,1,9,0,64,1*45

2020-12-13T22:08:03.284Z,1607897283.284 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:08:03.423Z,1607897283.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:03.680Z,1607897283.680 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:08:04.093Z,1607897284.093 [Micromodem](INFO): Nmea in: $CADRQ,220804,1,9,0,64,2*41

2020-12-13T22:08:04.093Z,1607897284.093 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:08:04.509Z,1607897284.509 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:08:04.510Z,1607897284.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:04.886Z,1607897284.886 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:08:04.887Z,1607897284.887 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:08:06.168Z,1607897286.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:07.310Z,1607897287.310 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:08:07.311Z,1607897287.311 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:08:07.732Z,1607897287.732 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220805.248629,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:08:07.732Z,1607897287.732 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220805.248629,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:08:08.952Z,1607897288.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:11.453Z,1607897291.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:14.239Z,1607897294.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:15.806Z,1607897295.806 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:16.211Z,1607897296.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:17.034Z,1607897297.034 [Micromodem](INFO): Nmea in: $SNTTA,0.023418,,,,220816.99*43

2020-12-13T22:08:17.080Z,1607897297.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 53.741124 deg, deltaT: 15.921632 s, approachRate: -1.017484 m/s, LOS rate: -0.127958 deg/s, posRepo size: 4
2020-12-13T22:08:17.081Z,1607897297.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.98 m.
2020-12-13T22:08:17.083Z,1607897297.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.980000 m,
      bearing: 53.741124 deg,
      approachRate: -1.017484 m/s,
      LOS rate: -0.127958 deg/s,
      cmd update: -0.383875 deg/s,
      cmd heading: 66.526055 deg,
      new cmd heading: 66.863783 deg.

2020-12-13T22:08:17.466Z,1607897297.466 [PowerOnly](INFO): Powering up loadControl
2020-12-13T22:08:19.551Z,1607897299.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:20.235Z,1607897300.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:20.646Z,1607897300.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:21.496Z,1607897301.496 [Micromodem](INFO): Nmea in: $SNTTA,0.020671,,,,220821.41*4C

2020-12-13T22:08:22.338Z,1607897302.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:23.874Z,1607897303.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:08:25.120Z,1607897305.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:25.907Z,1607897305.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:26.305Z,1607897306.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:27.158Z,1607897307.158 [Micromodem](INFO): Nmea in: $SNTTA,0.017567,,,,220827.09*46

2020-12-13T22:08:27.209Z,1607897307.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.979996 m, bearing: 50.744037 deg, deltaT: 9.970327 s, approachRate: -0.902679 m/s, LOS rate: -0.300601 deg/s, posRepo size: 4
2020-12-13T22:08:27.210Z,1607897307.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.98 m.
2020-12-13T22:08:27.212Z,1607897307.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.979996 m,
      bearing: 50.744037 deg,
      approachRate: -0.902679 m/s,
      LOS rate: -0.300601 deg/s,
      cmd update: -0.901802 deg/s,
      cmd heading: 62.698732 deg,
      new cmd heading: 62.521152 deg.

2020-12-13T22:08:29.273Z,1607897309.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:30.057Z,1607897310.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:30.469Z,1607897310.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:31.302Z,1607897311.302 [Micromodem](INFO): Nmea in: $SNTTA,0.015978,,,,220831.24*4E

2020-12-13T22:08:31.343Z,1607897311.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 48.609893 deg, deltaT: 4.181858 s, approachRate: -0.817817 m/s, LOS rate: -0.510334 deg/s, posRepo size: 4
2020-12-13T22:08:31.343Z,1607897311.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.56 m.
2020-12-13T22:08:31.349Z,1607897311.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 48.609893 deg,
      approachRate: -0.817817 m/s,
      LOS rate: -0.510334 deg/s,
      cmd update: -1.531002 deg/s,
      cmd heading: 58.931221 deg,
      new cmd heading: 58.553648 deg.

2020-12-13T22:08:33.726Z,1607897313.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:34.515Z,1607897314.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:34.919Z,1607897314.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:35.750Z,1607897315.750 [Micromodem](INFO): Nmea in: $SNTTA,0.012965,,,,220835.69*48

2020-12-13T22:08:35.813Z,1607897315.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 50.043447 deg, deltaT: 4.498908 s, approachRate: -0.746848 m/s, LOS rate: 0.318645 deg/s, posRepo size: 4
2020-12-13T22:08:35.814Z,1607897315.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.20 m.
2020-12-13T22:08:35.814Z,1607897315.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 19.20 m.
2020-12-13T22:08:35.814Z,1607897315.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T22:08:35.816Z,1607897315.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 50.043447 deg,
      approachRate: -0.746848 m/s,
      LOS rate: 0.318645 deg/s,
      cmd update: 0.955935 deg/s,
      cmd heading: 52.053121 deg,
      new cmd heading: 51.446661 deg.

2020-12-13T22:08:38.187Z,1607897318.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:38.943Z,1607897318.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:39.341Z,1607897319.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:40.198Z,1607897320.198 [Micromodem](INFO): Nmea in: $SNTTA,0.010702,0.169360,0.139778,,220840.12*43

2020-12-13T22:08:40.239Z,1607897320.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 51.319241 deg, deltaT: 4.370620 s, approachRate: -0.768769 m/s, LOS rate: 0.291902 deg/s, posRepo size: 4
2020-12-13T22:08:40.241Z,1607897320.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.840000 m,
      bearing: 51.319241 deg,
      approachRate: -0.768769 m/s,
      LOS rate: 0.291902 deg/s,
      cmd update: 0.875707 deg/s,
      cmd heading: 56.225803 deg,
      new cmd heading: 56.662916 deg.

2020-12-13T22:08:42.792Z,1607897322.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:43.387Z,1607897323.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:43.794Z,1607897323.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:44.630Z,1607897324.630 [Micromodem](INFO): Nmea in: $SNTTA,0.008421,,,,220844.57*45

2020-12-13T22:08:44.667Z,1607897324.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 47.691407 deg, deltaT: 4.448687 s, approachRate: -0.768766 m/s, LOS rate: -0.815484 deg/s, posRepo size: 4
2020-12-13T22:08:44.669Z,1607897324.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.419999 m,
      bearing: 47.691407 deg,
      approachRate: -0.768766 m/s,
      LOS rate: -0.815484 deg/s,
      cmd update: -2.446453 deg/s,
      cmd heading: 60.132133 deg,
      new cmd heading: 60.503850 deg.

2020-12-13T22:08:47.236Z,1607897327.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:47.831Z,1607897327.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:48.254Z,1607897328.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:49.084Z,1607897329.084 [Micromodem](INFO): Nmea in: $SNTTA,0.006156,,0.028695,,220849.01*5E

2020-12-13T22:08:49.296Z,1607897329.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 40.694598 deg, deltaT: 4.444043 s, approachRate: -0.756068 m/s, LOS rate: -1.574424 deg/s, posRepo size: 4
2020-12-13T22:08:49.298Z,1607897329.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 40.694598 deg,
      approachRate: -0.756068 m/s,
      LOS rate: -1.574424 deg/s,
      cmd update: -4.723272 deg/s,
      cmd heading: 49.250005 deg,
      new cmd heading: 47.768450 deg.

2020-12-13T22:08:51.571Z,1607897331.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:52.325Z,1607897332.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:52.701Z,1607897332.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:53.721Z,1607897333.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 34.639410 deg, deltaT: 4.491886 s, approachRate: -0.721301 m/s, LOS rate: -1.348028 deg/s, posRepo size: 4
2020-12-13T22:08:53.723Z,1607897333.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 34.639410 deg,
      approachRate: -0.721301 m/s,
      LOS rate: -1.348028 deg/s,
      cmd update: -4.044084 deg/s,
      cmd heading: 28.071599 deg,
      new cmd heading: 25.489041 deg.

2020-12-13T22:08:53.912Z,1607897333.912 [Micromodem](INFO): Nmea in: $SNTTA,0.004071,,,,220853.54*4D

2020-12-13T22:08:55.738Z,1607897335.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:08:56.328Z,1607897336.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:08:56.745Z,1607897336.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:08:57.595Z,1607897337.595 [Micromodem](INFO): Nmea in: $SNTTA,0.002850,,,,220857.51*41

2020-12-13T22:08:57.642Z,1607897337.642 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T22:08:57.642Z,1607897337.642 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T22:08:57.642Z,1607897337.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T22:08:57.642Z,1607897337.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:08:57.642Z,1607897337.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T22:08:57.643Z,1607897337.643 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2020-12-13T22:08:57.643Z,1607897337.643 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T22:08:57.643Z,1607897337.643 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T22:08:57.643Z,1607897337.643 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T22:08:57.646Z,1607897337.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 26.408592 deg, deltaT: 4.049489 s, approachRate: -0.444500 m/s, LOS rate: -2.032557 deg/s, posRepo size: 4
2020-12-13T22:08:57.647Z,1607897337.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 26.408592 deg,
      approachRate: -0.444500 m/s,
      LOS rate: -2.032557 deg/s,
      cmd update: -6.097672 deg/s,
      cmd heading: 11.662630 deg,
      new cmd heading: 9.990199 deg.

2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T220858: (41.552319, -70.708603)
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T22:08:58.002Z,1607897338.002 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T22:08:58.375Z,1607897338.375 [UniversalFixResidualReporter](INFO): Fix residual: 3.7 %DT, over the last 1918.7 m. Residual distance 70.8 m at bearing 7.8 degrees. Fix at (41.5493, -70.7074) with 348.2 m made good.
2020-12-13T22:09:00.185Z,1607897340.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:00.812Z,1607897340.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:01.185Z,1607897341.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:02.224Z,1607897342.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 18.406805 deg, deltaT: 4.397036 s, approachRate: 0.013646 m/s, LOS rate: -1.819814 deg/s, posRepo size: 4
2020-12-13T22:09:02.226Z,1607897342.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 18.406805 deg,
      approachRate: 0.013646 m/s,
      LOS rate: -1.819814 deg/s,
      cmd update: -5.459441 deg/s,
      cmd heading: 344.851563 deg,
      new cmd heading: 341.224900 deg.

2020-12-13T22:09:02.399Z,1607897342.399 [Micromodem](INFO): Nmea in: $SNTTA,0.002658,,0.010113,0.033933,220901.99*4A

2020-12-13T22:09:04.450Z,1607897344.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:05.215Z,1607897345.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:05.621Z,1607897345.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:06.471Z,1607897346.471 [Micromodem](INFO): Nmea in: $SNTTA,0.003931,,,,220906.39*4D

2020-12-13T22:09:06.681Z,1607897346.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 346.603304 deg, deltaT: 4.508582 s, approachRate: 0.385931 m/s, LOS rate: -7.053994 deg/s, posRepo size: 4
2020-12-13T22:09:06.683Z,1607897346.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 346.603304 deg,
      approachRate: 0.385931 m/s,
      LOS rate: -7.053994 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 320.376783 deg,
      new cmd heading: 317.269116 deg.

2020-12-13T22:09:07.661Z,1607897347.661 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:09:08.252Z,1607897348.252 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:09:08.253Z,1607897348.253 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:09:08.253Z,1607897348.253 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:09:08.548Z,1607897348.548 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:09:08.716Z,1607897348.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:08.923Z,1607897348.923 [Micromodem](INFO): Nmea in: $CADRQ,220909,1,9,0,64,1*4E

2020-12-13T22:09:08.926Z,1607897348.926 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:09:09.355Z,1607897349.355 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:09:09.357Z,1607897349.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:09.735Z,1607897349.735 [Micromodem](INFO): Nmea in: $CADRQ,220910,1,9,0,64,2*45

2020-12-13T22:09:09.736Z,1607897349.736 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,220910,1,9,0,64,2*45

2020-12-13T22:09:10.156Z,1607897350.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:10.602Z,1607897350.602 [Micromodem](INFO): Nmea in: $SNTTA,0.005344,,,,220910.53*48

2020-12-13T22:09:10.644Z,1607897350.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 8.088092 deg, deltaT: 4.078393 s, approachRate: 0.544332 m/s, LOS rate: 5.267954 deg/s, posRepo size: 4
2020-12-13T22:09:10.646Z,1607897350.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 8.088092 deg,
      approachRate: 0.544332 m/s,
      LOS rate: 5.267954 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.177262 deg,
      new cmd heading: 265.994750 deg.

2020-12-13T22:09:12.766Z,1607897352.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:13.363Z,1607897353.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:13.781Z,1607897353.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:14.614Z,1607897354.614 [Micromodem](INFO): Nmea in: $SNTTA,0.006606,,,,220914.54*4B

2020-12-13T22:09:14.778Z,1607897354.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 318.600649 deg, deltaT: 4.052085 s, approachRate: 0.473830 m/s, LOS rate: -12.212834 deg/s, posRepo size: 4
2020-12-13T22:09:14.778Z,1607897354.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.212834 deg/s. Setting heading cmd to target bearing of 318.600649deg and heading rate command to 0 deg/s.
2020-12-13T22:09:17.023Z,1607897357.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:17.831Z,1607897357.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:18.217Z,1607897358.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:19.032Z,1607897359.032 [Micromodem](INFO): Nmea in: $SNTTA,0.007911,,,,220919.01*4E

2020-12-13T22:09:19.244Z,1607897359.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 331.308571 deg, deltaT: 4.400052 s, approachRate: 0.490903 m/s, LOS rate: 2.888130 deg/s, posRepo size: 4
2020-12-13T22:09:19.245Z,1607897359.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.12 m. Rolling out.
2020-12-13T22:09:19.245Z,1607897359.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T22:09:20.301Z,1607897360.301 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:09:21.263Z,1607897361.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:21.939Z,1607897361.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:22.249Z,1607897362.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:23.159Z,1607897363.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 280.936773 deg, deltaT: 4.025271 s, approachRate: 0.342835 m/s, LOS rate: -12.513890 deg/s, posRepo size: 4
2020-12-13T22:09:23.486Z,1607897363.486 [Micromodem](INFO): Nmea in: $SNTTA,0.008962,,,,220923.12*4E

2020-12-13T22:09:25.700Z,1607897365.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:26.323Z,1607897366.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:26.705Z,1607897366.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:27.554Z,1607897367.554 [Micromodem](INFO): Nmea in: $SNTTA,0.010196,,,,220927.50*46

2020-12-13T22:09:27.732Z,1607897367.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.359997 m, bearing: 298.940496 deg, deltaT: 4.489686 s, approachRate: 0.414282 m/s, LOS rate: 4.010018 deg/s, posRepo size: 4
2020-12-13T22:09:29.951Z,1607897369.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:30.743Z,1607897370.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:31.189Z,1607897371.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:31.982Z,1607897371.982 [Micromodem](INFO): Nmea in: $SNTTA,0.011649,,,,220931.92*4B

2020-12-13T22:09:32.346Z,1607897372.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 310.139848 deg, deltaT: 4.475949 s, approachRate: 0.495985 m/s, LOS rate: 2.502118 deg/s, posRepo size: 4
2020-12-13T22:09:34.382Z,1607897374.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:34.983Z,1607897374.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:35.385Z,1607897375.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:36.242Z,1607897376.242 [Micromodem](INFO): Nmea in: $SNTTA,0.013110,,,,220936.16*49

2020-12-13T22:09:36.299Z,1607897376.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 322.714608 deg, deltaT: 4.221856 s, approachRate: 0.525834 m/s, LOS rate: 2.978491 deg/s, posRepo size: 4
2020-12-13T22:09:38.791Z,1607897378.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:39.047Z,1607897379.047 [Micromodem](INFO): Nmea in: $CAERR,220940,DATA_TIMEOUT,2*40

2020-12-13T22:09:39.420Z,1607897379.420 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:09:39.422Z,1607897379.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:41.039Z,1607897381.039 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:09:41.039Z,1607897381.039 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T22:09:41.461Z,1607897381.461 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,220940.143412,3,0,200,4000,14500,1,1,9,1,2,1,3,64*77

2020-12-13T22:09:41.462Z,1607897381.462 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,220940.143412,3,0,200,4000,14500,1,1,9,1,2,1,3,64*77

2020-12-13T22:09:41.573Z,1607897381.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:44.336Z,1607897384.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:47.394Z,1607897387.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:47.395Z,1607897387.395 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T21:59:46.9Z
2020-12-13T22:09:47.396Z,1607897387.396 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T22:09:47.396Z,1607897387.396 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:09:47.396Z,1607897387.396 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T22:09:47.396Z,1607897387.396 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:09:47.397Z,1607897387.397 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T22:09:47.658Z,1607897387.658 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T22:09:47.659Z,1607897387.659 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T22:09:47.659Z,1607897387.659 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T22:09:47.659Z,1607897387.659 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:09:47.659Z,1607897387.659 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T22:09:50.051Z,1607897390.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:50.438Z,1607897390.438 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:50.841Z,1607897390.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:51.674Z,1607897391.674 [Micromodem](INFO): Nmea in: $SNTTA,0.019531,,,,220951.62*46

2020-12-13T22:09:51.868Z,1607897391.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.460001 m, bearing: 293.044458 deg, deltaT: 15.423339 s, approachRate: 0.626324 m/s, LOS rate: -1.923718 deg/s, posRepo size: 4
2020-12-13T22:09:53.849Z,1607897393.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:54.482Z,1607897394.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:54.882Z,1607897394.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:09:55.714Z,1607897395.714 [Micromodem](INFO): Nmea in: $SNTTA,0.021244,,,,220955.66*48

2020-12-13T22:09:55.744Z,1607897395.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.580002 m, bearing: 283.328814 deg, deltaT: 4.016009 s, approachRate: 0.776891 m/s, LOS rate: -2.419228 deg/s, posRepo size: 4
2020-12-13T22:09:57.725Z,1607897397.725 [PowerOnly](INFO): Powering down loadControl
2020-12-13T22:09:58.334Z,1607897398.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:09:58.967Z,1607897398.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:09:59.381Z,1607897399.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:00.235Z,1607897400.235 [Micromodem](INFO): Nmea in: $SNTTA,0.023185,0.025179,0.024323,,221000.15*44

2020-12-13T22:10:00.437Z,1607897400.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 305.730059 deg, deltaT: 4.506055 s, approachRate: 0.612509 m/s, LOS rate: 4.971365 deg/s, posRepo size: 4
2020-12-13T22:10:02.669Z,1607897402.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:03.438Z,1607897403.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:03.833Z,1607897403.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:04.671Z,1607897404.671 [Micromodem](INFO): Nmea in: $SNTTA,0.025186,,,,221004.62*49

2020-12-13T22:10:05.554Z,1607897405.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:07.145Z,1607897407.145 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:10:08.394Z,1607897408.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:09.171Z,1607897409.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:09.567Z,1607897409.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:10.399Z,1607897410.399 [Micromodem](INFO): Nmea in: $SNTTA,0.027700,,,,221010.35*44

2020-12-13T22:10:10.471Z,1607897410.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.820000 m, bearing: 306.715983 deg, deltaT: 10.181187 s, approachRate: 0.636468 m/s, LOS rate: 0.096838 deg/s, posRepo size: 4
2020-12-13T22:10:13.001Z,1607897413.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:13.632Z,1607897413.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:14.015Z,1607897414.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:14.029Z,1607897414.029 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:10:14.587Z,1607897414.587 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:10:14.587Z,1607897414.587 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:10:14.588Z,1607897414.588 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:10:14.938Z,1607897414.938 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:10:14.960Z,1607897414.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 309.666024 deg, deltaT: 4.675274 s, approachRate: 0.628840 m/s, LOS rate: 0.630988 deg/s, posRepo size: 4
2020-12-13T22:10:15.330Z,1607897415.330 [Micromodem](INFO): Nmea in: $CADRQ,221015,1,9,0,64,1*4B

2020-12-13T22:10:15.330Z,1607897415.330 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:10:15.738Z,1607897415.738 [Micromodem](INFO): Nmea in: $SNTTA,0.029665,,,,221014.81*43

2020-12-13T22:10:15.738Z,1607897415.738 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.029665,,,,221014.81*43

2020-12-13T22:10:16.943Z,1607897416.943 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:10:17.383Z,1607897417.383 [Micromodem](INFO): Nmea in: $CADRQ,221016,1,9,0,64,2*4B

2020-12-13T22:10:17.383Z,1607897417.383 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:10:17.481Z,1607897417.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:17.787Z,1607897417.787 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:10:18.203Z,1607897418.203 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:10:18.203Z,1607897418.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:20.306Z,1607897420.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:20.651Z,1607897420.651 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:10:20.651Z,1607897420.651 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:10:21.024Z,1607897421.024 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221018.537247,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T22:10:21.024Z,1607897421.024 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221018.537247,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T22:10:23.060Z,1607897423.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:25.682Z,1607897425.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:27.165Z,1607897427.165 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:10:28.381Z,1607897428.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:29.550Z,1607897429.550 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:29.955Z,1607897429.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:30.798Z,1607897430.798 [Micromodem](INFO): Nmea in: $SNTTA,0.036758,,0.052009,,221030.73*59

2020-12-13T22:10:30.833Z,1607897430.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.439999 m, bearing: 312.428999 deg, deltaT: 15.751614 s, approachRate: 0.678026 m/s, LOS rate: 0.175409 deg/s, posRepo size: 4
2020-12-13T22:10:33.290Z,1607897433.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:34.015Z,1607897434.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:34.517Z,1607897434.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:35.314Z,1607897435.314 [Micromodem](INFO): Nmea in: $SNTTA,0.038840,,,,221035.19*48

2020-12-13T22:10:35.371Z,1607897435.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.440002 m, bearing: 254.200189 deg, deltaT: 4.491626 s, approachRate: 0.667910 m/s, LOS rate: -12.963860 deg/s, posRepo size: 4
2020-12-13T22:10:37.788Z,1607897437.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:38.547Z,1607897438.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:39.017Z,1607897439.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:39.830Z,1607897439.830 [Micromodem](INFO): Nmea in: $SNTTA,0.040830,,,,221039.73*40

2020-12-13T22:10:39.888Z,1607897439.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 308.579341 deg, deltaT: 4.557158 s, approachRate: 0.645139 m/s, LOS rate: 11.932690 deg/s, posRepo size: 4
2020-12-13T22:10:42.284Z,1607897442.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:43.160Z,1607897443.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:43.563Z,1607897443.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:44.363Z,1607897444.363 [Micromodem](INFO): Nmea in: $SNTTA,0.042900,,,,221044.34*49

2020-12-13T22:10:44.417Z,1607897444.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.500008 m, bearing: 11.234462 deg, deltaT: 4.506771 s, approachRate: 0.692292 m/s, LOS rate: 13.902441 deg/s, posRepo size: 4
2020-12-13T22:10:46.808Z,1607897446.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:47.571Z,1607897447.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:47.994Z,1607897447.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:48.822Z,1607897448.822 [Micromodem](INFO): Nmea in: $SNTTA,0.044874,,0.073437,,221048.75*5E

2020-12-13T22:10:48.864Z,1607897448.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 298.682533 deg, deltaT: 4.447194 s, approachRate: 0.742042 m/s, LOS rate: -16.314091 deg/s, posRepo size: 4
2020-12-13T22:10:51.394Z,1607897451.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:52.015Z,1607897452.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:52.431Z,1607897452.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:53.266Z,1607897453.266 [Micromodem](INFO): Nmea in: $SNTTA,0.047136,,,,221053.19*48

2020-12-13T22:10:53.322Z,1607897453.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.800003 m, bearing: 314.901856 deg, deltaT: 4.430368 s, approachRate: 0.677143 m/s, LOS rate: 3.660943 deg/s, posRepo size: 4
2020-12-13T22:10:55.818Z,1607897455.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:10:56.483Z,1607897456.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:10:56.873Z,1607897456.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:10:57.698Z,1607897457.698 [Micromodem](INFO): Nmea in: $SNTTA,0.048879,,,,221057.66*49

2020-12-13T22:10:57.868Z,1607897457.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.440002 m, bearing: 259.472931 deg, deltaT: 4.464533 s, approachRate: 0.591327 m/s, LOS rate: -12.415391 deg/s, posRepo size: 4
2020-12-13T22:11:00.157Z,1607897460.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:00.941Z,1607897460.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:01.309Z,1607897461.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:02.135Z,1607897462.135 [Micromodem](INFO): Nmea in: $SNTTA,0.050894,,,,221102.12*41

2020-12-13T22:11:02.947Z,1607897462.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:04.566Z,1607897464.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:11:05.791Z,1607897465.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:06.583Z,1607897466.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:06.965Z,1607897466.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:07.794Z,1607897467.794 [Micromodem](INFO): Nmea in: $SNTTA,0.053446,,,,221107.76*46

2020-12-13T22:11:07.818Z,1607897467.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 312.730429 deg, deltaT: 10.060157 s, approachRate: 0.679910 m/s, LOS rate: 5.293903 deg/s, posRepo size: 4
2020-12-13T22:11:10.239Z,1607897470.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:11.008Z,1607897471.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:11.449Z,1607897471.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:12.270Z,1607897472.270 [Micromodem](INFO): Nmea in: $SNTTA,0.055436,,,,221112.19*4A

2020-12-13T22:11:12.295Z,1607897472.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.279999 m, bearing: 255.236246 deg, deltaT: 4.505393 s, approachRate: 0.665869 m/s, LOS rate: -12.761192 deg/s, posRepo size: 4
2020-12-13T22:11:14.727Z,1607897474.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:15.475Z,1607897475.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:15.896Z,1607897475.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:16.710Z,1607897476.710 [Micromodem](INFO): Nmea in: $SNTTA,0.057505,,,,221116.65*46

2020-12-13T22:11:16.759Z,1607897476.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 8.689071 deg, deltaT: 4.442541 s, approachRate: 0.688796 m/s, LOS rate: 25.537821 deg/s, posRepo size: 4
2020-12-13T22:11:19.168Z,1607897479.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:19.923Z,1607897479.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:20.325Z,1607897480.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:20.340Z,1607897480.340 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:11:20.854Z,1607897480.854 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:11:20.854Z,1607897480.854 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:11:20.855Z,1607897480.855 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:11:21.210Z,1607897481.210 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:11:21.386Z,1607897481.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.340004 m, bearing: 259.627238 deg, deltaT: 4.627682 s, approachRate: 0.648273 m/s, LOS rate: -23.567269 deg/s, posRepo size: 4
2020-12-13T22:11:21.614Z,1607897481.614 [Micromodem](INFO): Nmea in: $CADRQ,221121,1,9,0,64,1*4D

2020-12-13T22:11:21.614Z,1607897481.614 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:11:22.023Z,1607897482.023 [Micromodem](INFO): Nmea in: $SNTTA,0.059437,,,,221121.10*4E

2020-12-13T22:11:22.023Z,1607897482.023 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.059437,,,,221121.10*4E

2020-12-13T22:11:23.220Z,1607897483.220 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:11:23.607Z,1607897483.607 [Micromodem](INFO): Nmea in: $CADRQ,221122,1,9,0,64,2*4D

2020-12-13T22:11:23.607Z,1607897483.607 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:11:23.712Z,1607897483.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:24.027Z,1607897484.027 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:11:24.434Z,1607897484.434 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:11:24.434Z,1607897484.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:26.475Z,1607897486.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:26.851Z,1607897486.851 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:11:26.851Z,1607897486.851 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:11:27.247Z,1607897487.247 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221124.794410,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T22:11:27.248Z,1607897487.248 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221124.794410,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T22:11:29.324Z,1607897489.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:32.130Z,1607897492.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:34.958Z,1607897494.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:35.726Z,1607897495.726 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:36.161Z,1607897496.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:36.974Z,1607897496.974 [Micromodem](INFO): Nmea in: $SNTTA,0.066579,,,,221136.90*47

2020-12-13T22:11:36.988Z,1607897496.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.960007 m, bearing: 260.802195 deg, deltaT: 15.619553 s, approachRate: 0.679917 m/s, LOS rate: 0.075223 deg/s, posRepo size: 4
2020-12-13T22:11:39.401Z,1607897499.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:40.187Z,1607897500.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:40.582Z,1607897500.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:41.411Z,1607897501.411 [Micromodem](INFO): Nmea in: $SNTTA,0.068609,,,,221141.36*41

2020-12-13T22:11:41.451Z,1607897501.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.020004 m, bearing: 260.744712 deg, deltaT: 4.417453 s, approachRate: 0.692706 m/s, LOS rate: -0.013013 deg/s, posRepo size: 4
2020-12-13T22:11:43.859Z,1607897503.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:44.608Z,1607897504.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:45.017Z,1607897505.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:45.858Z,1607897505.858 [Micromodem](INFO): Nmea in: $SNTTA,0.070576,,,,221145.78*4D

2020-12-13T22:11:45.892Z,1607897505.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.019997 m, bearing: 262.381744 deg, deltaT: 4.477132 s, approachRate: 0.670070 m/s, LOS rate: 0.365643 deg/s, posRepo size: 4
2020-12-13T22:11:48.301Z,1607897508.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:49.060Z,1607897509.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:49.514Z,1607897509.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:50.326Z,1607897510.326 [Micromodem](INFO): Nmea in: $SNTTA,0.072633,,,,221150.24*40

2020-12-13T22:11:50.388Z,1607897510.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.079994 m, bearing: 267.158068 deg, deltaT: 4.435923 s, approachRate: 0.689822 m/s, LOS rate: 1.076737 deg/s, posRepo size: 4
2020-12-13T22:11:52.791Z,1607897512.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:53.563Z,1607897513.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:54.033Z,1607897514.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:54.850Z,1607897514.850 [Micromodem](INFO): Nmea in: $SNTTA,0.074611,,,,221154.74*47

2020-12-13T22:11:54.932Z,1607897514.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.080002 m, bearing: 265.159200 deg, deltaT: 4.568046 s, approachRate: 0.656738 m/s, LOS rate: -0.437576 deg/s, posRepo size: 4
2020-12-13T22:11:57.273Z,1607897517.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:11:58.079Z,1607897518.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:11:58.473Z,1607897518.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:11:59.302Z,1607897519.302 [Micromodem](INFO): Nmea in: $SNTTA,0.076617,,,,221159.26*49

2020-12-13T22:11:59.344Z,1607897519.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 288.064239 deg, deltaT: 4.400065 s, approachRate: 0.749990 m/s, LOS rate: 5.205614 deg/s, posRepo size: 4
2020-12-13T22:12:01.755Z,1607897521.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:02.535Z,1607897522.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:02.927Z,1607897522.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:03.746Z,1607897523.746 [Micromodem](INFO): Nmea in: $SNTTA,0.078598,,,,221203.71*4D

2020-12-13T22:12:03.789Z,1607897523.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 269.420992 deg, deltaT: 4.526276 s, approachRate: 0.583261 m/s, LOS rate: -4.118893 deg/s, posRepo size: 4
2020-12-13T22:12:06.219Z,1607897526.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:06.963Z,1607897526.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:07.361Z,1607897527.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:08.210Z,1607897528.210 [Micromodem](INFO): Nmea in: $SNTTA,0.080675,,,,221208.14*42

2020-12-13T22:12:08.257Z,1607897528.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 266.152227 deg, deltaT: 4.428054 s, approachRate: 0.704597 m/s, LOS rate: -0.738194 deg/s, posRepo size: 4
2020-12-13T22:12:10.640Z,1607897530.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:11.412Z,1607897531.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:11.809Z,1607897531.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:12.646Z,1607897532.646 [Micromodem](INFO): Nmea in: $SNTTA,0.082653,,,,221212.59*46

2020-12-13T22:12:12.686Z,1607897532.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 265.726406 deg, deltaT: 4.415749 s, approachRate: 0.665801 m/s, LOS rate: -0.096432 deg/s, posRepo size: 4
2020-12-13T22:12:15.272Z,1607897535.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:15.843Z,1607897535.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:16.253Z,1607897536.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:17.086Z,1607897537.086 [Micromodem](INFO): Nmea in: $SNTTA,0.084661,,,,221217.02*4A

2020-12-13T22:12:17.166Z,1607897537.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 264.410310 deg, deltaT: 4.447210 s, approachRate: 0.674579 m/s, LOS rate: -0.295937 deg/s, posRepo size: 4
2020-12-13T22:12:19.691Z,1607897539.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:20.299Z,1607897540.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:20.706Z,1607897540.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:21.554Z,1607897541.554 [Micromodem](INFO): Nmea in: $SNTTA,0.086684,,,,221221.48*48

2020-12-13T22:12:21.761Z,1607897541.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.139999 m, bearing: 266.329921 deg, deltaT: 4.466954 s, approachRate: 0.685030 m/s, LOS rate: 0.429736 deg/s, posRepo size: 4
2020-12-13T22:12:23.970Z,1607897543.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:24.767Z,1607897544.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:25.201Z,1607897545.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:26.046Z,1607897546.046 [Micromodem](INFO): Nmea in: $SNTTA,0.088761,,,,221225.95*48

2020-12-13T22:12:26.046Z,1607897546.046 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:12:26.064Z,1607897546.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 264.027110 deg, deltaT: 4.604822 s, approachRate: 0.677550 m/s, LOS rate: -0.500087 deg/s, posRepo size: 4
2020-12-13T22:12:26.558Z,1607897546.558 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:12:26.559Z,1607897546.559 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:12:26.559Z,1607897546.559 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:12:27.233Z,1607897547.233 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:12:27.642Z,1607897547.642 [Micromodem](INFO): Nmea in: $CADRQ,221227,1,9,0,64,1*48

2020-12-13T22:12:27.642Z,1607897547.642 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:12:28.079Z,1607897548.079 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:12:28.483Z,1607897548.483 [Micromodem](INFO): Nmea in: $CADRQ,221228,1,9,0,64,2*44

2020-12-13T22:12:28.486Z,1607897548.486 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:12:28.567Z,1607897548.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:28.913Z,1607897548.913 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:12:29.287Z,1607897549.287 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:12:29.288Z,1607897549.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:31.362Z,1607897551.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:31.715Z,1607897551.715 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:12:31.715Z,1607897551.715 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:12:32.154Z,1607897552.154 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221229.636412,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T22:12:32.155Z,1607897552.155 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221229.636412,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T22:12:33.915Z,1607897553.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:36.593Z,1607897556.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:39.446Z,1607897559.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:40.602Z,1607897560.602 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:41.037Z,1607897561.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:41.846Z,1607897561.846 [Micromodem](INFO): Nmea in: $SNTTA,0.095775,,,,221241.78*40

2020-12-13T22:12:41.884Z,1607897561.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 266.167281 deg, deltaT: 15.709035 s, approachRate: 0.672225 m/s, LOS rate: 0.136238 deg/s, posRepo size: 4
2020-12-13T22:12:44.279Z,1607897564.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:45.099Z,1607897565.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:45.520Z,1607897565.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:46.298Z,1607897566.298 [Micromodem](INFO): Nmea in: $SNTTA,0.097805,,,,221246.28*48

2020-12-13T22:12:46.353Z,1607897566.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 263.956431 deg, deltaT: 4.499147 s, approachRate: 0.000000 m/s, LOS rate: -0.491393 deg/s, posRepo size: 4
2020-12-13T22:12:48.715Z,1607897568.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:49.506Z,1607897569.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:49.897Z,1607897569.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:50.730Z,1607897570.730 [Micromodem](INFO): Nmea in: $SNTTA,0.099718,,,,221250.68*46

2020-12-13T22:12:50.794Z,1607897570.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.179993 m, bearing: 263.953453 deg, deltaT: 4.387360 s, approachRate: 3.500963 m/s, LOS rate: -0.000679 deg/s, posRepo size: 4
2020-12-13T22:12:53.339Z,1607897573.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:53.935Z,1607897573.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:54.351Z,1607897574.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:55.218Z,1607897575.218 [Micromodem](INFO): Nmea in: $SNTTA,0.101864,,,,221255.11*49

2020-12-13T22:12:55.244Z,1607897575.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.939987 m, bearing: 263.790457 deg, deltaT: 4.404802 s, approachRate: -1.416637 m/s, LOS rate: -0.037004 deg/s, posRepo size: 4
2020-12-13T22:12:57.759Z,1607897577.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:12:58.467Z,1607897578.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:12:58.868Z,1607897578.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:12:59.651Z,1607897579.651 [Micromodem](INFO): Nmea in: $SNTTA,0.103867,,,,221259.65*47

2020-12-13T22:13:00.075Z,1607897580.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 260.956858 deg, deltaT: 5.080416 s, approachRate: 0.590506 m/s, LOS rate: -0.557750 deg/s, posRepo size: 4
2020-12-13T22:13:02.533Z,1607897582.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:03.255Z,1607897583.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:03.282Z,1607897583.282 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:13:03.661Z,1607897583.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:04.522Z,1607897584.522 [Micromodem](INFO): Nmea in: $SNTTA,0.106068,,,,221304.43*48

2020-12-13T22:13:04.556Z,1607897584.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 254.193331 deg, deltaT: 4.433004 s, approachRate: 0.744417 m/s, LOS rate: -1.525721 deg/s, posRepo size: 4
2020-12-13T22:13:06.930Z,1607897586.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:07.723Z,1607897587.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:08.151Z,1607897588.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:08.966Z,1607897588.966 [Micromodem](INFO): Nmea in: $SNTTA,0.108090,,,,221308.90*43

2020-12-13T22:13:08.996Z,1607897588.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.360001 m, bearing: 305.554714 deg, deltaT: 4.302667 s, approachRate: 0.725130 m/s, LOS rate: 11.937104 deg/s, posRepo size: 4
2020-12-13T22:13:11.525Z,1607897591.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:12.225Z,1607897592.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:12.577Z,1607897592.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:13.794Z,1607897593.794 [Micromodem](INFO): Nmea in: $SNTTA,0.110124,,,,221313.40*43

2020-12-13T22:13:13.858Z,1607897593.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 266.189739 deg, deltaT: 4.877256 s, approachRate: 0.602795 m/s, LOS rate: -8.071132 deg/s, posRepo size: 4
2020-12-13T22:13:16.242Z,1607897596.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:17.015Z,1607897597.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:17.524Z,1607897597.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:18.318Z,1607897598.318 [Micromodem](INFO): Nmea in: $SNTTA,0.112248,,,,221318.19*4F

2020-12-13T22:13:18.379Z,1607897598.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.540009 m, bearing: 261.513054 deg, deltaT: 4.457461 s, approachRate: 0.726876 m/s, LOS rate: -1.049181 deg/s, posRepo size: 4
2020-12-13T22:13:20.463Z,1607897600.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:21.207Z,1607897601.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:21.609Z,1607897601.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:22.459Z,1607897602.459 [Micromodem](INFO): Nmea in: $SNTTA,0.114101,,,,221322.38*4D

2020-12-13T22:13:22.542Z,1607897602.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.540009 m, bearing: 267.091843 deg, deltaT: 4.108417 s, approachRate: 0.000000 m/s, LOS rate: 1.357893 deg/s, posRepo size: 4
2020-12-13T22:13:25.002Z,1607897605.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:25.719Z,1607897605.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:26.146Z,1607897606.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:26.926Z,1607897606.926 [Micromodem](INFO): Nmea in: $SNTTA,0.116164,,,,221326.90*4A

2020-12-13T22:13:27.362Z,1607897607.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.419998 m, bearing: 262.381908 deg, deltaT: 4.921945 s, approachRate: 1.194648 m/s, LOS rate: -0.956926 deg/s, posRepo size: 4
2020-12-13T22:13:29.895Z,1607897609.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:30.559Z,1607897610.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:30.949Z,1607897610.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:31.774Z,1607897611.774 [Micromodem](INFO): Nmea in: $SNTTA,0.118310,,,,221331.74*49

2020-12-13T22:13:31.774Z,1607897611.774 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:13:32.336Z,1607897612.336 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:13:32.342Z,1607897612.342 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:13:32.342Z,1607897612.342 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:13:32.419Z,1607897612.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 262.229103 deg, deltaT: 4.995951 s, approachRate: 0.624508 m/s, LOS rate: -0.030586 deg/s, posRepo size: 4
2020-12-13T22:13:33.026Z,1607897613.026 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:13:33.422Z,1607897613.422 [Micromodem](INFO): Nmea in: $CADRQ,221333,1,9,0,64,1*4C

2020-12-13T22:13:33.423Z,1607897613.423 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:13:33.834Z,1607897613.834 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:13:34.234Z,1607897614.234 [Micromodem](INFO): Nmea in: $CADRQ,221334,1,9,0,64,2*48

2020-12-13T22:13:34.234Z,1607897614.234 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:13:34.635Z,1607897614.635 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:13:34.691Z,1607897614.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:35.041Z,1607897615.041 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:13:35.433Z,1607897615.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:37.462Z,1607897617.462 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:13:37.462Z,1607897617.462 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:13:37.587Z,1607897617.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:37.861Z,1607897617.861 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221335.383688,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T22:13:37.861Z,1607897617.861 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221335.383688,3,0,200,4000,14500,1,1,9,1,2,2,3,70*77

2020-12-13T22:13:40.461Z,1607897620.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:43.022Z,1607897623.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:45.790Z,1607897625.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:46.558Z,1607897626.558 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:46.945Z,1607897626.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:47.767Z,1607897627.767 [Micromodem](INFO): Nmea in: $SNTTA,0.125702,,,,221347.74*41

2020-12-13T22:13:48.245Z,1607897628.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.639984 m, bearing: 255.511639 deg, deltaT: 15.871276 s, approachRate: 0.699375 m/s, LOS rate: -0.423247 deg/s, posRepo size: 4
2020-12-13T22:13:50.670Z,1607897630.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:51.405Z,1607897631.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:51.929Z,1607897631.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:52.651Z,1607897632.651 [Micromodem](INFO): Nmea in: $SNTTA,0.127800,,,,221352.59*45

2020-12-13T22:13:53.079Z,1607897633.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.879974 m, bearing: 336.148088 deg, deltaT: 4.850845 s, approachRate: 0.667923 m/s, LOS rate: 16.623176 deg/s, posRepo size: 4
2020-12-13T22:13:55.648Z,1607897635.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:13:56.239Z,1607897636.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:13:56.649Z,1607897636.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:13:57.494Z,1607897637.494 [Micromodem](INFO): Nmea in: $SNTTA,0.130100,,,,221357.42*45

2020-12-13T22:13:57.900Z,1607897637.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.119995 m, bearing: 319.373334 deg, deltaT: 5.022303 s, approachRate: 0.645127 m/s, LOS rate: -3.340052 deg/s, posRepo size: 4
2020-12-13T22:14:00.308Z,1607897640.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:01.114Z,1607897641.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:01.502Z,1607897641.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:02.338Z,1607897642.338 [Micromodem](INFO): Nmea in: $SNTTA,0.132215,,,,221402.29*4A

2020-12-13T22:14:02.752Z,1607897642.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.419983 m, bearing: 266.906881 deg, deltaT: 4.693917 s, approachRate: 0.703035 m/s, LOS rate: -11.177541 deg/s, posRepo size: 4
2020-12-13T22:14:05.362Z,1607897645.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:06.014Z,1607897646.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:06.427Z,1607897646.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:07.211Z,1607897647.211 [Micromodem](INFO): Nmea in: $SNTTA,0.134446,,,,221407.20*40

2020-12-13T22:14:07.657Z,1607897647.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.839981 m, bearing: 267.997335 deg, deltaT: 4.882471 s, approachRate: 0.700465 m/s, LOS rate: 0.223340 deg/s, posRepo size: 4
2020-12-13T22:14:10.074Z,1607897650.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:10.851Z,1607897650.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:11.249Z,1607897651.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:12.084Z,1607897652.084 [Micromodem](INFO): Nmea in: $SNTTA,0.136634,,,,221412.03*40

2020-12-13T22:14:12.564Z,1607897652.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.079987 m, bearing: 263.854033 deg, deltaT: 4.833137 s, approachRate: 0.670373 m/s, LOS rate: -0.857270 deg/s, posRepo size: 4
2020-12-13T22:14:15.044Z,1607897655.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:15.691Z,1607897655.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:16.134Z,1607897656.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:16.921Z,1607897656.921 [Micromodem](INFO): Nmea in: $SNTTA,0.138888,,,,221416.87*4F

2020-12-13T22:14:17.375Z,1607897657.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.559998 m, bearing: 272.630279 deg, deltaT: 5.020649 s, approachRate: 0.693140 m/s, LOS rate: 1.748030 deg/s, posRepo size: 4
2020-12-13T22:14:19.818Z,1607897659.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:20.575Z,1607897660.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:20.991Z,1607897660.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:21.828Z,1607897661.828 [Micromodem](INFO): Nmea in: $SNTTA,0.141096,,,,221421.76*4C

2020-12-13T22:14:22.251Z,1607897662.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.799988 m, bearing: 267.464033 deg, deltaT: 4.715996 s, approachRate: 0.687021 m/s, LOS rate: -1.095473 deg/s, posRepo size: 4
2020-12-13T22:14:24.711Z,1607897664.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:25.463Z,1607897665.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:25.857Z,1607897665.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:26.689Z,1607897666.689 [Micromodem](INFO): Nmea in: $SNTTA,0.143271,,,,221426.64*41

2020-12-13T22:14:27.116Z,1607897667.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.979996 m, bearing: 261.821013 deg, deltaT: 4.914402 s, approachRate: 0.647079 m/s, LOS rate: -1.148262 deg/s, posRepo size: 4
2020-12-13T22:14:29.561Z,1607897669.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:30.300Z,1607897670.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:30.705Z,1607897670.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:31.625Z,1607897671.625 [Micromodem](INFO): Nmea in: $SNTTA,0.145483,,,,221431.48*44

2020-12-13T22:14:31.975Z,1607897671.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.339996 m, bearing: 262.670497 deg, deltaT: 4.919638 s, approachRate: 0.682977 m/s, LOS rate: 0.172672 deg/s, posRepo size: 4
2020-12-13T22:14:34.592Z,1607897674.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:35.319Z,1607897675.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:35.638Z,1607897675.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:36.870Z,1607897676.870 [Micromodem](INFO): Nmea in: $SNTTA,0.147733,,,,221436.50*40

2020-12-13T22:14:36.892Z,1607897676.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.699997 m, bearing: 260.435523 deg, deltaT: 5.009577 s, approachRate: 0.670715 m/s, LOS rate: -0.446140 deg/s, posRepo size: 4
2020-12-13T22:14:37.670Z,1607897677.670 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:14:38.227Z,1607897678.227 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:14:38.228Z,1607897678.228 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:14:38.228Z,1607897678.228 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:14:38.530Z,1607897678.530 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:14:38.902Z,1607897678.902 [Micromodem](INFO): Nmea in: $CADRQ,221439,1,9,0,64,1*41

2020-12-13T22:14:38.902Z,1607897678.902 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:14:39.302Z,1607897679.302 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:14:39.329Z,1607897679.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:39.703Z,1607897679.703 [Micromodem](INFO): Nmea in: $CADRQ,221440,1,9,0,64,2*4C

2020-12-13T22:14:39.706Z,1607897679.706 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:14:40.109Z,1607897680.109 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:14:40.112Z,1607897680.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:40.535Z,1607897680.535 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:14:40.535Z,1607897680.535 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:14:42.203Z,1607897682.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:42.931Z,1607897682.931 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:14:42.931Z,1607897682.931 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:14:43.439Z,1607897683.439 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221440.854934,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7B

2020-12-13T22:14:43.439Z,1607897683.439 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221440.854934,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7B

2020-12-13T22:14:44.728Z,1607897684.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:47.302Z,1607897687.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:48.306Z,1607897688.306 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:14:49.919Z,1607897689.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:51.520Z,1607897691.520 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:51.578Z,1607897691.578 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:14:51.909Z,1607897691.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:52.728Z,1607897692.728 [Micromodem](INFO): Nmea in: $SNTTA,0.155007,,,,221452.70*43

2020-12-13T22:14:53.196Z,1607897693.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.619980 m, bearing: 262.827674 deg, deltaT: 16.080914 s, approachRate: 0.679065 m/s, LOS rate: 0.148757 deg/s, posRepo size: 4
2020-12-13T22:14:55.746Z,1607897695.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:14:56.360Z,1607897696.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:14:56.769Z,1607897696.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:14:57.593Z,1607897697.593 [Micromodem](INFO): Nmea in: $SNTTA,0.157279,,,,221457.54*49

2020-12-13T22:14:58.060Z,1607897698.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.979996 m, bearing: 260.250097 deg, deltaT: 4.892557 s, approachRate: 0.686761 m/s, LOS rate: -0.526836 deg/s, posRepo size: 4
2020-12-13T22:15:00.224Z,1607897700.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:00.803Z,1607897700.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:01.197Z,1607897701.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:02.029Z,1607897702.029 [Micromodem](INFO): Nmea in: $SNTTA,0.159233,,,,221501.98*4B

2020-12-13T22:15:02.470Z,1607897702.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.979996 m, bearing: 337.157043 deg, deltaT: 4.599900 s, approachRate: 0.652188 m/s, LOS rate: 16.719265 deg/s, posRepo size: 4
2020-12-13T22:15:04.888Z,1607897704.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:05.671Z,1607897705.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:06.079Z,1607897706.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:06.895Z,1607897706.895 [Micromodem](INFO): Nmea in: $SNTTA,0.161530,,,,221506.85*4F

2020-12-13T22:15:07.746Z,1607897707.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:09.309Z,1607897709.309 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:15:10.565Z,1607897710.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:11.343Z,1607897711.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:11.387Z,1607897711.387 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:15:11.797Z,1607897711.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:12.653Z,1607897712.653 [Micromodem](INFO): Nmea in: $SNTTA,0.164083,,,,221512.52*48

2020-12-13T22:15:13.157Z,1607897713.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.239990 m, bearing: 262.638395 deg, deltaT: 10.460211 s, approachRate: 0.694058 m/s, LOS rate: -7.124010 deg/s, posRepo size: 4
2020-12-13T22:15:15.429Z,1607897715.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:16.203Z,1607897716.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:16.591Z,1607897716.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:17.414Z,1607897717.414 [Micromodem](INFO): Nmea in: $SNTTA,0.166249,,,,221517.38*47

2020-12-13T22:15:17.838Z,1607897717.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.419998 m, bearing: 256.967262 deg, deltaT: 4.767170 s, approachRate: 0.667064 m/s, LOS rate: -1.189623 deg/s, posRepo size: 4
2020-12-13T22:15:18.218Z,1607897718.218 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-13T22:15:20.249Z,1607897720.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:21.027Z,1607897721.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:21.441Z,1607897721.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:21.624Z,1607897721.624 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:15:22.265Z,1607897722.265 [Micromodem](INFO): Nmea in: $SNTTA,0.168467,,,,221522.20*4C

2020-12-13T22:15:22.712Z,1607897722.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.839996 m, bearing: 267.617221 deg, deltaT: 4.801738 s, approachRate: 0.712242 m/s, LOS rate: 2.217938 deg/s, posRepo size: 4
2020-12-13T22:15:25.185Z,1607897725.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:25.950Z,1607897725.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:26.597Z,1607897726.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:27.403Z,1607897727.403 [Micromodem](INFO): Nmea in: $SNTTA,0.170769,,,,221527.13*4D

2020-12-13T22:15:27.499Z,1607897727.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.319977 m, bearing: 329.268749 deg, deltaT: 4.725880 s, approachRate: 0.736367 m/s, LOS rate: 13.045513 deg/s, posRepo size: 4
2020-12-13T22:15:29.835Z,1607897729.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:30.615Z,1607897730.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:31.017Z,1607897731.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:31.426Z,1607897731.426 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:15:31.851Z,1607897731.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221531.79*56

2020-12-13T22:15:32.815Z,1607897732.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:34.254Z,1607897734.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:15:35.543Z,1607897735.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:36.271Z,1607897736.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:36.291Z,1607897736.291 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:15:36.681Z,1607897736.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:37.523Z,1607897737.523 [Micromodem](INFO): Nmea in: $SNTTA,0.175545,,,,221537.45*46

2020-12-13T22:15:37.916Z,1607897737.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.459991 m, bearing: 266.946168 deg, deltaT: 10.563097 s, approachRate: 0.675940 m/s, LOS rate: -5.900029 deg/s, posRepo size: 4
2020-12-13T22:15:40.448Z,1607897740.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:41.207Z,1607897741.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:41.473Z,1607897741.473 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:15:41.721Z,1607897741.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:42.550Z,1607897742.550 [Micromodem](INFO): Nmea in: $SNTTA,0.177854,,,,221542.39*40

2020-12-13T22:15:42.606Z,1607897742.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.299988 m, bearing: 338.681542 deg, deltaT: 4.620952 s, approachRate: 0.830997 m/s, LOS rate: 15.523937 deg/s, posRepo size: 4
2020-12-13T22:15:43.334Z,1607897743.334 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:15:43.869Z,1607897743.869 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:15:43.870Z,1607897743.870 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:15:43.870Z,1607897743.870 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:15:44.202Z,1607897744.202 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:15:44.590Z,1607897744.590 [Micromodem](INFO): Nmea in: $CADRQ,221544,1,9,0,64,1*4A

2020-12-13T22:15:44.590Z,1607897744.590 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:15:44.716Z,1607897744.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:44.969Z,1607897744.969 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:15:45.367Z,1607897745.367 [Micromodem](INFO): Nmea in: $CADRQ,221545,1,9,0,64,2*48

2020-12-13T22:15:45.368Z,1607897745.368 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:15:45.807Z,1607897745.807 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:15:45.807Z,1607897745.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:46.203Z,1607897746.203 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:15:46.203Z,1607897746.203 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:15:46.225Z,1607897746.225 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-13T22:15:46.225Z,1607897746.225 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-13T22:15:46.225Z,1607897746.225 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-13T22:15:46.396Z,1607897746.396 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-13T22:15:46.713Z,1607897746.713 [RDI_Pathfinder](INFO): Powering down
2020-12-13T22:15:47.638Z,1607897747.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:47.765Z,1607897747.765 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-13T22:15:47.765Z,1607897747.765 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-13T22:15:48.622Z,1607897748.622 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:15:48.622Z,1607897748.622 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:15:49.036Z,1607897749.036 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221546.518438,3,0,200,4000,14500,1,1,9,1,2,2,3,70*78

2020-12-13T22:15:49.036Z,1607897749.036 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221546.518438,3,0,200,4000,14500,1,1,9,1,2,2,3,70*78

2020-12-13T22:15:50.266Z,1607897750.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:53.197Z,1607897753.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:55.952Z,1607897755.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:15:57.110Z,1607897757.110 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:15:57.525Z,1607897757.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:15:58.345Z,1607897758.345 [Micromodem](INFO): Nmea in: $SNTTA,0.185158,,,,221558.29*42

2020-12-13T22:15:58.795Z,1607897758.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.919983 m, bearing: 262.035044 deg, deltaT: 16.388834 s, approachRate: 0.648002 m/s, LOS rate: -4.676751 deg/s, posRepo size: 4
2020-12-13T22:16:01.238Z,1607897761.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:01.999Z,1607897761.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:02.407Z,1607897762.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:03.237Z,1607897763.237 [Micromodem](INFO): Nmea in: $SNTTA,0.187381,,,,221603.18*49

2020-12-13T22:16:03.710Z,1607897763.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.219971 m, bearing: 264.534866 deg, deltaT: 4.663456 s, approachRate: 0.707627 m/s, LOS rate: 0.536045 deg/s, posRepo size: 4
2020-12-13T22:16:06.108Z,1607897766.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:06.871Z,1607897766.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:07.329Z,1607897767.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:08.143Z,1607897768.143 [Micromodem](INFO): Nmea in: $SNTTA,0.189562,,,,221608.05*4B

2020-12-13T22:16:08.590Z,1607897768.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.519989 m, bearing: 262.062419 deg, deltaT: 4.957832 s, approachRate: 0.665617 m/s, LOS rate: -0.498695 deg/s, posRepo size: 4
2020-12-13T22:16:11.125Z,1607897771.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:11.755Z,1607897771.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:12.157Z,1607897772.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:13.006Z,1607897773.006 [Micromodem](INFO): Nmea in: $SNTTA,0.192244,,,,221612.93*46

2020-12-13T22:16:13.413Z,1607897773.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.819977 m, bearing: 329.744867 deg, deltaT: 4.972172 s, approachRate: 0.663691 m/s, LOS rate: 13.612250 deg/s, posRepo size: 4
2020-12-13T22:16:15.856Z,1607897775.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:16.604Z,1607897776.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:17.009Z,1607897777.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:17.837Z,1607897777.837 [Micromodem](INFO): Nmea in: $SNTTA,0.194020,,,,221617.78*40

2020-12-13T22:16:18.342Z,1607897778.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.179993 m, bearing: 268.210027 deg, deltaT: 4.713820 s, approachRate: 0.712801 m/s, LOS rate: -13.054135 deg/s, posRepo size: 4
2020-12-13T22:16:20.772Z,1607897780.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:21.506Z,1607897781.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:21.909Z,1607897781.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:22.736Z,1607897782.736 [Micromodem](INFO): Nmea in: $SNTTA,0.196276,,,,221622.68*44

2020-12-13T22:16:23.132Z,1607897783.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.539978 m, bearing: 270.157778 deg, deltaT: 4.873998 s, approachRate: 0.689369 m/s, LOS rate: 0.399621 deg/s, posRepo size: 4
2020-12-13T22:16:25.616Z,1607897785.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:26.339Z,1607897786.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:26.755Z,1607897786.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:27.584Z,1607897787.584 [Micromodem](INFO): Nmea in: $SNTTA,0.198452,,,,221627.52*46

2020-12-13T22:16:28.004Z,1607897788.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.839996 m, bearing: 267.592796 deg, deltaT: 4.839138 s, approachRate: 0.681943 m/s, LOS rate: -0.530049 deg/s, posRepo size: 4
2020-12-13T22:16:30.586Z,1607897790.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:31.191Z,1607897791.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:31.661Z,1607897791.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:32.430Z,1607897792.430 [Micromodem](INFO): Nmea in: $SNTTA,0.200661,,,,221632.37*41

2020-12-13T22:16:32.846Z,1607897792.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.139984 m, bearing: 268.315294 deg, deltaT: 5.048538 s, approachRate: 0.653652 m/s, LOS rate: 0.143110 deg/s, posRepo size: 4
2020-12-13T22:16:32.846Z,1607897792.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 301.14 m. Resuming terminal guidance.
2020-12-13T22:16:32.847Z,1607897792.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T22:16:35.264Z,1607897795.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:36.027Z,1607897796.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:36.427Z,1607897796.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:37.262Z,1607897797.262 [Micromodem](INFO): Nmea in: $SNTTA,0.202773,,,,221637.20*42

2020-12-13T22:16:37.718Z,1607897797.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.320007 m, bearing: 268.480611 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T22:16:37.719Z,1607897797.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 268.480611deg and heading rate command to 0 deg/s.
2020-12-13T22:16:40.128Z,1607897800.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:40.879Z,1607897800.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:41.277Z,1607897801.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:42.113Z,1607897802.113 [Micromodem](INFO): Nmea in: $SNTTA,0.204954,,,,221642.06*49

2020-12-13T22:16:42.546Z,1607897802.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.559998 m, bearing: 261.679027 deg, deltaT: 4.816441 s, approachRate: 0.672694 m/s, LOS rate: -1.412160 deg/s, posRepo size: 2
2020-12-13T22:16:42.548Z,1607897802.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.559998 m,
      bearing: 261.679027 deg,
      approachRate: 0.672694 m/s,
      LOS rate: -1.412160 deg/s,
      cmd update: -4.236479 deg/s,
      cmd heading: 268.480611 deg,
      new cmd heading: 268.480611 deg.

2020-12-13T22:16:44.952Z,1607897804.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:45.800Z,1607897805.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:46.199Z,1607897806.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:47.045Z,1607897807.045 [Micromodem](INFO): Nmea in: $SNTTA,0.206868,,,,221646.98*46

2020-12-13T22:16:47.457Z,1607897807.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.440002 m, bearing: 308.166333 deg, deltaT: 4.959572 s, approachRate: 0.580696 m/s, LOS rate: 9.373250 deg/s, posRepo size: 3
2020-12-13T22:16:47.459Z,1607897807.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.440002 m,
      bearing: 308.166333 deg,
      approachRate: 0.580696 m/s,
      LOS rate: 9.373250 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 247.571467 deg,
      new cmd heading: 245.924536 deg.

2020-12-13T22:16:49.049Z,1607897809.049 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:16:49.589Z,1607897809.589 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:16:49.590Z,1607897809.590 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:16:49.590Z,1607897809.590 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:16:49.709Z,1607897809.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:49.875Z,1607897809.875 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:16:50.275Z,1607897810.275 [Micromodem](INFO): Nmea in: $CADRQ,221650,1,9,0,64,1*4C

2020-12-13T22:16:50.276Z,1607897810.276 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:16:50.687Z,1607897810.687 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:16:50.688Z,1607897810.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:51.093Z,1607897811.093 [Micromodem](INFO): Nmea in: $CADRQ,221651,1,9,0,64,2*4E

2020-12-13T22:16:51.094Z,1607897811.094 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,221651,1,9,0,64,2*4E

2020-12-13T22:16:51.497Z,1607897811.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:51.907Z,1607897811.907 [Micromodem](INFO): Nmea in: $SNTTA,0.208230,,,,221651.88*48

2020-12-13T22:16:52.328Z,1607897812.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.419983 m, bearing: 255.303100 deg, deltaT: 5.004397 s, approachRate: 0.395648 m/s, LOS rate: -10.563357 deg/s, posRepo size: 4
2020-12-13T22:16:52.330Z,1607897812.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.419983 m,
      bearing: 255.303100 deg,
      approachRate: 0.395648 m/s,
      LOS rate: -10.563357 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 307.911836 deg,
      new cmd heading: 310.738569 deg.

2020-12-13T22:16:54.803Z,1607897814.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:16:55.563Z,1607897815.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:16:55.973Z,1607897815.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:16:56.838Z,1607897816.838 [Micromodem](INFO): Nmea in: $SNTTA,0.209034,,,,221656.74*4B

2020-12-13T22:16:57.267Z,1607897817.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.559998 m, bearing: 216.032176 deg, deltaT: 4.769782 s, approachRate: 0.239008 m/s, LOS rate: -8.233275 deg/s, posRepo size: 4
2020-12-13T22:16:57.270Z,1607897817.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.559998 m,
      bearing: 216.032176 deg,
      approachRate: 0.239008 m/s,
      LOS rate: -8.233275 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 250.673719 deg,
      new cmd heading: 245.812159 deg.

2020-12-13T22:16:59.775Z,1607897819.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:00.497Z,1607897820.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:00.877Z,1607897820.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:01.708Z,1607897821.708 [Micromodem](INFO): Nmea in: $SNTTA,0.210022,,,,221701.68*4A

2020-12-13T22:17:02.118Z,1607897822.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.119995 m, bearing: 244.517193 deg, deltaT: 4.942330 s, approachRate: 0.315640 m/s, LOS rate: 5.763479 deg/s, posRepo size: 4
2020-12-13T22:17:02.120Z,1607897822.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.119995 m,
      bearing: 244.517193 deg,
      approachRate: 0.315640 m/s,
      LOS rate: 5.763479 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.417009 deg,
      new cmd heading: 187.600337 deg.

2020-12-13T22:17:04.626Z,1607897824.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:05.361Z,1607897825.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:05.773Z,1607897825.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:06.589Z,1607897826.589 [Micromodem](INFO): Nmea in: $SNTTA,0.210985,,,,221706.54*46

2020-12-13T22:17:07.037Z,1607897827.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.500000 m, bearing: 209.980273 deg, deltaT: 4.828681 s, approachRate: 0.285793 m/s, LOS rate: -7.152454 deg/s, posRepo size: 4
2020-12-13T22:17:07.045Z,1607897827.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.500000 m,
      bearing: 209.980273 deg,
      approachRate: 0.285793 m/s,
      LOS rate: -7.152454 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 249.413467 deg,
      new cmd heading: 254.237359 deg.

2020-12-13T22:17:09.618Z,1607897829.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:10.217Z,1607897830.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:10.609Z,1607897830.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:11.436Z,1607897831.436 [Micromodem](INFO): Nmea in: $SNTTA,0.211233,,,,221711.40*42

2020-12-13T22:17:11.867Z,1607897831.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.859985 m, bearing: 213.003261 deg, deltaT: 5.025540 s, approachRate: 0.071631 m/s, LOS rate: 0.601525 deg/s, posRepo size: 4
2020-12-13T22:17:11.869Z,1607897831.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.859985 m,
      bearing: 213.003261 deg,
      approachRate: 0.071631 m/s,
      LOS rate: 0.601525 deg/s,
      cmd update: 1.804574 deg/s,
      cmd heading: 189.154792 deg,
      new cmd heading: 186.612340 deg.

2020-12-13T22:17:14.267Z,1607897834.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:15.059Z,1607897835.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:15.467Z,1607897835.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:16.295Z,1607897836.295 [Micromodem](INFO): Nmea in: $SNTTA,0.210823,,,,221716.24*4D

2020-12-13T22:17:16.752Z,1607897836.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.139984 m, bearing: 163.532815 deg, deltaT: 4.652568 s, approachRate: -0.154754 m/s, LOS rate: -10.632934 deg/s, posRepo size: 4
2020-12-13T22:17:16.758Z,1607897836.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.139984 m,
      bearing: 163.532815 deg,
      approachRate: -0.154754 m/s,
      LOS rate: -10.632934 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.557919 deg,
      new cmd heading: 198.352486 deg.

2020-12-13T22:17:19.154Z,1607897839.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:19.912Z,1607897839.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:20.309Z,1607897840.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:20.746Z,1607897840.746 [Micromodem](INFO): Nmea in: $CAERR,221721,DATA_TIMEOUT,2*48

2020-12-13T22:17:21.130Z,1607897841.130 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:17:21.979Z,1607897841.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:22.363Z,1607897842.363 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:17:22.762Z,1607897842.762 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221721.498548,3,0,200,4000,14500,1,1,9,1,2,1,3,64*72

2020-12-13T22:17:23.147Z,1607897843.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221721.09*52

2020-12-13T22:17:23.577Z,1607897843.577 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:17:24.587Z,1607897844.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:25.167Z,1607897845.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:25.582Z,1607897845.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:26.431Z,1607897846.431 [Micromodem](INFO): Nmea in: $SNTTA,0.207902,,,,221726.34*4B

2020-12-13T22:17:26.841Z,1607897846.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.579987 m, bearing: 146.420364 deg, deltaT: 10.158813 s, approachRate: -0.448871 m/s, LOS rate: -1.684493 deg/s, posRepo size: 4
2020-12-13T22:17:26.843Z,1607897846.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.579987 m,
      bearing: 146.420364 deg,
      approachRate: -0.448871 m/s,
      LOS rate: -1.684493 deg/s,
      cmd update: -5.053479 deg/s,
      cmd heading: 75.755504 deg,
      new cmd heading: 71.208848 deg.

2020-12-13T22:17:29.001Z,1607897849.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:29.615Z,1607897849.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:30.025Z,1607897850.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:30.845Z,1607897850.845 [Micromodem](INFO): Nmea in: $SNTTA,0.205889,,,,221730.79*45

2020-12-13T22:17:31.269Z,1607897851.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.699982 m, bearing: 145.421394 deg, deltaT: 4.570375 s, approachRate: -0.630146 m/s, LOS rate: -0.218575 deg/s, posRepo size: 4
2020-12-13T22:17:31.271Z,1607897851.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.699982 m,
      bearing: 145.421394 deg,
      approachRate: -0.630146 m/s,
      LOS rate: -0.218575 deg/s,
      cmd update: -0.655725 deg/s,
      cmd heading: 52.615774 deg,
      new cmd heading: 51.481470 deg.

2020-12-13T22:17:33.718Z,1607897853.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:34.471Z,1607897854.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:34.865Z,1607897854.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:35.702Z,1607897855.702 [Micromodem](INFO): Nmea in: $SNTTA,0.203662,,,,221735.65*40

2020-12-13T22:17:36.112Z,1607897856.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.279999 m, bearing: 144.206412 deg, deltaT: 4.732129 s, approachRate: -0.722715 m/s, LOS rate: -0.256752 deg/s, posRepo size: 4
2020-12-13T22:17:36.114Z,1607897856.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.279999 m,
      bearing: 144.206412 deg,
      approachRate: -0.722715 m/s,
      LOS rate: -0.256752 deg/s,
      cmd update: -0.770255 deg/s,
      cmd heading: 49.515448 deg,
      new cmd heading: 49.290234 deg.

2020-12-13T22:17:38.557Z,1607897858.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:39.310Z,1607897859.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:39.801Z,1607897859.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:40.571Z,1607897860.571 [Micromodem](INFO): Nmea in: $SNTTA,0.201688,,,,221740.49*4A

2020-12-13T22:17:41.065Z,1607897861.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.339996 m, bearing: 141.302380 deg, deltaT: 4.823011 s, approachRate: -0.609578 m/s, LOS rate: -0.602120 deg/s, posRepo size: 4
2020-12-13T22:17:41.067Z,1607897861.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.339996 m,
      bearing: 141.302380 deg,
      approachRate: -0.609578 m/s,
      LOS rate: -0.602120 deg/s,
      cmd update: -1.806361 deg/s,
      cmd heading: 45.797424 deg,
      new cmd heading: 45.435950 deg.

2020-12-13T22:17:43.626Z,1607897863.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:44.224Z,1607897864.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:44.632Z,1607897864.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:45.469Z,1607897865.469 [Micromodem](INFO): Nmea in: $SNTTA,0.200044,,,,221745.40*41

2020-12-13T22:17:45.903Z,1607897865.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.940002 m, bearing: 151.124711 deg, deltaT: 4.937197 s, approachRate: -0.486105 m/s, LOS rate: 1.989455 deg/s, posRepo size: 4
2020-12-13T22:17:45.910Z,1607897865.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.940002 m,
      bearing: 151.124711 deg,
      approachRate: -0.486105 m/s,
      LOS rate: 1.989455 deg/s,
      cmd update: 5.968365 deg/s,
      cmd heading: 36.886495 deg,
      new cmd heading: 36.209863 deg.

2020-12-13T22:17:48.088Z,1607897868.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:48.666Z,1607897868.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:49.073Z,1607897869.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:49.893Z,1607897869.893 [Micromodem](INFO): Nmea in: $SNTTA,0.199251,,,,221749.84*40

2020-12-13T22:17:50.323Z,1607897870.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.919983 m, bearing: 43.877661 deg, deltaT: 4.540645 s, approachRate: -0.224642 m/s, LOS rate: -23.619342 deg/s, posRepo size: 4
2020-12-13T22:17:50.324Z,1607897870.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.619342 deg/s. Setting heading cmd to target bearing of 43.877661deg and heading rate command to 0 deg/s.
2020-12-13T22:17:52.787Z,1607897872.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:53.559Z,1607897873.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:17:53.931Z,1607897873.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:17:54.885Z,1607897874.885 [Micromodem](INFO): Nmea in: $SNTTA,0.199109,,,,221754.74*4D

2020-12-13T22:17:54.885Z,1607897874.885 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:17:55.400Z,1607897875.400 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:17:55.402Z,1607897875.402 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:17:55.402Z,1607897875.402 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:17:55.471Z,1607897875.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.679993 m, bearing: 25.456928 deg, deltaT: 4.864377 s, approachRate: -0.049336 m/s, LOS rate: -3.786864 deg/s, posRepo size: 4
2020-12-13T22:17:55.477Z,1607897875.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.679993 m,
      bearing: 25.456928 deg,
      approachRate: -0.049336 m/s,
      LOS rate: -3.786864 deg/s,
      cmd update: -11.360592 deg/s,
      cmd heading: 43.877661 deg,
      new cmd heading: 43.877661 deg.

2020-12-13T22:17:56.070Z,1607897876.070 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:17:56.492Z,1607897876.492 [Micromodem](INFO): Nmea in: $CADRQ,221756,1,9,0,64,1*4B

2020-12-13T22:17:56.494Z,1607897876.494 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:17:56.966Z,1607897876.966 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:17:57.365Z,1607897877.365 [Micromodem](INFO): Nmea in: $CADRQ,221757,1,9,0,64,2*49

2020-12-13T22:17:57.366Z,1607897877.366 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:17:57.751Z,1607897877.751 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:17:57.820Z,1607897877.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:17:58.154Z,1607897878.154 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:17:58.563Z,1607897878.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:00.571Z,1607897880.571 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:18:00.571Z,1607897880.571 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:18:00.799Z,1607897880.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:00.984Z,1607897880.984 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221758.517466,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T22:18:00.985Z,1607897880.985 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,221758.517466,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T22:18:03.449Z,1607897883.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:06.366Z,1607897886.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:08.869Z,1607897888.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:09.862Z,1607897889.862 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:10.277Z,1607897890.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:11.108Z,1607897891.108 [Micromodem](INFO): Nmea in: $SNTTA,0.201016,,,,221811.04*49

2020-12-13T22:18:11.536Z,1607897891.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.559998 m, bearing: 359.102031 deg, deltaT: 16.190019 s, approachRate: 0.177888 m/s, LOS rate: -1.627849 deg/s, posRepo size: 4
2020-12-13T22:18:11.538Z,1607897891.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.559998 m,
      bearing: 359.102031 deg,
      approachRate: 0.177888 m/s,
      LOS rate: -1.627849 deg/s,
      cmd update: -4.883546 deg/s,
      cmd heading: 219.856517 deg,
      new cmd heading: 215.219396 deg.

2020-12-13T22:18:13.952Z,1607897893.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:14.735Z,1607897894.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:15.117Z,1607897895.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:15.939Z,1607897895.939 [Micromodem](INFO): Nmea in: $SNTTA,0.202913,,,,221815.91*4E

2020-12-13T22:18:16.409Z,1607897896.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.500000 m, bearing: 357.967947 deg, deltaT: 4.859827 s, approachRate: 0.604960 m/s, LOS rate: -0.233359 deg/s, posRepo size: 4
2020-12-13T22:18:16.412Z,1607897896.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.500000 m,
      bearing: 357.967947 deg,
      approachRate: 0.604960 m/s,
      LOS rate: -0.233359 deg/s,
      cmd update: -0.700077 deg/s,
      cmd heading: 196.142846 deg,
      new cmd heading: 194.072549 deg.

2020-12-13T22:18:18.794Z,1607897898.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:19.571Z,1607897899.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:20.117Z,1607897900.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:20.883Z,1607897900.883 [Micromodem](INFO): Nmea in: $SNTTA,0.205127,,,,221820.75*4A

2020-12-13T22:18:21.437Z,1607897901.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.799988 m, bearing: 334.650255 deg, deltaT: 4.968260 s, approachRate: 0.664214 m/s, LOS rate: -4.693332 deg/s, posRepo size: 4
2020-12-13T22:18:21.439Z,1607897901.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.799988 m,
      bearing: 334.650255 deg,
      approachRate: 0.664214 m/s,
      LOS rate: -4.693332 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.661882 deg,
      new cmd heading: 192.325542 deg.

2020-12-13T22:18:23.740Z,1607897903.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:24.526Z,1607897904.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:24.901Z,1607897904.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:25.747Z,1607897905.747 [Micromodem](INFO): Nmea in: $SNTTA,0.207171,,,,221825.70*4B

2020-12-13T22:18:26.349Z,1607897906.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:28.130Z,1607897908.130 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:18:28.977Z,1607897908.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:29.751Z,1607897909.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:30.161Z,1607897910.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:30.989Z,1607897910.989 [Micromodem](INFO): Nmea in: $SNTTA,0.209060,,,,221830.93*4D

2020-12-13T22:18:31.434Z,1607897911.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.679993 m, bearing: 248.370021 deg, deltaT: 10.073913 s, approachRate: 0.583686 m/s, LOS rate: -8.564719 deg/s, posRepo size: 4
2020-12-13T22:18:31.436Z,1607897911.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.679993 m,
      bearing: 248.370021 deg,
      approachRate: 0.583686 m/s,
      LOS rate: -8.564719 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 71.777166 deg,
      new cmd heading: 67.174914 deg.

2020-12-13T22:18:33.533Z,1607897913.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:34.207Z,1607897914.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:34.605Z,1607897914.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:35.449Z,1607897915.449 [Micromodem](INFO): Nmea in: $SNTTA,0.210665,,,,221835.38*42

2020-12-13T22:18:35.907Z,1607897915.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.199982 m, bearing: 290.750826 deg, deltaT: 4.472862 s, approachRate: 0.563395 m/s, LOS rate: 9.475098 deg/s, posRepo size: 4
2020-12-13T22:18:35.909Z,1607897915.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.199982 m,
      bearing: 290.750826 deg,
      approachRate: 0.563395 m/s,
      LOS rate: 9.475098 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.414052 deg,
      new cmd heading: 13.250428 deg.

2020-12-13T22:18:38.264Z,1607897918.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:39.039Z,1607897919.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:39.511Z,1607897919.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:40.293Z,1607897920.293 [Micromodem](INFO): Nmea in: $SNTTA,0.212592,,,,221840.22*42

2020-12-13T22:18:40.777Z,1607897920.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.959991 m, bearing: 282.199811 deg, deltaT: 4.857224 s, approachRate: 0.568228 m/s, LOS rate: -1.760474 deg/s, posRepo size: 4
2020-12-13T22:18:40.779Z,1607897920.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.959991 m,
      bearing: 282.199811 deg,
      approachRate: 0.568228 m/s,
      LOS rate: -1.760474 deg/s,
      cmd update: -5.281421 deg/s,
      cmd heading: 76.966075 deg,
      new cmd heading: 81.968311 deg.

2020-12-13T22:18:43.138Z,1607897923.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:43.919Z,1607897923.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:44.325Z,1607897924.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:45.157Z,1607897925.157 [Micromodem](INFO): Nmea in: $SNTTA,0.214795,,,,221845.10*45

2020-12-13T22:18:45.801Z,1607897925.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.319977 m, bearing: 349.307622 deg, deltaT: 4.827836 s, approachRate: 0.695961 m/s, LOS rate: 13.900185 deg/s, posRepo size: 4
2020-12-13T22:18:45.802Z,1607897925.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.900185 deg/s. Setting heading cmd to target bearing of 349.307622deg and heading rate command to 0 deg/s.
2020-12-13T22:18:45.987Z,1607897925.987 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-12-13T22:18:47.818Z,1607897927.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:48.383Z,1607897928.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:48.849Z,1607897928.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:49.636Z,1607897929.636 [Micromodem](INFO): Nmea in: $SNTTA,0.216737,,,,221849.56*41

2020-12-13T22:18:50.067Z,1607897930.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.139984 m, bearing: 7.479235 deg, deltaT: 4.523409 s, approachRate: 0.623425 m/s, LOS rate: 4.017236 deg/s, posRepo size: 4
2020-12-13T22:18:50.069Z,1607897930.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.139984 m,
      bearing: 7.479235 deg,
      approachRate: 0.623425 m/s,
      LOS rate: 4.017236 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 349.307622 deg,
      new cmd heading: 349.307622 deg.

2020-12-13T22:18:52.242Z,1607897932.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:52.843Z,1607897932.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:53.248Z,1607897933.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:54.061Z,1607897934.061 [Micromodem](INFO): Nmea in: $SNTTA,0.218607,,,,221854.02*40

2020-12-13T22:18:54.476Z,1607897934.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 327.959991 m, bearing: 6.413376 deg, deltaT: 4.535981 s, approachRate: 0.621697 m/s, LOS rate: -0.234979 deg/s, posRepo size: 4
2020-12-13T22:18:54.498Z,1607897934.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 327.959991 m,
      bearing: 6.413376 deg,
      approachRate: 0.621697 m/s,
      LOS rate: -0.234979 deg/s,
      cmd update: -0.704936 deg/s,
      cmd heading: 43.766935 deg,
      new cmd heading: 46.577467 deg.

2020-12-13T22:18:56.918Z,1607897936.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:18:57.686Z,1607897937.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:18:58.085Z,1607897938.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:18:58.950Z,1607897938.950 [Micromodem](INFO): Nmea in: $SNTTA,0.220630,,,,221858.87*4E

2020-12-13T22:18:59.348Z,1607897939.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.139984 m, bearing: 338.402269 deg, deltaT: 4.717305 s, approachRate: 0.674112 m/s, LOS rate: -5.937949 deg/s, posRepo size: 4
2020-12-13T22:18:59.350Z,1607897939.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.139984 m,
      bearing: 338.402269 deg,
      approachRate: 0.674112 m/s,
      LOS rate: -5.937949 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 40.437511 deg,
      new cmd heading: 40.167076 deg.

2020-12-13T22:19:00.589Z,1607897940.589 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:19:01.134Z,1607897941.134 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:19:01.134Z,1607897941.134 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:19:01.135Z,1607897941.135 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:19:01.475Z,1607897941.475 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:19:01.545Z,1607897941.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:01.779Z,1607897941.779 [BPC1](ERROR): Battery stick #52 (s/n: 0150) reported OVER_TEMP_ALARM. Status code: 0x1717.
2020-12-13T22:19:01.780Z,1607897941.780 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2020-12-13T22:19:01.782Z,1607897941.782 [BPC1](INFO): Received data from all battery sticks.
2020-12-13T22:19:01.843Z,1607897941.843 [Micromodem](INFO): Nmea in: $CADRQ,221902,1,9,0,64,1*44

2020-12-13T22:19:01.849Z,1607897941.849 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:19:02.215Z,1607897942.215 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:19:02.216Z,1607897942.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:02.623Z,1607897942.623 [Micromodem](INFO): Nmea in: $CADRQ,221903,1,9,0,64,2*46

2020-12-13T22:19:02.623Z,1607897942.623 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,221903,1,9,0,64,2*46

2020-12-13T22:19:03.029Z,1607897943.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:03.449Z,1607897943.449 [Micromodem](INFO): Nmea in: $SNTTA,0.222148,,,,221903.39*4E

2020-12-13T22:19:03.915Z,1607897943.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.299988 m, bearing: 75.011624 deg, deltaT: 4.562183 s, approachRate: 0.473458 m/s, LOS rate: 21.176124 deg/s, posRepo size: 4
2020-12-13T22:19:03.916Z,1607897943.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.176124 deg/s. Setting heading cmd to target bearing of 75.011624deg and heading rate command to 0 deg/s.
2020-12-13T22:19:06.327Z,1607897946.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:07.179Z,1607897947.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:07.577Z,1607897947.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:08.407Z,1607897948.407 [Micromodem](INFO): Nmea in: $SNTTA,0.223707,,,,221908.36*46

2020-12-13T22:19:08.843Z,1607897948.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.639984 m, bearing: 58.188205 deg, deltaT: 4.923310 s, approachRate: 0.475289 m/s, LOS rate: -3.417095 deg/s, posRepo size: 4
2020-12-13T22:19:08.845Z,1607897948.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.639984 m,
      bearing: 58.188205 deg,
      approachRate: 0.475289 m/s,
      LOS rate: -3.417095 deg/s,
      cmd update: -10.251286 deg/s,
      cmd heading: 75.011624 deg,
      new cmd heading: 75.011624 deg.

2020-12-13T22:19:11.003Z,1607897951.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:11.627Z,1607897951.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:12.026Z,1607897952.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:12.861Z,1607897952.861 [Micromodem](INFO): Nmea in: $SNTTA,0.225557,,,,221912.80*41

2020-12-13T22:19:13.278Z,1607897953.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 338.399994 m, bearing: 2.896490 deg, deltaT: 4.591016 s, approachRate: 0.601176 m/s, LOS rate: -12.043459 deg/s, posRepo size: 4
2020-12-13T22:19:13.278Z,1607897953.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.043459 deg/s. Setting heading cmd to target bearing of 2.896490deg and heading rate command to 0 deg/s.
2020-12-13T22:19:15.743Z,1607897955.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:16.469Z,1607897956.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:16.887Z,1607897956.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:17.757Z,1607897957.757 [Micromodem](INFO): Nmea in: $SNTTA,0.227316,,,,221917.65*4E

2020-12-13T22:19:18.120Z,1607897958.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.039978 m, bearing: 52.154788 deg, deltaT: 4.765992 s, approachRate: 0.553921 m/s, LOS rate: 10.335372 deg/s, posRepo size: 4
2020-12-13T22:19:18.126Z,1607897958.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.039978 m,
      bearing: 52.154788 deg,
      approachRate: 0.553921 m/s,
      LOS rate: 10.335372 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 2.896490 deg,
      new cmd heading: 2.896490 deg.

2020-12-13T22:19:20.566Z,1607897960.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:21.329Z,1607897961.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:21.750Z,1607897961.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:22.562Z,1607897962.562 [Micromodem](INFO): Nmea in: $SNTTA,0.229307,,,,221922.51*41

2020-12-13T22:19:22.986Z,1607897962.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.679993 m, bearing: 5.661128 deg, deltaT: 4.795549 s, approachRate: 0.550514 m/s, LOS rate: -9.695170 deg/s, posRepo size: 4
2020-12-13T22:19:22.988Z,1607897962.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.679993 m,
      bearing: 5.661128 deg,
      approachRate: 0.550514 m/s,
      LOS rate: -9.695170 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 60.442683 deg,
      new cmd heading: 65.042751 deg.

2020-12-13T22:19:25.409Z,1607897965.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:26.183Z,1607897966.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:26.589Z,1607897966.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:27.411Z,1607897967.411 [Micromodem](INFO): Nmea in: $SNTTA,0.231008,,,,221927.36*40

2020-12-13T22:19:27.846Z,1607897967.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.559998 m, bearing: 14.792108 deg, deltaT: 4.862349 s, approachRate: 0.592307 m/s, LOS rate: 1.877895 deg/s, posRepo size: 4
2020-12-13T22:19:27.847Z,1607897967.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.559998 m,
      bearing: 14.792108 deg,
      approachRate: 0.592307 m/s,
      LOS rate: 1.877895 deg/s,
      cmd update: 5.633685 deg/s,
      cmd heading: 2.159654 deg,
      new cmd heading: 357.530174 deg.

2020-12-13T22:19:30.413Z,1607897970.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:31.015Z,1607897971.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:31.450Z,1607897971.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:32.232Z,1607897972.232 [Micromodem](INFO): Nmea in: $CAERR,221933,DATA_TIMEOUT,2*45

2020-12-13T22:19:32.655Z,1607897972.655 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:19:32.717Z,1607897972.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.959991 m, bearing: 70.042593 deg, deltaT: 4.933567 s, approachRate: 0.486462 m/s, LOS rate: 11.198893 deg/s, posRepo size: 4
2020-12-13T22:19:32.719Z,1607897972.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.959991 m,
      bearing: 70.042593 deg,
      approachRate: 0.486462 m/s,
      LOS rate: 11.198893 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 29.970808 deg,
      new cmd heading: 31.779092 deg.

2020-12-13T22:19:33.859Z,1607897973.859 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:19:34.266Z,1607897974.266 [Micromodem](INFO): Nmea in: $SNTTA,0.232640,,,,221932.19*40

2020-12-13T22:19:34.696Z,1607897974.696 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,221933.064142,3,0,200,4000,14500,1,1,9,1,2,1,3,64*76

2020-12-13T22:19:35.095Z,1607897975.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:35.871Z,1607897975.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:36.285Z,1607897976.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:37.121Z,1607897977.121 [Micromodem](INFO): Nmea in: $SNTTA,0.234303,,,,221937.05*4C

2020-12-13T22:19:37.551Z,1607897977.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.539978 m, bearing: 85.362434 deg, deltaT: 4.737805 s, approachRate: 0.544553 m/s, LOS rate: 3.233531 deg/s, posRepo size: 4
2020-12-13T22:19:37.553Z,1607897977.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.539978 m,
      bearing: 85.362434 deg,
      approachRate: 0.544553 m/s,
      LOS rate: 3.233531 deg/s,
      cmd update: 9.700594 deg/s,
      cmd heading: 86.853258 deg,
      new cmd heading: 91.824438 deg.

2020-12-13T22:19:39.990Z,1607897979.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:40.739Z,1607897980.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:41.126Z,1607897981.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:41.956Z,1607897981.956 [Micromodem](INFO): Nmea in: $SNTTA,0.235681,,,,221941.92*4D

2020-12-13T22:19:42.383Z,1607897982.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.580017 m, bearing: 109.674048 deg, deltaT: 4.845080 s, approachRate: 0.421054 m/s, LOS rate: 5.017794 deg/s, posRepo size: 4
2020-12-13T22:19:42.387Z,1607897982.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.580017 m,
      bearing: 109.674048 deg,
      approachRate: 0.421054 m/s,
      LOS rate: 5.017794 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 133.837600 deg,
      new cmd heading: 137.749802 deg.

2020-12-13T22:19:44.820Z,1607897984.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:45.575Z,1607897985.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:45.977Z,1607897985.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:46.830Z,1607897986.830 [Micromodem](INFO): Nmea in: $SNTTA,0.236407,,,0.238927,221946.75*57

2020-12-13T22:19:47.220Z,1607897987.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.660004 m, bearing: 92.065213 deg, deltaT: 4.912921 s, approachRate: 0.219826 m/s, LOS rate: -3.584189 deg/s, posRepo size: 4
2020-12-13T22:19:47.222Z,1607897987.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.660004 m,
      bearing: 92.065213 deg,
      approachRate: 0.219826 m/s,
      LOS rate: -3.584189 deg/s,
      cmd update: -10.752566 deg/s,
      cmd heading: 192.764586 deg,
      new cmd heading: 196.719306 deg.

2020-12-13T22:19:48.051Z,1607897988.051 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T22:09:47.7Z
2020-12-13T22:19:48.051Z,1607897988.051 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T22:19:48.052Z,1607897988.052 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:19:48.052Z,1607897988.052 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T22:19:48.052Z,1607897988.052 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:19:48.052Z,1607897988.052 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T22:19:48.466Z,1607897988.466 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T22:19:48.466Z,1607897988.466 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T22:19:48.466Z,1607897988.466 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T22:19:48.466Z,1607897988.466 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:19:48.466Z,1607897988.466 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T22:19:49.536Z,1607897989.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:50.099Z,1607897990.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:50.532Z,1607897990.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:51.347Z,1607897991.347 [Micromodem](INFO): Nmea in: $SNTTA,0.236330,,,,221951.28*41

2020-12-13T22:19:51.812Z,1607897991.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.479980 m, bearing: 124.934842 deg, deltaT: 4.696622 s, approachRate: -0.038330 m/s, LOS rate: 6.998568 deg/s, posRepo size: 4
2020-12-13T22:19:51.814Z,1607897991.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.479980 m,
      bearing: 124.934842 deg,
      approachRate: -0.038330 m/s,
      LOS rate: 6.998568 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 142.251363 deg,
      new cmd heading: 139.849132 deg.

2020-12-13T22:19:54.266Z,1607897994.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:54.995Z,1607897994.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:19:55.417Z,1607897995.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:19:56.229Z,1607897996.229 [Micromodem](INFO): Nmea in: $SNTTA,0.235722,,,,221956.17*4E

2020-12-13T22:19:56.698Z,1607897996.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.399994 m, bearing: 169.470749 deg, deltaT: 4.673929 s, approachRate: -0.231066 m/s, LOS rate: 9.528580 deg/s, posRepo size: 4
2020-12-13T22:19:56.700Z,1607897996.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.399994 m,
      bearing: 169.470749 deg,
      approachRate: -0.231066 m/s,
      LOS rate: 9.528580 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 198.372484 deg,
      new cmd heading: 203.512085 deg.

2020-12-13T22:19:59.114Z,1607897999.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:19:59.847Z,1607897999.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:00.256Z,1607898000.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:01.090Z,1607898001.090 [Micromodem](INFO): Nmea in: $SNTTA,0.234429,,,,222001.03*4A

2020-12-13T22:20:01.526Z,1607898001.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.539978 m, bearing: 159.136796 deg, deltaT: 4.854089 s, approachRate: -0.383185 m/s, LOS rate: -2.128917 deg/s, posRepo size: 4
2020-12-13T22:20:01.528Z,1607898001.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.539978 m,
      bearing: 159.136796 deg,
      approachRate: -0.383185 m/s,
      LOS rate: -2.128917 deg/s,
      cmd update: -6.386752 deg/s,
      cmd heading: 256.569871 deg,
      new cmd heading: 261.502903 deg.

2020-12-13T22:20:03.954Z,1607898003.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:04.735Z,1607898004.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:05.117Z,1607898005.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:05.941Z,1607898005.941 [Micromodem](INFO): Nmea in: $SNTTA,0.232774,,,,222005.91*48

2020-12-13T22:20:06.342Z,1607898006.342 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:20:06.367Z,1607898006.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.139984 m, bearing: 165.245745 deg, deltaT: 4.877859 s, approachRate: -0.492018 m/s, LOS rate: 1.252383 deg/s, posRepo size: 4
2020-12-13T22:20:06.369Z,1607898006.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.139984 m,
      bearing: 165.245745 deg,
      approachRate: -0.492018 m/s,
      LOS rate: 1.252383 deg/s,
      cmd update: 3.757150 deg/s,
      cmd heading: 225.415525 deg,
      new cmd heading: 223.023450 deg.

2020-12-13T22:20:06.902Z,1607898006.902 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:20:06.903Z,1607898006.903 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:20:06.903Z,1607898006.903 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:20:07.169Z,1607898007.169 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:20:07.578Z,1607898007.578 [Micromodem](INFO): Nmea in: $CADRQ,222008,1,9,0,64,1*44

2020-12-13T22:20:07.578Z,1607898007.578 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:20:07.986Z,1607898007.986 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:20:08.378Z,1607898008.378 [Micromodem](INFO): Nmea in: $CADRQ,222008,1,9,0,64,2*47

2020-12-13T22:20:08.378Z,1607898008.378 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:20:08.771Z,1607898008.771 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:20:08.964Z,1607898008.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:09.189Z,1607898009.189 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:20:09.594Z,1607898009.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:11.607Z,1607898011.607 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:20:11.608Z,1607898011.608 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:20:11.662Z,1607898011.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:12.009Z,1607898012.009 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222009.532362,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T22:20:12.009Z,1607898012.009 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222009.532362,3,0,200,4000,14500,1,1,9,1,2,2,3,70*75

2020-12-13T22:20:14.252Z,1607898014.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:17.440Z,1607898017.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:20.073Z,1607898020.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:20.838Z,1607898020.838 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:21.241Z,1607898021.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:22.093Z,1607898022.093 [Micromodem](INFO): Nmea in: $SNTTA,0.226591,,,,222022.01*48

2020-12-13T22:20:22.568Z,1607898022.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.720001 m, bearing: 172.276099 deg, deltaT: 16.109980 s, approachRate: -0.584730 m/s, LOS rate: 0.436397 deg/s, posRepo size: 4
2020-12-13T22:20:22.570Z,1607898022.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.720001 m,
      bearing: 172.276099 deg,
      approachRate: -0.584730 m/s,
      LOS rate: 0.436397 deg/s,
      cmd update: 1.309193 deg/s,
      cmd heading: 285.958917 deg,
      new cmd heading: 287.691426 deg.

2020-12-13T22:20:24.614Z,1607898024.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:25.335Z,1607898025.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:25.753Z,1607898025.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:26.569Z,1607898026.569 [Micromodem](INFO): Nmea in: $SNTTA,0.225530,,,,222026.51*41

2020-12-13T22:20:26.992Z,1607898026.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.979980 m, bearing: 172.050703 deg, deltaT: 4.536393 s, approachRate: -0.383569 m/s, LOS rate: -0.049686 deg/s, posRepo size: 4
2020-12-13T22:20:26.994Z,1607898026.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.979980 m,
      bearing: 172.050703 deg,
      approachRate: -0.383569 m/s,
      LOS rate: -0.049686 deg/s,
      cmd update: -0.149059 deg/s,
      cmd heading: 291.887342 deg,
      new cmd heading: 292.354946 deg.

2020-12-13T22:20:29.422Z,1607898029.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:30.195Z,1607898030.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:30.593Z,1607898030.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:31.449Z,1607898031.449 [Micromodem](INFO): Nmea in: $SNTTA,0.224708,,,,222031.37*4F

2020-12-13T22:20:31.867Z,1607898031.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.080017 m, bearing: 193.030490 deg, deltaT: 4.824020 s, approachRate: -0.186559 m/s, LOS rate: 4.349026 deg/s, posRepo size: 4
2020-12-13T22:20:31.873Z,1607898031.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.080017 m,
      bearing: 193.030490 deg,
      approachRate: -0.186559 m/s,
      LOS rate: 4.349026 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 291.167381 deg,
      new cmd heading: 291.107544 deg.

2020-12-13T22:20:34.399Z,1607898034.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:35.035Z,1607898035.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:35.445Z,1607898035.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:36.271Z,1607898036.271 [Micromodem](INFO): Nmea in: $SNTTA,0.224798,,,,222036.21*46

2020-12-13T22:20:36.809Z,1607898036.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.260010 m, bearing: 211.771149 deg, deltaT: 5.066866 s, approachRate: 0.035523 m/s, LOS rate: 3.698669 deg/s, posRepo size: 4
2020-12-13T22:20:36.811Z,1607898036.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.260010 m,
      bearing: 211.771149 deg,
      approachRate: 0.035523 m/s,
      LOS rate: 3.698669 deg/s,
      cmd update: 11.096006 deg/s,
      cmd heading: 351.995023 deg,
      new cmd heading: 355.292695 deg.

2020-12-13T22:20:39.150Z,1607898039.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:39.943Z,1607898039.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:40.341Z,1607898040.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:41.173Z,1607898041.173 [Micromodem](INFO): Nmea in: $SNTTA,0.225556,,,,222041.12*47

2020-12-13T22:20:41.601Z,1607898041.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 338.399994 m, bearing: 253.481079 deg, deltaT: 4.653237 s, approachRate: 0.244987 m/s, LOS rate: 8.963637 deg/s, posRepo size: 4
2020-12-13T22:20:41.603Z,1607898041.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.399994 m,
      bearing: 253.481079 deg,
      approachRate: 0.244987 m/s,
      LOS rate: 8.963637 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 43.627169 deg,
      new cmd heading: 48.217986 deg.

2020-12-13T22:20:44.054Z,1607898044.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:44.795Z,1607898044.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:45.201Z,1607898045.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:46.045Z,1607898046.045 [Micromodem](INFO): Nmea in: $SNTTA,0.226956,,,,222045.97*41

2020-12-13T22:20:46.474Z,1607898046.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.559998 m, bearing: 286.518267 deg, deltaT: 4.897855 s, approachRate: 0.441010 m/s, LOS rate: 6.745236 deg/s, posRepo size: 4
2020-12-13T22:20:46.476Z,1607898046.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.559998 m,
      bearing: 286.518267 deg,
      approachRate: 0.441010 m/s,
      LOS rate: 6.745236 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 102.401275 deg,
      new cmd heading: 107.062459 deg.

2020-12-13T22:20:48.895Z,1607898048.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:49.635Z,1607898049.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:50.070Z,1607898050.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:50.869Z,1607898050.869 [Micromodem](INFO): Nmea in: $SNTTA,0.228750,,,,222050.81*44

2020-12-13T22:20:51.292Z,1607898051.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.259979 m, bearing: 338.191790 deg, deltaT: 4.848826 s, approachRate: 0.556832 m/s, LOS rate: 10.656914 deg/s, posRepo size: 4
2020-12-13T22:20:51.294Z,1607898051.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.259979 m,
      bearing: 338.191790 deg,
      approachRate: 0.556832 m/s,
      LOS rate: 10.656914 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 160.539056 deg,
      new cmd heading: 164.881244 deg.

2020-12-13T22:20:53.877Z,1607898053.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:54.501Z,1607898054.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:54.893Z,1607898054.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:20:55.746Z,1607898055.746 [Micromodem](INFO): Nmea in: $SNTTA,0.230869,,,,222055.68*4A

2020-12-13T22:20:56.140Z,1607898056.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.439972 m, bearing: 302.221691 deg, deltaT: 4.983355 s, approachRate: 0.638123 m/s, LOS rate: -7.218048 deg/s, posRepo size: 4
2020-12-13T22:20:56.142Z,1607898056.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.439972 m,
      bearing: 302.221691 deg,
      approachRate: 0.638123 m/s,
      LOS rate: -7.218048 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 220.387125 deg,
      new cmd heading: 223.061878 deg.

2020-12-13T22:20:58.583Z,1607898058.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:20:59.335Z,1607898059.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:20:59.757Z,1607898059.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:00.574Z,1607898060.574 [Micromodem](INFO): Nmea in: $SNTTA,0.233067,,,,222100.51*44

2020-12-13T22:21:01.437Z,1607898061.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:02.970Z,1607898062.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:21:04.204Z,1607898064.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:04.991Z,1607898064.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:05.449Z,1607898065.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:06.253Z,1607898066.253 [Micromodem](INFO): Nmea in: $SNTTA,0.235026,,,,222106.17*43

2020-12-13T22:21:06.733Z,1607898066.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.619995 m, bearing: 279.024620 deg, deltaT: 10.546019 s, approachRate: 0.586005 m/s, LOS rate: -2.199605 deg/s, posRepo size: 4
2020-12-13T22:21:06.735Z,1607898066.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.619995 m,
      bearing: 279.024620 deg,
      approachRate: 0.586005 m/s,
      LOS rate: -2.199605 deg/s,
      cmd update: -6.598814 deg/s,
      cmd heading: 93.845394 deg,
      new cmd heading: 90.870234 deg.

2020-12-13T22:21:07.066Z,1607898067.066 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 90
2020-12-13T22:21:09.126Z,1607898069.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:09.887Z,1607898069.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:10.289Z,1607898070.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:11.129Z,1607898071.129 [Micromodem](INFO): Nmea in: $SNTTA,0.236035,,,,222111.07*45

2020-12-13T22:21:11.548Z,1607898071.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.059998 m, bearing: 225.141845 deg, deltaT: 4.696615 s, approachRate: 0.306604 m/s, LOS rate: -11.472683 deg/s, posRepo size: 4
2020-12-13T22:21:11.549Z,1607898071.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.472683 deg/s. Setting heading cmd to target bearing of 225.141845deg and heading rate command to 0 deg/s.
2020-12-13T22:21:11.926Z,1607898071.926 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:21:12.528Z,1607898072.528 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:21:12.529Z,1607898072.529 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:21:12.529Z,1607898072.529 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:21:12.810Z,1607898072.810 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:21:13.222Z,1607898073.222 [Micromodem](INFO): Nmea in: $CADRQ,222113,1,9,0,64,1*4F

2020-12-13T22:21:13.222Z,1607898073.222 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:21:13.687Z,1607898073.687 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:21:13.745Z,1607898073.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:14.064Z,1607898074.064 [Micromodem](INFO): Nmea in: $CADRQ,222114,1,9,0,64,2*4B

2020-12-13T22:21:14.066Z,1607898074.066 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:21:14.480Z,1607898074.480 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:21:14.483Z,1607898074.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:14.863Z,1607898074.863 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:21:14.863Z,1607898074.863 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:21:16.563Z,1607898076.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:17.295Z,1607898077.295 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:21:17.295Z,1607898077.295 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:21:17.713Z,1607898077.713 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222115.219897,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:21:17.713Z,1607898077.713 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222115.219897,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:21:19.497Z,1607898079.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:22.151Z,1607898082.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:25.038Z,1607898085.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:25.785Z,1607898085.785 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:26.237Z,1607898086.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:27.049Z,1607898087.049 [Micromodem](INFO): Nmea in: $SNTTA,0.239716,,,,222126.96*40

2020-12-13T22:21:27.536Z,1607898087.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.639984 m, bearing: 255.384161 deg, deltaT: 15.940501 s, approachRate: 0.350051 m/s, LOS rate: 1.897200 deg/s, posRepo size: 4
2020-12-13T22:21:27.538Z,1607898087.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.639984 m,
      bearing: 255.384161 deg,
      approachRate: 0.350051 m/s,
      LOS rate: 1.897200 deg/s,
      cmd update: 5.691600 deg/s,
      cmd heading: 225.141845 deg,
      new cmd heading: 225.141845 deg.

2020-12-13T22:21:29.931Z,1607898089.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:30.684Z,1607898090.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:31.089Z,1607898091.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:31.909Z,1607898091.909 [Micromodem](INFO): Nmea in: $SNTTA,0.240353,,,,222131.86*4C

2020-12-13T22:21:32.482Z,1607898092.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 360.539978 m, bearing: 230.333185 deg, deltaT: 4.867002 s, approachRate: 0.184918 m/s, LOS rate: -5.147106 deg/s, posRepo size: 4
2020-12-13T22:21:32.490Z,1607898092.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.539978 m,
      bearing: 230.333185 deg,
      approachRate: 0.184918 m/s,
      LOS rate: -5.147106 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 252.842844 deg,
      new cmd heading: 255.743488 deg.

2020-12-13T22:21:34.521Z,1607898094.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:35.119Z,1607898095.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:35.545Z,1607898095.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:36.371Z,1607898096.371 [Micromodem](INFO): Nmea in: $SNTTA,0.240367,,,,222136.29*49

2020-12-13T22:21:36.801Z,1607898096.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 360.479980 m, bearing: 197.876386 deg, deltaT: 4.418841 s, approachRate: -0.013578 m/s, LOS rate: -7.345093 deg/s, posRepo size: 4
2020-12-13T22:21:36.803Z,1607898096.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.479980 m,
      bearing: 197.876386 deg,
      approachRate: -0.013578 m/s,
      LOS rate: -7.345093 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 199.819258 deg,
      new cmd heading: 194.841022 deg.

2020-12-13T22:21:38.972Z,1607898098.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:39.571Z,1607898099.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:39.977Z,1607898099.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:40.793Z,1607898100.793 [Micromodem](INFO): Nmea in: $SNTTA,0.239897,,,,222140.75*4B

2020-12-13T22:21:41.200Z,1607898101.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.760010 m, bearing: 167.971168 deg, deltaT: 4.611517 s, approachRate: -0.156124 m/s, LOS rate: -6.484898 deg/s, posRepo size: 4
2020-12-13T22:21:41.202Z,1607898101.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.760010 m,
      bearing: 167.971168 deg,
      approachRate: -0.156124 m/s,
      LOS rate: -6.484898 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 144.488660 deg,
      new cmd heading: 142.059008 deg.

2020-12-13T22:21:43.628Z,1607898103.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:44.413Z,1607898104.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:44.821Z,1607898104.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:45.652Z,1607898105.652 [Micromodem](INFO): Nmea in: $SNTTA,0.238722,,,,222145.59*40

2020-12-13T22:21:46.041Z,1607898106.041 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:21:46.080Z,1607898106.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.899994 m, bearing: 165.150764 deg, deltaT: 4.729045 s, approachRate: -0.393317 m/s, LOS rate: -0.596400 deg/s, posRepo size: 4
2020-12-13T22:21:46.086Z,1607898106.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.899994 m,
      bearing: 165.150764 deg,
      approachRate: -0.393317 m/s,
      LOS rate: -0.596400 deg/s,
      cmd update: -1.789201 deg/s,
      cmd heading: 87.730267 deg,
      new cmd heading: 83.492719 deg.

2020-12-13T22:21:48.532Z,1607898108.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:49.259Z,1607898109.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:49.675Z,1607898109.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:50.523Z,1607898110.523 [Micromodem](INFO): Nmea in: $SNTTA,0.237051,,,,222150.44*44

2020-12-13T22:21:50.926Z,1607898110.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.380005 m, bearing: 162.146956 deg, deltaT: 4.844887 s, approachRate: -0.520134 m/s, LOS rate: -0.619995 deg/s, posRepo size: 4
2020-12-13T22:21:50.928Z,1607898110.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.380005 m,
      bearing: 162.146956 deg,
      approachRate: -0.520134 m/s,
      LOS rate: -0.619995 deg/s,
      cmd update: -1.859986 deg/s,
      cmd heading: 79.061781 deg,
      new cmd heading: 78.429027 deg.

2020-12-13T22:21:53.343Z,1607898113.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:54.103Z,1607898114.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:54.524Z,1607898114.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:21:55.337Z,1607898115.337 [Micromodem](INFO): Nmea in: $SNTTA,0.234942,,,,222155.28*43

2020-12-13T22:21:55.827Z,1607898115.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.260010 m, bearing: 158.496493 deg, deltaT: 4.809662 s, approachRate: -0.648693 m/s, LOS rate: -0.758985 deg/s, posRepo size: 4
2020-12-13T22:21:55.835Z,1607898115.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.260010 m,
      bearing: 158.496493 deg,
      approachRate: -0.648693 m/s,
      LOS rate: -0.758985 deg/s,
      cmd update: -2.276956 deg/s,
      cmd heading: 70.160181 deg,
      new cmd heading: 69.297387 deg.

2020-12-13T22:21:58.318Z,1607898118.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:21:58.955Z,1607898118.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:21:59.365Z,1607898119.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:00.185Z,1607898120.185 [Micromodem](INFO): Nmea in: $SNTTA,0.232851,,,,222200.13*4D

2020-12-13T22:22:00.609Z,1607898120.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.079987 m, bearing: 155.290525 deg, deltaT: 4.988880 s, approachRate: -0.637422 m/s, LOS rate: -0.642623 deg/s, posRepo size: 4
2020-12-13T22:22:00.611Z,1607898120.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.079987 m,
      bearing: 155.290525 deg,
      approachRate: -0.637422 m/s,
      LOS rate: -0.642623 deg/s,
      cmd update: -1.927868 deg/s,
      cmd heading: 58.746417 deg,
      new cmd heading: 58.203022 deg.

2020-12-13T22:22:03.020Z,1607898123.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:03.799Z,1607898123.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:04.209Z,1607898124.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:05.025Z,1607898125.025 [Micromodem](INFO): Nmea in: $SNTTA,0.231083,,,,222204.98*4E

2020-12-13T22:22:05.472Z,1607898125.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.500000 m, bearing: 155.836845 deg, deltaT: 4.673669 s, approachRate: -0.552026 m/s, LOS rate: 0.116893 deg/s, posRepo size: 4
2020-12-13T22:22:05.506Z,1607898125.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.500000 m,
      bearing: 155.836845 deg,
      approachRate: -0.552026 m/s,
      LOS rate: 0.116893 deg/s,
      cmd update: 0.350679 deg/s,
      cmd heading: 49.736259 deg,
      new cmd heading: 48.911056 deg.

2020-12-13T22:22:07.937Z,1607898127.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:08.674Z,1607898128.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:09.065Z,1607898129.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:09.880Z,1607898129.880 [Micromodem](INFO): Nmea in: $SNTTA,0.229779,,,,222209.85*44

2020-12-13T22:22:10.298Z,1607898130.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.699982 m, bearing: 109.330353 deg, deltaT: 4.891743 s, approachRate: -0.367971 m/s, LOS rate: -9.507141 deg/s, posRepo size: 4
2020-12-13T22:22:10.300Z,1607898130.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.699982 m,
      bearing: 109.330353 deg,
      approachRate: -0.367971 m/s,
      LOS rate: -9.507141 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 51.451587 deg,
      new cmd heading: 51.578552 deg.

2020-12-13T22:22:12.755Z,1607898132.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:13.514Z,1607898133.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:13.913Z,1607898133.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:14.745Z,1607898134.745 [Micromodem](INFO): Nmea in: $SNTTA,0.229302,,,,222214.69*42

2020-12-13T22:22:15.163Z,1607898135.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.919983 m, bearing: 37.228486 deg, deltaT: 4.870573 s, approachRate: -0.160145 m/s, LOS rate: -14.803569 deg/s, posRepo size: 4
2020-12-13T22:22:15.164Z,1607898135.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.803569 deg/s. Setting heading cmd to target bearing of 37.228486deg and heading rate command to 0 deg/s.
2020-12-13T22:22:17.570Z,1607898137.570 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:22:17.803Z,1607898137.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:18.070Z,1607898138.070 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:22:18.070Z,1607898138.070 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:22:18.071Z,1607898138.071 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:22:18.359Z,1607898138.359 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:22:18.360Z,1607898138.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:18.751Z,1607898138.751 [Micromodem](INFO): Nmea in: $CADRQ,222219,1,9,0,64,1*46

2020-12-13T22:22:18.752Z,1607898138.752 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,222219,1,9,0,64,1*46

2020-12-13T22:22:19.156Z,1607898139.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:19.593Z,1607898139.593 [Micromodem](INFO): Nmea in: $SNTTA,0.229695,,,,222219.54*4A

2020-12-13T22:22:19.992Z,1607898139.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.699982 m, bearing: 102.836462 deg, deltaT: 5.009143 s, approachRate: 0.155715 m/s, LOS rate: 13.097645 deg/s, posRepo size: 4
2020-12-13T22:22:20.009Z,1607898140.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.097645 deg/s. Setting heading cmd to target bearing of 102.836462deg and heading rate command to 0 deg/s.
2020-12-13T22:22:22.449Z,1607898142.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:23.203Z,1607898143.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:23.613Z,1607898143.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:24.440Z,1607898144.440 [Micromodem](INFO): Nmea in: $SNTTA,0.230939,,,,222224.38*4F

2020-12-13T22:22:24.887Z,1607898144.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.439972 m, bearing: 28.307132 deg, deltaT: 4.709382 s, approachRate: 0.369473 m/s, LOS rate: -15.825714 deg/s, posRepo size: 4
2020-12-13T22:22:24.888Z,1607898144.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.825714 deg/s. Setting heading cmd to target bearing of 28.307132deg and heading rate command to 0 deg/s.
2020-12-13T22:22:27.290Z,1607898147.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:28.055Z,1607898148.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:28.496Z,1607898148.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:29.281Z,1607898149.281 [Micromodem](INFO): Nmea in: $SNTTA,0.329423,,,,222229.23*47

2020-12-13T22:22:29.736Z,1607898149.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.899994 m, bearing: 34.665812 deg, deltaT: 4.790203 s, approachRate: 0.513553 m/s, LOS rate: 1.327434 deg/s, posRepo size: 4
2020-12-13T22:22:29.738Z,1607898149.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.899994 m,
      bearing: 34.665812 deg,
      approachRate: 0.513553 m/s,
      LOS rate: 1.327434 deg/s,
      cmd update: 3.982303 deg/s,
      cmd heading: 28.307132 deg,
      new cmd heading: 28.307132 deg.

2020-12-13T22:22:32.134Z,1607898152.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:32.891Z,1607898152.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:33.301Z,1607898153.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:34.171Z,1607898154.171 [Micromodem](INFO): Nmea in: $SNTTA,0.233712,,,,222234.07*46

2020-12-13T22:22:34.561Z,1607898154.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.580017 m, bearing: 120.270411 deg, deltaT: 4.905999 s, approachRate: 0.342443 m/s, LOS rate: 17.448963 deg/s, posRepo size: 4
2020-12-13T22:22:34.562Z,1607898154.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.448963 deg/s. Setting heading cmd to target bearing of 120.270411deg and heading rate command to 0 deg/s.
2020-12-13T22:22:37.134Z,1607898157.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:37.751Z,1607898157.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:38.153Z,1607898158.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:38.981Z,1607898158.981 [Micromodem](INFO): Nmea in: $SNTTA,0.234652,,,,222238.93*45

2020-12-13T22:22:39.398Z,1607898159.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.019989 m, bearing: 117.311518 deg, deltaT: 4.930923 s, approachRate: 0.292029 m/s, LOS rate: -0.600069 deg/s, posRepo size: 4
2020-12-13T22:22:39.401Z,1607898159.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.019989 m,
      bearing: 117.311518 deg,
      approachRate: 0.292029 m/s,
      LOS rate: -0.600069 deg/s,
      cmd update: -1.800206 deg/s,
      cmd heading: 120.270411 deg,
      new cmd heading: 120.270411 deg.

2020-12-13T22:22:41.823Z,1607898161.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:42.599Z,1607898162.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:43.001Z,1607898163.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:43.853Z,1607898163.853 [Micromodem](INFO): Nmea in: $SNTTA,0.235401,,,,222243.78*49

2020-12-13T22:22:44.290Z,1607898164.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.040009 m, bearing: 91.098488 deg, deltaT: 4.745510 s, approachRate: 0.214944 m/s, LOS rate: -5.523754 deg/s, posRepo size: 4
2020-12-13T22:22:44.292Z,1607898164.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.040009 m,
      bearing: 91.098488 deg,
      approachRate: 0.214944 m/s,
      LOS rate: -5.523754 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 111.727506 deg,
      new cmd heading: 111.021297 deg.

2020-12-13T22:22:46.810Z,1607898166.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:47.559Z,1607898167.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:47.929Z,1607898167.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:48.327Z,1607898168.327 [Micromodem](INFO): Nmea in: $CAERR,222249,DATA_TIMEOUT,1*43

2020-12-13T22:22:48.762Z,1607898168.762 [Micromodem](INFO): Nmea in: $SNTTA,0.235592,,,,222248.74*45

2020-12-13T22:22:49.171Z,1607898169.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.339996 m, bearing: 126.476293 deg, deltaT: 4.915746 s, approachRate: 0.061026 m/s, LOS rate: 7.196834 deg/s, posRepo size: 4
2020-12-13T22:22:49.173Z,1607898169.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.339996 m,
      bearing: 126.476293 deg,
      approachRate: 0.061026 m/s,
      LOS rate: 7.196834 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.738024 deg,
      new cmd heading: 48.442720 deg.

2020-12-13T22:22:51.647Z,1607898171.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:52.383Z,1607898172.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:52.791Z,1607898172.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:53.625Z,1607898173.625 [Micromodem](INFO): Nmea in: $SNTTA,0.235254,,,,222253.56*42

2020-12-13T22:22:54.042Z,1607898174.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.859985 m, bearing: 60.004598 deg, deltaT: 4.897073 s, approachRate: -0.098020 m/s, LOS rate: -13.573760 deg/s, posRepo size: 4
2020-12-13T22:22:54.043Z,1607898174.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.573760 deg/s. Setting heading cmd to target bearing of 60.004598deg and heading rate command to 0 deg/s.
2020-12-13T22:22:56.636Z,1607898176.636 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:22:56.657Z,1607898176.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:22:57.223Z,1607898177.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:22:57.629Z,1607898177.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:22:58.498Z,1607898178.498 [Micromodem](INFO): Nmea in: $SNTTA,0.235227,,,,222258.40*4A

2020-12-13T22:22:58.911Z,1607898178.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.920013 m, bearing: 56.938267 deg, deltaT: 5.040753 s, approachRate: 0.011909 m/s, LOS rate: -0.608308 deg/s, posRepo size: 4
2020-12-13T22:22:58.913Z,1607898178.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.920013 m,
      bearing: 56.938267 deg,
      approachRate: 0.011909 m/s,
      LOS rate: -0.608308 deg/s,
      cmd update: -1.824925 deg/s,
      cmd heading: 60.004598 deg,
      new cmd heading: 60.004598 deg.

2020-12-13T22:23:01.318Z,1607898181.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:01.769Z,1607898181.769 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:23:02.107Z,1607898182.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:02.539Z,1607898182.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:03.347Z,1607898183.347 [Micromodem](INFO): Nmea in: $SNTTA,0.235145,,,,222303.29*4D

2020-12-13T22:23:04.177Z,1607898184.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:05.742Z,1607898185.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:23:07.003Z,1607898187.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:07.763Z,1607898187.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:08.177Z,1607898188.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:09.001Z,1607898189.001 [Micromodem](INFO): Nmea in: $SNTTA,0.235327,,,,222308.94*46

2020-12-13T22:23:09.610Z,1607898189.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.219971 m, bearing: 127.350229 deg, deltaT: 10.335560 s, approachRate: 0.029022 m/s, LOS rate: 6.812593 deg/s, posRepo size: 4
2020-12-13T22:23:09.612Z,1607898189.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.219971 m,
      bearing: 127.350229 deg,
      approachRate: 0.029022 m/s,
      LOS rate: 6.812593 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 41.162502 deg,
      new cmd heading: 40.187189 deg.

2020-12-13T22:23:11.618Z,1607898191.618 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:23:11.640Z,1607898191.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:12.211Z,1607898192.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:12.621Z,1607898192.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:13.453Z,1607898193.453 [Micromodem](INFO): Nmea in: $SNTTA,0.236365,,,,222313.39*4E

2020-12-13T22:23:13.878Z,1607898193.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.359985 m, bearing: 94.025443 deg, deltaT: 4.384368 s, approachRate: 0.260018 m/s, LOS rate: -7.600819 deg/s, posRepo size: 4
2020-12-13T22:23:13.880Z,1607898193.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.359985 m,
      bearing: 94.025443 deg,
      approachRate: 0.260018 m/s,
      LOS rate: -7.600819 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 93.903188 deg,
      new cmd heading: 98.782628 deg.

2020-12-13T22:23:16.020Z,1607898196.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:16.686Z,1607898196.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:16.780Z,1607898196.780 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:23:17.077Z,1607898197.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:17.905Z,1607898197.905 [Micromodem](INFO): Nmea in: $SNTTA,0.237350,,,,222317.86*49

2020-12-13T22:23:18.434Z,1607898198.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.100006 m, bearing: 114.835998 deg, deltaT: 4.609163 s, approachRate: 0.377513 m/s, LOS rate: 4.515040 deg/s, posRepo size: 4
2020-12-13T22:23:18.436Z,1607898198.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.100006 m,
      bearing: 114.835998 deg,
      approachRate: 0.377513 m/s,
      LOS rate: 4.515040 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 38.593231 deg,
      new cmd heading: 34.358119 deg.

2020-12-13T22:23:20.858Z,1607898200.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:21.611Z,1607898201.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:21.703Z,1607898201.703 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:23:22.030Z,1607898202.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:22.855Z,1607898202.855 [Micromodem](INFO): Nmea in: $SNTTA,0.238197,,,,222322.79*49

2020-12-13T22:23:23.242Z,1607898203.242 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:23:23.260Z,1607898203.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.300018 m, bearing: 132.785749 deg, deltaT: 4.852981 s, approachRate: 0.247273 m/s, LOS rate: 3.698706 deg/s, posRepo size: 4
2020-12-13T22:23:23.262Z,1607898203.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.300018 m,
      bearing: 132.785749 deg,
      approachRate: 0.247273 m/s,
      LOS rate: 3.698706 deg/s,
      cmd update: 11.096119 deg/s,
      cmd heading: 96.780656 deg,
      new cmd heading: 100.750604 deg.

2020-12-13T22:23:23.805Z,1607898203.805 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:23:23.806Z,1607898203.806 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:23:23.806Z,1607898203.806 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:23:24.074Z,1607898204.074 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:23:24.470Z,1607898204.470 [Micromodem](INFO): Nmea in: $CADRQ,222324,1,9,0,64,1*49

2020-12-13T22:23:24.470Z,1607898204.470 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:23:24.934Z,1607898204.934 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:23:25.326Z,1607898205.326 [Micromodem](INFO): Nmea in: $CADRQ,222325,1,9,0,64,2*4B

2020-12-13T22:23:25.326Z,1607898205.326 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:23:25.735Z,1607898205.735 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:23:25.803Z,1607898205.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:26.139Z,1607898206.139 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:23:26.583Z,1607898206.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:28.567Z,1607898208.567 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:23:28.567Z,1607898208.567 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:23:28.626Z,1607898208.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:28.947Z,1607898208.947 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222326.474693,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:23:28.948Z,1607898208.948 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222326.474693,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:23:31.130Z,1607898211.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:31.807Z,1607898211.807 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:23:33.865Z,1607898213.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:36.400Z,1607898216.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:36.831Z,1607898216.831 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:23:37.590Z,1607898217.590 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:38.053Z,1607898218.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:38.874Z,1607898218.874 [Micromodem](INFO): Nmea in: $SNTTA,0.239465,,,,222338.77*45

2020-12-13T22:23:39.300Z,1607898219.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.100006 m, bearing: 173.924784 deg, deltaT: 16.002334 s, approachRate: 0.112483 m/s, LOS rate: 2.570815 deg/s, posRepo size: 4
2020-12-13T22:23:39.302Z,1607898219.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.100006 m,
      bearing: 173.924784 deg,
      approachRate: 0.112483 m/s,
      LOS rate: 2.570815 deg/s,
      cmd update: 7.712444 deg/s,
      cmd heading: 274.389514 deg,
      new cmd heading: 278.435059 deg.

2020-12-13T22:23:41.880Z,1607898221.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:42.566Z,1607898222.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:42.937Z,1607898222.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:43.781Z,1607898223.781 [Micromodem](INFO): Nmea in: $SNTTA,0.238522,,,,222343.74*49

2020-12-13T22:23:44.192Z,1607898224.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.599976 m, bearing: 171.700765 deg, deltaT: 5.042608 s, approachRate: -0.297471 m/s, LOS rate: -0.441045 deg/s, posRepo size: 4
2020-12-13T22:23:44.194Z,1607898224.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.599976 m,
      bearing: 171.700765 deg,
      approachRate: -0.297471 m/s,
      LOS rate: -0.441045 deg/s,
      cmd update: -1.323136 deg/s,
      cmd heading: 313.126135 deg,
      new cmd heading: 314.929196 deg.

2020-12-13T22:23:46.622Z,1607898226.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:47.387Z,1607898227.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:47.799Z,1607898227.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:48.821Z,1607898228.821 [Micromodem](INFO): Nmea in: $SNTTA,0.237178,,,,222348.56*46

2020-12-13T22:23:49.257Z,1607898229.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.679993 m, bearing: 170.792992 deg, deltaT: 4.893789 s, approachRate: -0.392331 m/s, LOS rate: -0.185495 deg/s, posRepo size: 4
2020-12-13T22:23:49.259Z,1607898229.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.679993 m,
      bearing: 170.792992 deg,
      approachRate: -0.392331 m/s,
      LOS rate: -0.185495 deg/s,
      cmd update: -0.556485 deg/s,
      cmd heading: 306.624790 deg,
      new cmd heading: 306.115798 deg.

2020-12-13T22:23:51.725Z,1607898231.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:52.459Z,1607898232.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:52.949Z,1607898232.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:53.717Z,1607898233.717 [Micromodem](INFO): Nmea in: $SNTTA,0.236171,,,,222353.64*45

2020-12-13T22:23:54.100Z,1607898234.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.179993 m, bearing: 174.267168 deg, deltaT: 4.910236 s, approachRate: -0.305484 m/s, LOS rate: 0.707537 deg/s, posRepo size: 4
2020-12-13T22:23:54.102Z,1607898234.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.179993 m,
      bearing: 174.267168 deg,
      approachRate: -0.305484 m/s,
      LOS rate: 0.707537 deg/s,
      cmd update: 2.122612 deg/s,
      cmd heading: 303.892238 deg,
      new cmd heading: 303.715373 deg.

2020-12-13T22:23:56.656Z,1607898236.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:23:57.367Z,1607898237.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:23:57.773Z,1607898237.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:23:58.605Z,1607898238.605 [Micromodem](INFO): Nmea in: $SNTTA,0.234463,,,,222358.55*48

2020-12-13T22:23:59.049Z,1607898239.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.179962 m, bearing: 178.018048 deg, deltaT: 4.868978 s, approachRate: -0.616152 m/s, LOS rate: 0.770363 deg/s, posRepo size: 4
2020-12-13T22:23:59.051Z,1607898239.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.179962 m,
      bearing: 178.018048 deg,
      approachRate: -0.616152 m/s,
      LOS rate: 0.770363 deg/s,
      cmd update: 2.311089 deg/s,
      cmd heading: 314.227203 deg,
      new cmd heading: 315.063824 deg.

2020-12-13T22:24:01.650Z,1607898241.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:02.247Z,1607898242.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:02.670Z,1607898242.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:03.515Z,1607898243.515 [Micromodem](INFO): Nmea in: $SNTTA,0.232630,,,,222403.42*45

2020-12-13T22:24:03.921Z,1607898243.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.419983 m, bearing: 179.878510 deg, deltaT: 5.063278 s, approachRate: -0.545097 m/s, LOS rate: 0.367442 deg/s, posRepo size: 4
2020-12-13T22:24:03.923Z,1607898243.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.419983 m,
      bearing: 179.878510 deg,
      approachRate: -0.545097 m/s,
      LOS rate: 0.367442 deg/s,
      cmd update: 1.102326 deg/s,
      cmd heading: 325.928676 deg,
      new cmd heading: 326.405490 deg.

2020-12-13T22:24:06.338Z,1607898246.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:07.123Z,1607898247.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:07.541Z,1607898247.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:08.359Z,1607898248.359 [Micromodem](INFO): Nmea in: $SNTTA,0.230527,,,,222408.30*4C

2020-12-13T22:24:08.798Z,1607898248.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.600006 m, bearing: 180.319180 deg, deltaT: 4.661283 s, approachRate: -0.604979 m/s, LOS rate: 0.094538 deg/s, posRepo size: 4
2020-12-13T22:24:08.800Z,1607898248.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.600006 m,
      bearing: 180.319180 deg,
      approachRate: -0.604979 m/s,
      LOS rate: 0.094538 deg/s,
      cmd update: 0.283615 deg/s,
      cmd heading: 331.064897 deg,
      new cmd heading: 331.532831 deg.

2020-12-13T22:24:11.214Z,1607898251.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:11.963Z,1607898251.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:12.374Z,1607898252.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:13.212Z,1607898253.212 [Micromodem](INFO): Nmea in: $SNTTA,0.228845,,,,222413.14*40

2020-12-13T22:24:13.630Z,1607898253.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 342.959991 m, bearing: 182.760385 deg, deltaT: 4.850706 s, approachRate: -0.544254 m/s, LOS rate: 0.503268 deg/s, posRepo size: 4
2020-12-13T22:24:13.632Z,1607898253.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.959991 m,
      bearing: 182.760385 deg,
      approachRate: -0.544254 m/s,
      LOS rate: 0.503268 deg/s,
      cmd update: 1.509804 deg/s,
      cmd heading: 332.441187 deg,
      new cmd heading: 332.555641 deg.

2020-12-13T22:24:16.068Z,1607898256.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:16.867Z,1607898256.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:17.261Z,1607898257.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:18.107Z,1607898258.107 [Micromodem](INFO): Nmea in: $SNTTA,0.227179,,,,222418.04*43

2020-12-13T22:24:18.539Z,1607898258.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.619995 m, bearing: 186.637665 deg, deltaT: 4.900984 s, approachRate: -0.477454 m/s, LOS rate: 0.791123 deg/s, posRepo size: 4
2020-12-13T22:24:18.541Z,1607898258.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.619995 m,
      bearing: 186.637665 deg,
      approachRate: -0.477454 m/s,
      LOS rate: 0.791123 deg/s,
      cmd update: 2.373368 deg/s,
      cmd heading: 339.835213 deg,
      new cmd heading: 340.462408 deg.

2020-12-13T22:24:21.072Z,1607898261.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:21.738Z,1607898261.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:22.109Z,1607898262.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:22.922Z,1607898262.922 [Micromodem](INFO): Nmea in: $SNTTA,0.226301,,,,222422.91*4A

2020-12-13T22:24:23.362Z,1607898263.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.239990 m, bearing: 191.956128 deg, deltaT: 4.988886 s, approachRate: -0.276616 m/s, LOS rate: 1.066062 deg/s, posRepo size: 4
2020-12-13T22:24:23.369Z,1607898263.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.239990 m,
      bearing: 191.956128 deg,
      approachRate: -0.276616 m/s,
      LOS rate: 1.066062 deg/s,
      cmd update: 3.198187 deg/s,
      cmd heading: 351.684256 deg,
      new cmd heading: 352.228462 deg.

2020-12-13T22:24:25.812Z,1607898265.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:26.599Z,1607898266.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:26.953Z,1607898266.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:27.791Z,1607898267.791 [Micromodem](INFO): Nmea in: $SNTTA,0.226032,,,,222427.78*4B

2020-12-13T22:24:28.627Z,1607898268.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:28.970Z,1607898268.970 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:24:29.553Z,1607898269.553 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:24:29.553Z,1607898269.553 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:24:29.554Z,1607898269.554 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:24:29.983Z,1607898269.983 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:24:29.984Z,1607898269.984 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:24:30.383Z,1607898270.383 [Micromodem](INFO): Nmea in: $CADRQ,222430,1,9,0,64,1*4B

2020-12-13T22:24:30.383Z,1607898270.383 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:24:30.790Z,1607898270.790 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:24:31.195Z,1607898271.195 [Micromodem](INFO): Nmea in: $CADRQ,222431,1,9,0,64,2*49

2020-12-13T22:24:31.195Z,1607898271.195 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:24:31.264Z,1607898271.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:31.642Z,1607898271.642 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:24:32.014Z,1607898272.014 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:24:32.015Z,1607898272.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:33.824Z,1607898273.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:34.428Z,1607898274.428 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:24:34.428Z,1607898274.428 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:24:34.832Z,1607898274.832 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222432.348210,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:24:34.833Z,1607898274.833 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222432.348210,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:24:36.469Z,1607898276.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:39.317Z,1607898279.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:42.258Z,1607898282.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:43.310Z,1607898283.310 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:43.740Z,1607898283.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:44.559Z,1607898284.559 [Micromodem](INFO): Nmea in: $SNTTA,0.230016,,,,222444.49*4D

2020-12-13T22:24:44.952Z,1607898284.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:46.978Z,1607898286.978 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:24:47.867Z,1607898287.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:48.599Z,1607898288.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:49.097Z,1607898289.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:49.885Z,1607898289.885 [Micromodem](INFO): Nmea in: $SNTTA,0.232347,,,,222449.77*48

2020-12-13T22:24:50.324Z,1607898290.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.959991 m, bearing: 353.910842 deg, deltaT: 26.871199 s, approachRate: 0.361726 m/s, LOS rate: 6.027074 deg/s, posRepo size: 4
2020-12-13T22:24:50.326Z,1607898290.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.959991 m,
      bearing: 353.910842 deg,
      approachRate: 0.361726 m/s,
      LOS rate: 6.027074 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.623519 deg,
      new cmd heading: 78.700035 deg.

2020-12-13T22:24:52.921Z,1607898292.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:53.547Z,1607898293.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:53.929Z,1607898293.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:54.754Z,1607898294.754 [Micromodem](INFO): Nmea in: $SNTTA,0.234775,,,,222454.72*42

2020-12-13T22:24:55.180Z,1607898295.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.199982 m, bearing: 18.344490 deg, deltaT: 4.960420 s, approachRate: 0.653168 m/s, LOS rate: 4.925723 deg/s, posRepo size: 4
2020-12-13T22:24:55.182Z,1607898295.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.199982 m,
      bearing: 18.344490 deg,
      approachRate: 0.653168 m/s,
      LOS rate: 4.925723 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 137.148344 deg,
      new cmd heading: 139.933052 deg.

2020-12-13T22:24:57.616Z,1607898297.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:24:58.375Z,1607898298.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:24:58.785Z,1607898298.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:24:59.619Z,1607898299.619 [Micromodem](INFO): Nmea in: $SNTTA,0.237112,,,,222459.55*4E

2020-12-13T22:25:00.448Z,1607898300.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:02.006Z,1607898302.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:25:02.965Z,1607898302.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:03.624Z,1607898303.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:04.033Z,1607898304.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:04.865Z,1607898304.865 [Micromodem](INFO): Nmea in: $SNTTA,0.239063,,,,222504.80*46

2020-12-13T22:25:05.284Z,1607898305.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.680023 m, bearing: 100.404027 deg, deltaT: 9.968813 s, approachRate: 0.650031 m/s, LOS rate: 8.231626 deg/s, posRepo size: 4
2020-12-13T22:25:05.304Z,1607898305.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.680023 m,
      bearing: 100.404027 deg,
      approachRate: 0.650031 m/s,
      LOS rate: 8.231626 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.774294 deg,
      new cmd heading: 261.181618 deg.

2020-12-13T22:25:07.866Z,1607898307.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:08.483Z,1607898308.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:08.877Z,1607898308.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:09.727Z,1607898309.727 [Micromodem](INFO): Nmea in: $SNTTA,0.240796,,,,222509.66*40

2020-12-13T22:25:10.152Z,1607898310.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.259979 m, bearing: 79.786657 deg, deltaT: 4.844710 s, approachRate: 0.532531 m/s, LOS rate: -4.255646 deg/s, posRepo size: 4
2020-12-13T22:25:10.154Z,1607898310.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.259979 m,
      bearing: 79.786657 deg,
      approachRate: 0.532531 m/s,
      LOS rate: -4.255646 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 314.910504 deg,
      new cmd heading: 319.560408 deg.

2020-12-13T22:25:11.774Z,1607898311.774 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:25:12.499Z,1607898312.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:13.083Z,1607898313.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:13.513Z,1607898313.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:14.334Z,1607898314.334 [Micromodem](INFO): Nmea in: $SNTTA,0.242812,,,,222514.26*49

2020-12-13T22:25:14.804Z,1607898314.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 364.319977 m, bearing: 16.960833 deg, deltaT: 4.830659 s, approachRate: 0.633453 m/s, LOS rate: -13.005642 deg/s, posRepo size: 4
2020-12-13T22:25:14.805Z,1607898314.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.005642 deg/s. Setting heading cmd to target bearing of 16.960833deg and heading rate command to 0 deg/s.
2020-12-13T22:25:17.214Z,1607898317.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:17.999Z,1607898317.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:18.403Z,1607898318.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:19.235Z,1607898319.235 [Micromodem](INFO): Nmea in: $SNTTA,0.245302,,,,222519.18*44

2020-12-13T22:25:20.079Z,1607898320.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:21.646Z,1607898321.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:25:22.900Z,1607898322.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:23.649Z,1607898323.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:24.066Z,1607898324.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:24.887Z,1607898324.887 [Micromodem](INFO): Nmea in: $SNTTA,0.248237,,,,222524.82*43

2020-12-13T22:25:25.441Z,1607898325.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:27.286Z,1607898327.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:25:28.128Z,1607898328.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:28.915Z,1607898328.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:29.305Z,1607898329.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:30.127Z,1607898330.127 [Micromodem](INFO): Nmea in: $SNTTA,0.250758,,,,222530.09*40

2020-12-13T22:25:30.950Z,1607898330.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:32.558Z,1607898332.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:25:33.959Z,1607898333.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:34.571Z,1607898334.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:34.973Z,1607898334.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:34.989Z,1607898334.989 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:25:35.535Z,1607898335.535 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:25:35.536Z,1607898335.536 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:25:35.536Z,1607898335.536 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:25:35.831Z,1607898335.831 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:25:36.234Z,1607898336.234 [Micromodem](INFO): Nmea in: $CADRQ,222536,1,9,0,64,1*4C

2020-12-13T22:25:36.235Z,1607898336.235 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:25:36.690Z,1607898336.690 [Micromodem](INFO): Nmea in: $SNTTA,0.253834,,,,222535.75*48

2020-12-13T22:25:36.690Z,1607898336.690 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.253834,,,,222535.75*48

2020-12-13T22:25:36.762Z,1607898336.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:37.842Z,1607898337.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:25:37.844Z,1607898337.844 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:25:38.248Z,1607898338.248 [Micromodem](INFO): Nmea in: $CADRQ,222537,1,9,0,64,2*4E

2020-12-13T22:25:38.249Z,1607898338.249 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:25:38.643Z,1607898338.643 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:25:39.051Z,1607898339.051 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:25:39.533Z,1607898339.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:40.256Z,1607898340.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:41.066Z,1607898341.066 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:25:41.479Z,1607898341.479 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:25:41.479Z,1607898341.479 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:25:41.872Z,1607898341.872 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222539.403599,3,0,200,4000,14500,1,1,9,1,2,2,3,70*72

2020-12-13T22:25:41.872Z,1607898341.872 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222539.403599,3,0,200,4000,14500,1,1,9,1,2,2,3,70*72

2020-12-13T22:25:42.290Z,1607898342.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:44.925Z,1607898344.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:47.588Z,1607898347.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:50.395Z,1607898350.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:51.578Z,1607898351.578 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:51.982Z,1607898351.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:51.998Z,1607898351.998 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:25:52.815Z,1607898352.815 [Micromodem](INFO): Nmea in: $SNTTA,0.262118,,,,222552.75*4C

2020-12-13T22:25:53.356Z,1607898353.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 393.239990 m, bearing: 5.915973 deg, deltaT: 38.330385 s, approachRate: 0.754493 m/s, LOS rate: -0.288149 deg/s, posRepo size: 4
2020-12-13T22:25:53.358Z,1607898353.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 393.239990 m,
      bearing: 5.915973 deg,
      approachRate: 0.754493 m/s,
      LOS rate: -0.288149 deg/s,
      cmd update: -0.864447 deg/s,
      cmd heading: 16.960833 deg,
      new cmd heading: 16.960833 deg.

2020-12-13T22:25:55.628Z,1607898355.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:25:56.417Z,1607898356.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:25:56.835Z,1607898356.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:25:57.666Z,1607898357.666 [Micromodem](INFO): Nmea in: $SNTTA,0.264883,,,,222557.59*4A

2020-12-13T22:25:58.113Z,1607898358.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 397.320007 m, bearing: 21.502453 deg, deltaT: 4.977304 s, approachRate: 0.819724 m/s, LOS rate: 3.131510 deg/s, posRepo size: 4
2020-12-13T22:25:58.115Z,1607898358.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.320007 m,
      bearing: 21.502453 deg,
      approachRate: 0.819724 m/s,
      LOS rate: 3.131510 deg/s,
      cmd update: 9.394532 deg/s,
      cmd heading: 12.660360 deg,
      new cmd heading: 12.459694 deg.

2020-12-13T22:26:00.561Z,1607898360.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:01.299Z,1607898361.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:01.737Z,1607898361.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:02.545Z,1607898362.545 [Micromodem](INFO): Nmea in: $SNTTA,0.267588,,,,222602.48*4C

2020-12-13T22:26:02.962Z,1607898362.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 401.219971 m, bearing: 23.516877 deg, deltaT: 4.669188 s, approachRate: 0.835255 m/s, LOS rate: 0.431429 deg/s, posRepo size: 4
2020-12-13T22:26:02.964Z,1607898362.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 401.219971 m,
      bearing: 23.516877 deg,
      approachRate: 0.835255 m/s,
      LOS rate: 0.431429 deg/s,
      cmd update: 1.294288 deg/s,
      cmd heading: 56.699979 deg,
      new cmd heading: 60.381959 deg.

2020-12-13T22:26:05.441Z,1607898365.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:06.159Z,1607898366.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:06.604Z,1607898366.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:07.016Z,1607898367.016 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:26:07.427Z,1607898367.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222607.33*5D

2020-12-13T22:26:08.238Z,1607898368.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:09.837Z,1607898369.837 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:26:10.872Z,1607898370.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:11.467Z,1607898371.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:11.860Z,1607898371.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:12.701Z,1607898372.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222612.64*5B

2020-12-13T22:26:13.224Z,1607898373.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 407.760010 m, bearing: 98.116897 deg, deltaT: 10.467330 s, approachRate: 0.624805 m/s, LOS rate: 7.126939 deg/s, posRepo size: 4
2020-12-13T22:26:13.226Z,1607898373.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 407.760010 m,
      bearing: 98.116897 deg,
      approachRate: 0.624805 m/s,
      LOS rate: 7.126939 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 70.247673 deg,
      new cmd heading: 70.490849 deg.

2020-12-13T22:26:15.645Z,1607898375.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:16.429Z,1607898376.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:16.825Z,1607898376.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:17.018Z,1607898377.018 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:26:17.662Z,1607898377.662 [Micromodem](INFO): Nmea in: $SNTTA,0.273297,,,,222617.61*4F

2020-12-13T22:26:18.122Z,1607898378.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 409.919983 m, bearing: 139.213981 deg, deltaT: 4.685024 s, approachRate: 0.461038 m/s, LOS rate: 8.772011 deg/s, posRepo size: 4
2020-12-13T22:26:18.124Z,1607898378.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 409.919983 m,
      bearing: 139.213981 deg,
      approachRate: 0.461038 m/s,
      LOS rate: 8.772011 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.448211 deg,
      new cmd heading: 131.270207 deg.

2020-12-13T22:26:20.534Z,1607898380.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:21.279Z,1607898381.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:21.708Z,1607898381.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:22.515Z,1607898382.515 [Micromodem](INFO): Nmea in: $SNTTA,0.273913,,,,222622.45*48

2020-12-13T22:26:22.940Z,1607898382.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 411.299988 m, bearing: 72.532149 deg, deltaT: 4.842093 s, approachRate: 0.285002 m/s, LOS rate: -13.771283 deg/s, posRepo size: 4
2020-12-13T22:26:22.957Z,1607898382.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.771283 deg/s. Setting heading cmd to target bearing of 72.532149deg and heading rate command to 0 deg/s.
2020-12-13T22:26:25.534Z,1607898385.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:26.123Z,1607898386.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:26.554Z,1607898386.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:26.928Z,1607898386.928 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 92
2020-12-13T22:26:27.357Z,1607898387.357 [Micromodem](INFO): Nmea in: $SNTTA,0.273757,,,,222627.30*41

2020-12-13T22:26:27.815Z,1607898387.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 410.880005 m, bearing: 134.149355 deg, deltaT: 4.807288 s, approachRate: -0.087364 m/s, LOS rate: 12.817457 deg/s, posRepo size: 4
2020-12-13T22:26:27.816Z,1607898387.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.817457 deg/s. Setting heading cmd to target bearing of 134.149355deg and heading rate command to 0 deg/s.
2020-12-13T22:26:29.964Z,1607898389.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:30.571Z,1607898390.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:30.969Z,1607898390.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:31.793Z,1607898391.793 [Micromodem](INFO): Nmea in: $SNTTA,0.273237,,,,222631.75*44

2020-12-13T22:26:31.970Z,1607898391.970 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:26:32.220Z,1607898392.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 409.679993 m, bearing: 192.263856 deg, deltaT: 4.635711 s, approachRate: -0.258863 m/s, LOS rate: 12.536265 deg/s, posRepo size: 4
2020-12-13T22:26:32.221Z,1607898392.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.536265 deg/s. Setting heading cmd to target bearing of 192.263856deg and heading rate command to 0 deg/s.
2020-12-13T22:26:34.632Z,1607898394.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:35.419Z,1607898395.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:35.825Z,1607898395.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:36.643Z,1607898396.643 [Micromodem](INFO): Nmea in: $SNTTA,0.272303,,,,222636.60*40

2020-12-13T22:26:37.064Z,1607898397.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 408.239990 m, bearing: 182.156023 deg, deltaT: 4.737173 s, approachRate: -0.303979 m/s, LOS rate: -2.133727 deg/s, posRepo size: 4
2020-12-13T22:26:37.066Z,1607898397.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 408.239990 m,
      bearing: 182.156023 deg,
      approachRate: -0.303979 m/s,
      LOS rate: -2.133727 deg/s,
      cmd update: -6.401180 deg/s,
      cmd heading: 192.263856 deg,
      new cmd heading: 192.263856 deg.

2020-12-13T22:26:39.530Z,1607898399.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:40.255Z,1607898400.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:40.697Z,1607898400.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:40.709Z,1607898400.709 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:26:41.195Z,1607898401.195 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:26:41.195Z,1607898401.195 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:26:41.196Z,1607898401.196 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:26:41.521Z,1607898401.521 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:26:41.890Z,1607898401.890 [Micromodem](INFO): Nmea in: $CADRQ,222642,1,9,0,64,1*4C

2020-12-13T22:26:41.890Z,1607898401.890 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:26:42.007Z,1607898402.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 405.959991 m, bearing: 186.969434 deg, deltaT: 4.801516 s, approachRate: -0.474850 m/s, LOS rate: 1.002478 deg/s, posRepo size: 4
2020-12-13T22:26:42.013Z,1607898402.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 405.959991 m,
      bearing: 186.969434 deg,
      approachRate: -0.474850 m/s,
      LOS rate: 1.002478 deg/s,
      cmd update: 3.007433 deg/s,
      cmd heading: 161.503105 deg,
      new cmd heading: 158.547514 deg.

2020-12-13T22:26:42.290Z,1607898402.290 [Micromodem](INFO): Nmea in: $SNTTA,0.270827,,,,222641.43*4E

2020-12-13T22:26:42.290Z,1607898402.290 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.270827,,,,222641.43*4E

2020-12-13T22:26:43.508Z,1607898403.508 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:26:43.906Z,1607898403.906 [Micromodem](INFO): Nmea in: $CADRQ,222643,1,9,0,64,2*4E

2020-12-13T22:26:43.906Z,1607898403.906 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:26:44.291Z,1607898404.291 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:26:44.338Z,1607898404.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:44.734Z,1607898404.734 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:26:45.131Z,1607898405.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:47.155Z,1607898407.155 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:26:47.155Z,1607898407.155 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:26:47.204Z,1607898407.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:47.567Z,1607898407.567 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222645.055243,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:26:47.568Z,1607898407.568 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222645.055243,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:26:50.018Z,1607898410.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:52.850Z,1607898412.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:55.858Z,1607898415.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:26:56.454Z,1607898416.454 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:26:56.855Z,1607898416.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:26:57.701Z,1607898417.701 [Micromodem](INFO): Nmea in: $SNTTA,0.264576,,,,222657.63*47

2020-12-13T22:26:58.178Z,1607898418.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 396.720001 m, bearing: 191.709791 deg, deltaT: 16.345045 s, approachRate: -0.565308 m/s, LOS rate: 0.290018 deg/s, posRepo size: 4
2020-12-13T22:26:58.180Z,1607898418.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 396.720001 m,
      bearing: 191.709791 deg,
      approachRate: -0.565308 m/s,
      LOS rate: 0.290018 deg/s,
      cmd update: 0.870054 deg/s,
      cmd heading: 210.658824 deg,
      new cmd heading: 211.526508 deg.

2020-12-13T22:27:00.640Z,1607898420.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:01.371Z,1607898421.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:01.781Z,1607898421.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:02.618Z,1607898422.618 [Micromodem](INFO): Nmea in: $SNTTA,0.262865,,,,222702.55*4A

2020-12-13T22:27:03.056Z,1607898423.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 394.139984 m, bearing: 191.106138 deg, deltaT: 4.821058 s, approachRate: -0.535156 m/s, LOS rate: -0.125212 deg/s, posRepo size: 4
2020-12-13T22:27:03.058Z,1607898423.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.139984 m,
      bearing: 191.106138 deg,
      approachRate: -0.535156 m/s,
      LOS rate: -0.125212 deg/s,
      cmd update: -0.375635 deg/s,
      cmd heading: 214.850204 deg,
      new cmd heading: 215.153716 deg.

2020-12-13T22:27:05.453Z,1607898425.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:06.215Z,1607898426.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:06.632Z,1607898426.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:07.449Z,1607898427.449 [Micromodem](INFO): Nmea in: $SNTTA,0.261053,,,,222707.39*4B

2020-12-13T22:27:07.905Z,1607898427.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 391.319977 m, bearing: 191.311194 deg, deltaT: 4.823829 s, approachRate: -0.584599 m/s, LOS rate: 0.042509 deg/s, posRepo size: 4
2020-12-13T22:27:07.907Z,1607898427.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 391.319977 m,
      bearing: 191.311194 deg,
      approachRate: -0.584599 m/s,
      LOS rate: 0.042509 deg/s,
      cmd update: 0.127527 deg/s,
      cmd heading: 213.038220 deg,
      new cmd heading: 212.897853 deg.

2020-12-13T22:27:10.429Z,1607898430.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:11.063Z,1607898431.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:11.478Z,1607898431.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:12.297Z,1607898432.297 [Micromodem](INFO): Nmea in: $SNTTA,0.259256,,,,222712.24*4F

2020-12-13T22:27:12.769Z,1607898432.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.800018 m, bearing: 189.977982 deg, deltaT: 4.777758 s, approachRate: -0.527435 m/s, LOS rate: -0.279046 deg/s, posRepo size: 4
2020-12-13T22:27:12.771Z,1607898432.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.800018 m,
      bearing: 189.977982 deg,
      approachRate: -0.527435 m/s,
      LOS rate: -0.279046 deg/s,
      cmd update: -0.837137 deg/s,
      cmd heading: 213.647815 deg,
      new cmd heading: 213.706156 deg.

2020-12-13T22:27:14.911Z,1607898434.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:15.530Z,1607898435.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:15.909Z,1607898435.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:16.778Z,1607898436.778 [Micromodem](INFO): Nmea in: $SNTTA,0.257822,,,,222716.71*4C

2020-12-13T22:27:17.172Z,1607898437.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 386.399963 m, bearing: 188.722853 deg, deltaT: 4.645818 s, approachRate: -0.516605 m/s, LOS rate: -0.270163 deg/s, posRepo size: 4
2020-12-13T22:27:17.174Z,1607898437.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.399963 m,
      bearing: 188.722853 deg,
      approachRate: -0.516605 m/s,
      LOS rate: -0.270163 deg/s,
      cmd update: -0.810490 deg/s,
      cmd heading: 209.757232 deg,
      new cmd heading: 209.578626 deg.

2020-12-13T22:27:19.615Z,1607898439.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:20.375Z,1607898440.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:20.786Z,1607898440.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:21.608Z,1607898441.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222721.55*58

2020-12-13T22:27:22.023Z,1607898442.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 384.119995 m, bearing: 191.906145 deg, deltaT: 4.800290 s, approachRate: -0.474965 m/s, LOS rate: 0.663146 deg/s, posRepo size: 4
2020-12-13T22:27:22.025Z,1607898442.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 384.119995 m,
      bearing: 191.906145 deg,
      approachRate: -0.474965 m/s,
      LOS rate: 0.663146 deg/s,
      cmd update: 1.989437 deg/s,
      cmd heading: 205.874959 deg,
      new cmd heading: 205.652342 deg.

2020-12-13T22:27:24.471Z,1607898444.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:25.215Z,1607898445.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:25.625Z,1607898445.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:26.447Z,1607898446.447 [Micromodem](INFO): Nmea in: $SNTTA,0.253953,,,,222726.39*40

2020-12-13T22:27:27.289Z,1607898447.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:28.846Z,1607898448.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:27:29.866Z,1607898449.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:30.472Z,1607898450.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:30.874Z,1607898450.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:31.748Z,1607898451.748 [Micromodem](INFO): Nmea in: $SNTTA,0.251984,,,,222731.65*47

2020-12-13T22:27:32.120Z,1607898452.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 377.399994 m, bearing: 191.047194 deg, deltaT: 10.063608 s, approachRate: -0.667753 m/s, LOS rate: -0.085352 deg/s, posRepo size: 4
2020-12-13T22:27:32.147Z,1607898452.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.399994 m,
      bearing: 191.047194 deg,
      approachRate: -0.667753 m/s,
      LOS rate: -0.085352 deg/s,
      cmd update: -0.256057 deg/s,
      cmd heading: 225.908380 deg,
      new cmd heading: 226.508036 deg.

2020-12-13T22:27:34.576Z,1607898454.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:35.319Z,1607898455.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:35.749Z,1607898455.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:36.561Z,1607898456.561 [Micromodem](INFO): Nmea in: $SNTTA,0.250036,,,,222736.49*4F

2020-12-13T22:27:36.978Z,1607898456.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 374.819977 m, bearing: 191.382980 deg, deltaT: 4.829714 s, approachRate: -0.534197 m/s, LOS rate: 0.069525 deg/s, posRepo size: 4
2020-12-13T22:27:36.980Z,1607898456.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 374.819977 m,
      bearing: 191.382980 deg,
      approachRate: -0.534197 m/s,
      LOS rate: 0.069525 deg/s,
      cmd update: 0.208575 deg/s,
      cmd heading: 224.673505 deg,
      new cmd heading: 224.587273 deg.

2020-12-13T22:27:39.375Z,1607898459.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:40.163Z,1607898460.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:40.577Z,1607898460.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:41.461Z,1607898461.461 [Micromodem](INFO): Nmea in: $SNTTA,0.248588,,,,222741.34*4C

2020-12-13T22:27:41.950Z,1607898461.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 372.720001 m, bearing: 193.213061 deg, deltaT: 4.860037 s, approachRate: -0.432090 m/s, LOS rate: 0.376557 deg/s, posRepo size: 4
2020-12-13T22:27:41.954Z,1607898461.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.720001 m,
      bearing: 193.213061 deg,
      approachRate: -0.432090 m/s,
      LOS rate: 0.376557 deg/s,
      cmd update: 1.129671 deg/s,
      cmd heading: 225.683969 deg,
      new cmd heading: 225.780708 deg.

2020-12-13T22:27:44.295Z,1607898464.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:45.089Z,1607898465.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:45.502Z,1607898465.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:27:46.325Z,1607898466.325 [Micromodem](INFO): Nmea in: $SNTTA,0.246877,,,,222746.27*4A

2020-12-13T22:27:46.325Z,1607898466.325 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:27:46.881Z,1607898466.881 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:27:46.882Z,1607898466.882 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:27:46.882Z,1607898466.882 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:27:46.964Z,1607898466.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 370.139984 m, bearing: 189.991698 deg, deltaT: 4.829326 s, approachRate: -0.534240 m/s, LOS rate: -0.667042 deg/s, posRepo size: 4
2020-12-13T22:27:46.966Z,1607898466.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 370.139984 m,
      bearing: 189.991698 deg,
      approachRate: -0.534240 m/s,
      LOS rate: -0.667042 deg/s,
      cmd update: -2.001126 deg/s,
      cmd heading: 231.169165 deg,
      new cmd heading: 231.872398 deg.

2020-12-13T22:27:47.574Z,1607898467.574 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:27:47.962Z,1607898467.962 [Micromodem](INFO): Nmea in: $CADRQ,222747,1,9,0,64,1*48

2020-12-13T22:27:47.962Z,1607898467.962 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:27:48.381Z,1607898468.381 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:27:48.790Z,1607898468.790 [Micromodem](INFO): Nmea in: $CADRQ,222749,1,9,0,64,2*45

2020-12-13T22:27:48.790Z,1607898468.790 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:27:48.869Z,1607898468.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:49.165Z,1607898469.165 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:27:49.564Z,1607898469.564 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:27:49.565Z,1607898469.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:27:51.643Z,1607898471.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:51.996Z,1607898471.996 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:27:51.997Z,1607898471.997 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:27:52.407Z,1607898472.407 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222749.938684,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:27:52.407Z,1607898472.407 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222749.938684,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:27:54.455Z,1607898474.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:55.871Z,1607898475.871 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:27:56.963Z,1607898476.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:27:59.816Z,1607898479.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:00.906Z,1607898480.906 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:01.318Z,1607898481.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:02.149Z,1607898482.149 [Micromodem](INFO): Nmea in: $SNTTA,0.242182,,,,222802.08*4F

2020-12-13T22:28:02.647Z,1607898482.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 362.519989 m, bearing: 186.673387 deg, deltaT: 15.982672 s, approachRate: -0.476766 m/s, LOS rate: -0.207619 deg/s, posRepo size: 4
2020-12-13T22:28:02.649Z,1607898482.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.519989 m,
      bearing: 186.673387 deg,
      approachRate: -0.476766 m/s,
      LOS rate: -0.207619 deg/s,
      cmd update: -0.622858 deg/s,
      cmd heading: 199.185464 deg,
      new cmd heading: 198.539016 deg.

2020-12-13T22:28:05.070Z,1607898485.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:05.839Z,1607898485.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:06.233Z,1607898486.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:07.104Z,1607898487.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222807.02*51

2020-12-13T22:28:07.546Z,1607898487.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 359.639984 m, bearing: 186.087807 deg, deltaT: 4.794049 s, approachRate: -0.600746 m/s, LOS rate: -0.122147 deg/s, posRepo size: 4
2020-12-13T22:28:07.548Z,1607898487.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.639984 m,
      bearing: 186.087807 deg,
      approachRate: -0.600746 m/s,
      LOS rate: -0.122147 deg/s,
      cmd update: -0.366441 deg/s,
      cmd heading: 196.199469 deg,
      new cmd heading: 195.932965 deg.

2020-12-13T22:28:09.998Z,1607898489.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:10.743Z,1607898490.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:11.133Z,1607898491.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:11.957Z,1607898491.957 [Micromodem](INFO): Nmea in: $SNTTA,0.237770,,,,222811.92*47

2020-12-13T22:28:12.380Z,1607898492.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.519989 m, bearing: 182.957149 deg, deltaT: 4.897105 s, approachRate: -0.637110 m/s, LOS rate: -0.639288 deg/s, posRepo size: 4
2020-12-13T22:28:12.382Z,1607898492.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.519989 m,
      bearing: 182.957149 deg,
      approachRate: -0.637110 m/s,
      LOS rate: -0.639288 deg/s,
      cmd update: -1.917862 deg/s,
      cmd heading: 194.408614 deg,
      new cmd heading: 194.271330 deg.

2020-12-13T22:28:14.874Z,1607898494.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:15.575Z,1607898495.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:15.993Z,1607898495.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:16.841Z,1607898496.841 [Micromodem](INFO): Nmea in: $SNTTA,0.235892,,,,222816.75*48

2020-12-13T22:28:17.224Z,1607898497.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.700012 m, bearing: 184.412539 deg, deltaT: 4.891957 s, approachRate: -0.576452 m/s, LOS rate: 0.297507 deg/s, posRepo size: 4
2020-12-13T22:28:17.242Z,1607898497.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.700012 m,
      bearing: 184.412539 deg,
      approachRate: -0.576452 m/s,
      LOS rate: 0.297507 deg/s,
      cmd update: 0.892520 deg/s,
      cmd heading: 185.014964 deg,
      new cmd heading: 184.399698 deg.

2020-12-13T22:28:19.820Z,1607898499.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:20.436Z,1607898500.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:20.833Z,1607898500.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:21.661Z,1607898501.661 [Micromodem](INFO): Nmea in: $SNTTA,0.233879,,,,222821.61*4A

2020-12-13T22:28:22.539Z,1607898502.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:24.086Z,1607898504.086 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:28:25.313Z,1607898505.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:26.095Z,1607898506.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:26.557Z,1607898506.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:27.341Z,1607898507.341 [Micromodem](INFO): Nmea in: $SNTTA,0.231498,,,,222827.27*4F

2020-12-13T22:28:27.817Z,1607898507.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.160004 m, bearing: 183.361865 deg, deltaT: 10.500893 s, approachRate: -0.622805 m/s, LOS rate: -0.100056 deg/s, posRepo size: 4
2020-12-13T22:28:27.819Z,1607898507.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.160004 m,
      bearing: 183.361865 deg,
      approachRate: -0.622805 m/s,
      LOS rate: -0.100056 deg/s,
      cmd update: -0.300167 deg/s,
      cmd heading: 194.388858 deg,
      new cmd heading: 194.755206 deg.

2020-12-13T22:28:30.177Z,1607898510.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:30.971Z,1607898510.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:31.369Z,1607898511.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:32.217Z,1607898512.217 [Micromodem](INFO): Nmea in: $SNTTA,0.229490,,,,222832.15*4B

2020-12-13T22:28:32.989Z,1607898512.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.039978 m, bearing: 182.880665 deg, deltaT: 4.867748 s, approachRate: -0.640959 m/s, LOS rate: -0.098855 deg/s, posRepo size: 4
2020-12-13T22:28:32.991Z,1607898512.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.039978 m,
      bearing: 182.880665 deg,
      approachRate: -0.640959 m/s,
      LOS rate: -0.098855 deg/s,
      cmd update: -0.296565 deg/s,
      cmd heading: 192.929426 deg,
      new cmd heading: 192.728484 deg.

2020-12-13T22:28:35.047Z,1607898515.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:35.647Z,1607898515.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:36.063Z,1607898516.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:36.891Z,1607898516.891 [Micromodem](INFO): Nmea in: $SNTTA,0.227593,,,,222836.82*4D

2020-12-13T22:28:37.288Z,1607898517.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.220001 m, bearing: 181.516512 deg, deltaT: 4.678479 s, approachRate: -0.602755 m/s, LOS rate: -0.291580 deg/s, posRepo size: 4
2020-12-13T22:28:37.290Z,1607898517.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.220001 m,
      bearing: 181.516512 deg,
      approachRate: -0.602755 m/s,
      LOS rate: -0.291580 deg/s,
      cmd update: -0.874741 deg/s,
      cmd heading: 191.546984 deg,
      new cmd heading: 191.440716 deg.

2020-12-13T22:28:39.475Z,1607898519.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:40.083Z,1607898520.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:40.524Z,1607898520.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:41.317Z,1607898521.317 [Micromodem](INFO): Nmea in: $SNTTA,0.225759,,,,222841.26*45

2020-12-13T22:28:41.822Z,1607898521.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 338.519989 m, bearing: 182.376747 deg, deltaT: 4.614939 s, approachRate: -0.585059 m/s, LOS rate: 0.186402 deg/s, posRepo size: 4
2020-12-13T22:28:41.824Z,1607898521.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.519989 m,
      bearing: 182.376747 deg,
      approachRate: -0.585059 m/s,
      LOS rate: 0.186402 deg/s,
      cmd update: 0.559207 deg/s,
      cmd heading: 187.488449 deg,
      new cmd heading: 187.267167 deg.

2020-12-13T22:28:44.199Z,1607898524.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:44.999Z,1607898524.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:45.397Z,1607898525.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:46.253Z,1607898526.253 [Micromodem](INFO): Nmea in: $SNTTA,0.223719,,,,222846.18*4D

2020-12-13T22:28:46.721Z,1607898526.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.459991 m, bearing: 182.907056 deg, deltaT: 4.698536 s, approachRate: -0.651266 m/s, LOS rate: 0.112867 deg/s, posRepo size: 4
2020-12-13T22:28:46.723Z,1607898526.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.459991 m,
      bearing: 182.907056 deg,
      approachRate: -0.651266 m/s,
      LOS rate: 0.112867 deg/s,
      cmd update: 0.338601 deg/s,
      cmd heading: 190.115794 deg,
      new cmd heading: 190.369159 deg.

2020-12-13T22:28:49.130Z,1607898529.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:49.897Z,1607898529.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:50.297Z,1607898530.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:28:51.156Z,1607898531.156 [Micromodem](INFO): Nmea in: $SNTTA,0.221640,,,,222851.07*4A

2020-12-13T22:28:51.567Z,1607898531.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 332.279999 m, bearing: 183.248470 deg, deltaT: 4.902333 s, approachRate: -0.648669 m/s, LOS rate: 0.069643 deg/s, posRepo size: 4
2020-12-13T22:28:51.569Z,1607898531.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.279999 m,
      bearing: 183.248470 deg,
      approachRate: -0.648669 m/s,
      LOS rate: 0.069643 deg/s,
      cmd update: 0.208929 deg/s,
      cmd heading: 191.775632 deg,
      new cmd heading: 191.910062 deg.

2020-12-13T22:28:51.922Z,1607898531.922 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:28:52.471Z,1607898532.471 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:28:52.472Z,1607898532.472 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:28:52.472Z,1607898532.472 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:28:52.906Z,1607898532.906 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:28:53.306Z,1607898533.306 [Micromodem](INFO): Nmea in: $CADRQ,222853,1,9,0,64,1*42

2020-12-13T22:28:53.306Z,1607898533.306 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:28:53.727Z,1607898533.727 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:28:53.796Z,1607898533.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:54.109Z,1607898534.109 [Micromodem](INFO): Nmea in: $CADRQ,222854,1,9,0,64,2*46

2020-12-13T22:28:54.111Z,1607898534.111 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:28:54.513Z,1607898534.513 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:28:54.516Z,1607898534.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:28:54.926Z,1607898534.926 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:28:54.927Z,1607898534.927 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:28:56.597Z,1607898536.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:28:57.354Z,1607898537.354 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:28:57.355Z,1607898537.355 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:28:57.748Z,1607898537.748 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,222855.260034,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T22:28:57.748Z,1607898537.748 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,222855.260034,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T22:28:59.139Z,1607898539.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:01.865Z,1607898541.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:04.693Z,1607898544.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:05.874Z,1607898545.874 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:06.265Z,1607898546.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:07.082Z,1607898547.082 [Micromodem](INFO): Nmea in: $SNTTA,0.215105,,,,222907.05*4B

2020-12-13T22:29:07.707Z,1607898547.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.499969 m, bearing: 183.118587 deg, deltaT: 15.959875 s, approachRate: -0.612789 m/s, LOS rate: -0.008138 deg/s, posRepo size: 4
2020-12-13T22:29:07.709Z,1607898547.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.499969 m,
      bearing: 183.118587 deg,
      approachRate: -0.612789 m/s,
      LOS rate: -0.008138 deg/s,
      cmd update: -0.024414 deg/s,
      cmd heading: 195.110211 deg,
      new cmd heading: 195.230729 deg.

2020-12-13T22:29:09.934Z,1607898549.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:10.739Z,1607898550.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:11.123Z,1607898551.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:12.342Z,1607898552.342 [Micromodem](INFO): Nmea in: $SNTTA,0.213105,,,,222911.91*EV,222912,AUV,2.0.32731*13

2020-12-13T22:29:12.343Z,1607898552.343 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.213105,,,,222911.91*EV,222912,AUV,2.0.32731*13
 expected 47
2020-12-13T22:29:12.384Z,1607898552.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.500000 m, bearing: 182.978446 deg, deltaT: 4.983141 s, approachRate: -0.602024 m/s, LOS rate: -0.028123 deg/s, posRepo size: 4
2020-12-13T22:29:12.386Z,1607898552.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.500000 m,
      bearing: 182.978446 deg,
      approachRate: -0.602024 m/s,
      LOS rate: -0.028123 deg/s,
      cmd update: -0.084370 deg/s,
      cmd heading: 194.988553 deg,
      new cmd heading: 194.981945 deg.

2020-12-13T22:29:14.793Z,1607898554.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:15.571Z,1607898555.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:15.957Z,1607898555.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:16.777Z,1607898556.777 [Micromodem](INFO): Nmea in: $SNTTA,0.211113,,,,222916.75*4F

2020-12-13T22:29:17.202Z,1607898557.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.500000 m, bearing: 183.130950 deg, deltaT: 4.743511 s, approachRate: -0.632443 m/s, LOS rate: 0.032150 deg/s, posRepo size: 4
2020-12-13T22:29:17.204Z,1607898557.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.500000 m,
      bearing: 183.130950 deg,
      approachRate: -0.632443 m/s,
      LOS rate: 0.032150 deg/s,
      cmd update: 0.096450 deg/s,
      cmd heading: 194.588345 deg,
      new cmd heading: 194.559178 deg.

2020-12-13T22:29:19.667Z,1607898559.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:20.395Z,1607898560.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:20.914Z,1607898560.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:21.739Z,1607898561.739 [Micromodem](INFO): Nmea in: $SNTTA,0.209275,,,,222921.57*41

2020-12-13T22:29:22.153Z,1607898562.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.799988 m, bearing: 183.402423 deg, deltaT: 4.993661 s, approachRate: -0.540688 m/s, LOS rate: 0.054363 deg/s, posRepo size: 4
2020-12-13T22:29:22.154Z,1607898562.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.799988 m,
      bearing: 183.402423 deg,
      approachRate: -0.540688 m/s,
      LOS rate: 0.054363 deg/s,
      cmd update: 0.163090 deg/s,
      cmd heading: 195.069612 deg,
      new cmd heading: 195.099119 deg.

2020-12-13T22:29:24.764Z,1607898564.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:25.387Z,1607898565.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:25.801Z,1607898565.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:26.625Z,1607898566.625 [Micromodem](INFO): Nmea in: $SNTTA,0.207306,,,,222926.56*4C

2020-12-13T22:29:27.100Z,1607898567.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.739990 m, bearing: 183.190168 deg, deltaT: 5.012565 s, approachRate: -0.610465 m/s, LOS rate: -0.042345 deg/s, posRepo size: 4
2020-12-13T22:29:27.106Z,1607898567.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.739990 m,
      bearing: 183.190168 deg,
      approachRate: -0.610465 m/s,
      LOS rate: -0.042345 deg/s,
      cmd update: -0.127034 deg/s,
      cmd heading: 195.887749 deg,
      new cmd heading: 195.926420 deg.

2020-12-13T22:29:29.535Z,1607898569.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:30.279Z,1607898570.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:30.701Z,1607898570.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:30.732Z,1607898570.732 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:29:31.532Z,1607898571.532 [Micromodem](INFO): Nmea in: $SNTTA,0.205090,,,,222931.46*45

2020-12-13T22:29:31.935Z,1607898571.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.439972 m, bearing: 183.712049 deg, deltaT: 4.718273 s, approachRate: -0.699412 m/s, LOS rate: 0.110608 deg/s, posRepo size: 4
2020-12-13T22:29:31.953Z,1607898571.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.439972 m,
      bearing: 183.712049 deg,
      approachRate: -0.699412 m/s,
      LOS rate: 0.110608 deg/s,
      cmd update: 0.331825 deg/s,
      cmd heading: 195.289373 deg,
      new cmd heading: 195.243422 deg.

2020-12-13T22:29:34.379Z,1607898574.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:35.119Z,1607898575.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:35.569Z,1607898575.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:36.362Z,1607898576.362 [Micromodem](INFO): Nmea in: $SNTTA,0.408794,,,,222936.29*43

2020-12-13T22:29:36.842Z,1607898576.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.320007 m, bearing: 183.069984 deg, deltaT: 4.831620 s, approachRate: -0.645739 m/s, LOS rate: -0.132888 deg/s, posRepo size: 4
2020-12-13T22:29:36.844Z,1607898576.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.320007 m,
      bearing: 183.069984 deg,
      approachRate: -0.645739 m/s,
      LOS rate: -0.132888 deg/s,
      cmd update: -0.398664 deg/s,
      cmd heading: 196.891426 deg,
      new cmd heading: 197.035735 deg.

2020-12-13T22:29:39.238Z,1607898579.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:40.007Z,1607898580.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:40.417Z,1607898580.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:41.229Z,1607898581.229 [Micromodem](INFO): Nmea in: $SNTTA,0.200954,,,,222941.18*4D

2020-12-13T22:29:41.698Z,1607898581.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.319977 m, bearing: 184.286263 deg, deltaT: 4.854940 s, approachRate: -0.617934 m/s, LOS rate: 0.250524 deg/s, posRepo size: 4
2020-12-13T22:29:41.700Z,1607898581.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.319977 m,
      bearing: 184.286263 deg,
      approachRate: -0.617934 m/s,
      LOS rate: 0.250524 deg/s,
      cmd update: 0.751572 deg/s,
      cmd heading: 194.953119 deg,
      new cmd heading: 194.779741 deg.

2020-12-13T22:29:44.218Z,1607898584.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:44.843Z,1607898584.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:45.253Z,1607898585.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:46.081Z,1607898586.081 [Micromodem](INFO): Nmea in: $SNTTA,0.198990,,,,222946.02*4B

2020-12-13T22:29:46.546Z,1607898586.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.380005 m, bearing: 184.844508 deg, deltaT: 5.020056 s, approachRate: -0.585645 m/s, LOS rate: 0.111203 deg/s, posRepo size: 4
2020-12-13T22:29:46.548Z,1607898586.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.380005 m,
      bearing: 184.844508 deg,
      approachRate: -0.585645 m/s,
      LOS rate: 0.111203 deg/s,
      cmd update: 0.333609 deg/s,
      cmd heading: 198.729468 deg,
      new cmd heading: 198.923043 deg.

2020-12-13T22:29:48.544Z,1607898588.544 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T22:19:48.5Z
2020-12-13T22:29:48.544Z,1607898588.544 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T22:29:48.544Z,1607898588.544 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:29:48.544Z,1607898588.544 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T22:29:48.544Z,1607898588.544 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:29:48.545Z,1607898588.545 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T22:29:48.930Z,1607898588.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:48.931Z,1607898588.931 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T22:29:48.931Z,1607898588.931 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T22:29:48.931Z,1607898588.931 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T22:29:48.931Z,1607898588.931 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:29:48.931Z,1607898588.931 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T22:29:49.763Z,1607898589.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:50.217Z,1607898590.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:51.033Z,1607898591.033 [Micromodem](INFO): Nmea in: $SNTTA,0.197018,,,,222950.94*45

2020-12-13T22:29:51.494Z,1607898591.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.439972 m, bearing: 185.342893 deg, deltaT: 4.763559 s, approachRate: -0.617193 m/s, LOS rate: 0.104625 deg/s, posRepo size: 4
2020-12-13T22:29:51.521Z,1607898591.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.439972 m,
      bearing: 185.342893 deg,
      approachRate: -0.617193 m/s,
      LOS rate: 0.104625 deg/s,
      cmd update: 0.313874 deg/s,
      cmd heading: 200.318634 deg,
      new cmd heading: 200.464823 deg.

2020-12-13T22:29:53.935Z,1607898593.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:54.687Z,1607898594.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:29:55.077Z,1607898595.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:29:55.909Z,1607898595.909 [Micromodem](INFO): Nmea in: $SNTTA,0.195083,,,,222955.86*43

2020-12-13T22:29:56.330Z,1607898596.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.440002 m, bearing: 183.630647 deg, deltaT: 4.881968 s, approachRate: -0.614500 m/s, LOS rate: -0.350729 deg/s, posRepo size: 4
2020-12-13T22:29:56.332Z,1607898596.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.440002 m,
      bearing: 183.630647 deg,
      approachRate: -0.614500 m/s,
      LOS rate: -0.350729 deg/s,
      cmd update: -1.052186 deg/s,
      cmd heading: 201.850952 deg,
      new cmd heading: 201.975345 deg.

2020-12-13T22:29:57.519Z,1607898597.519 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:29:58.041Z,1607898598.041 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:29:58.042Z,1607898598.042 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:29:58.042Z,1607898598.042 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:29:58.330Z,1607898598.330 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:29:58.731Z,1607898598.731 [Micromodem](INFO): Nmea in: $CADRQ,222959,1,9,0,64,1*49

2020-12-13T22:29:58.731Z,1607898598.731 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:29:58.915Z,1607898598.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:29:59.130Z,1607898599.130 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:29:59.523Z,1607898599.523 [Micromodem](INFO): Nmea in: $CADRQ,222959,1,9,0,64,2*4A

2020-12-13T22:29:59.524Z,1607898599.524 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:29:59.924Z,1607898599.924 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:29:59.925Z,1607898599.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:00.326Z,1607898600.326 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:30:00.326Z,1607898600.326 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:30:01.588Z,1607898601.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:02.742Z,1607898602.742 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:30:02.743Z,1607898602.743 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:30:03.164Z,1607898603.164 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223000.671388,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:30:03.164Z,1607898603.164 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223000.671388,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:30:04.378Z,1607898604.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:06.892Z,1607898606.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:09.699Z,1607898609.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:11.226Z,1607898611.226 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:11.658Z,1607898611.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:12.220Z,1607898612.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:12.471Z,1607898612.471 [Micromodem](INFO): Nmea in: $SNTTA,0.188481,,,,223012.40*48

2020-12-13T22:30:12.908Z,1607898612.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.600006 m, bearing: 183.422176 deg, deltaT: 16.587523 s, approachRate: -0.593217 m/s, LOS rate: -0.012568 deg/s, posRepo size: 4
2020-12-13T22:30:12.910Z,1607898612.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.600006 m,
      bearing: 183.422176 deg,
      approachRate: -0.593217 m/s,
      LOS rate: -0.012568 deg/s,
      cmd update: -0.037704 deg/s,
      cmd heading: 184.416764 deg,
      new cmd heading: 183.990468 deg.

2020-12-13T22:30:15.298Z,1607898615.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:16.087Z,1607898616.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:16.510Z,1607898616.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:17.337Z,1607898617.337 [Micromodem](INFO): Nmea in: $SNTTA,0.186458,,,,223017.26*47

2020-12-13T22:30:17.811Z,1607898617.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.479980 m, bearing: 182.755454 deg, deltaT: 4.830778 s, approachRate: -0.645864 m/s, LOS rate: -0.138015 deg/s, posRepo size: 4
2020-12-13T22:30:17.813Z,1607898617.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.479980 m,
      bearing: 182.755454 deg,
      approachRate: -0.645864 m/s,
      LOS rate: -0.138015 deg/s,
      cmd update: -0.414046 deg/s,
      cmd heading: 184.233950 deg,
      new cmd heading: 184.216627 deg.

2020-12-13T22:30:20.200Z,1607898620.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:20.975Z,1607898620.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:21.377Z,1607898621.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:22.214Z,1607898622.214 [Micromodem](INFO): Nmea in: $SNTTA,0.184461,,,,223022.15*49

2020-12-13T22:30:22.644Z,1607898622.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.540009 m, bearing: 182.624396 deg, deltaT: 4.887647 s, approachRate: -0.601511 m/s, LOS rate: -0.026814 deg/s, posRepo size: 4
2020-12-13T22:30:22.646Z,1607898622.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.540009 m,
      bearing: 182.624396 deg,
      approachRate: -0.601511 m/s,
      LOS rate: -0.026814 deg/s,
      cmd update: -0.080442 deg/s,
      cmd heading: 182.211395 deg,
      new cmd heading: 182.042593 deg.

2020-12-13T22:30:25.182Z,1607898625.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:25.835Z,1607898625.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:26.233Z,1607898626.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:27.057Z,1607898627.057 [Micromodem](INFO): Nmea in: $SNTTA,0.182401,,,,223027.01*49

2020-12-13T22:30:27.533Z,1607898627.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.419983 m, bearing: 181.958439 deg, deltaT: 4.861701 s, approachRate: -0.641756 m/s, LOS rate: -0.136980 deg/s, posRepo size: 4
2020-12-13T22:30:27.541Z,1607898627.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.419983 m,
      bearing: 181.958439 deg,
      approachRate: -0.641756 m/s,
      LOS rate: -0.136980 deg/s,
      cmd update: -0.410941 deg/s,
      cmd heading: 181.820397 deg,
      new cmd heading: 181.785677 deg.

2020-12-13T22:30:29.734Z,1607898629.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:30.307Z,1607898630.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:30.742Z,1607898630.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:31.565Z,1607898631.565 [Micromodem](INFO): Nmea in: $SNTTA,0.180493,,,,223031.48*4A

2020-12-13T22:30:32.024Z,1607898632.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.539978 m, bearing: 183.994996 deg, deltaT: 4.716986 s, approachRate: -0.610560 m/s, LOS rate: 0.431750 deg/s, posRepo size: 4
2020-12-13T22:30:32.026Z,1607898632.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.539978 m,
      bearing: 183.994996 deg,
      approachRate: -0.610560 m/s,
      LOS rate: 0.431750 deg/s,
      cmd update: 1.295249 deg/s,
      cmd heading: 179.884746 deg,
      new cmd heading: 179.795652 deg.

2020-12-13T22:30:34.457Z,1607898634.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:35.227Z,1607898635.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:35.646Z,1607898635.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:36.465Z,1607898636.465 [Micromodem](INFO): Nmea in: $SNTTA,0.178491,,,,223036.40*40

2020-12-13T22:30:36.926Z,1607898636.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.540009 m, bearing: 184.751399 deg, deltaT: 4.736192 s, approachRate: -0.633414 m/s, LOS rate: 0.159707 deg/s, posRepo size: 4
2020-12-13T22:30:36.928Z,1607898636.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.540009 m,
      bearing: 184.751399 deg,
      approachRate: -0.633414 m/s,
      LOS rate: 0.159707 deg/s,
      cmd update: 0.479121 deg/s,
      cmd heading: 186.027846 deg,
      new cmd heading: 186.514389 deg.

2020-12-13T22:30:39.324Z,1607898639.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:40.075Z,1607898640.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:40.505Z,1607898640.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:41.321Z,1607898641.321 [Micromodem](INFO): Nmea in: $SNTTA,0.176320,,,,223041.25*40

2020-12-13T22:30:41.767Z,1607898641.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.299988 m, bearing: 183.656615 deg, deltaT: 4.792461 s, approachRate: -0.676066 m/s, LOS rate: -0.228439 deg/s, posRepo size: 4
2020-12-13T22:30:41.769Z,1607898641.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.299988 m,
      bearing: 183.656615 deg,
      approachRate: -0.676066 m/s,
      LOS rate: -0.228439 deg/s,
      cmd update: -0.685316 deg/s,
      cmd heading: 188.325023 deg,
      new cmd heading: 188.527178 deg.

2020-12-13T22:30:44.214Z,1607898644.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:44.975Z,1607898644.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:45.375Z,1607898645.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:46.212Z,1607898646.212 [Micromodem](INFO): Nmea in: $SNTTA,0.174305,,,,223046.15*41

2020-12-13T22:30:46.614Z,1607898646.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.239990 m, bearing: 184.333992 deg, deltaT: 4.879519 s, approachRate: -0.627110 m/s, LOS rate: 0.138820 deg/s, posRepo size: 4
2020-12-13T22:30:46.615Z,1607898646.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.239990 m,
      bearing: 184.333992 deg,
      approachRate: -0.627110 m/s,
      LOS rate: 0.138820 deg/s,
      cmd update: 0.416461 deg/s,
      cmd heading: 184.979628 deg,
      new cmd heading: 184.714294 deg.

2020-12-13T22:30:49.178Z,1607898649.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:49.834Z,1607898649.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:50.217Z,1607898650.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:51.049Z,1607898651.049 [Micromodem](INFO): Nmea in: $SNTTA,0.172295,,,,223051.01*4C

2020-12-13T22:30:51.475Z,1607898651.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.600006 m, bearing: 185.387768 deg, deltaT: 4.990419 s, approachRate: -0.529011 m/s, LOS rate: 0.211160 deg/s, posRepo size: 4
2020-12-13T22:30:51.477Z,1607898651.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.600006 m,
      bearing: 185.387768 deg,
      approachRate: -0.529011 m/s,
      LOS rate: 0.211160 deg/s,
      cmd update: 0.633479 deg/s,
      cmd heading: 187.057946 deg,
      new cmd heading: 187.165467 deg.

2020-12-13T22:30:53.899Z,1607898653.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:54.692Z,1607898654.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:55.065Z,1607898655.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:30:55.905Z,1607898655.905 [Micromodem](INFO): Nmea in: $SNTTA,0.170241,,,,223055.87*4D

2020-12-13T22:30:56.319Z,1607898656.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.119980 m, bearing: 184.643400 deg, deltaT: 4.740757 s, approachRate: -0.734066 m/s, LOS rate: -0.157015 deg/s, posRepo size: 4
2020-12-13T22:30:56.321Z,1607898656.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.119980 m,
      bearing: 184.643400 deg,
      approachRate: -0.734066 m/s,
      LOS rate: -0.157015 deg/s,
      cmd update: -0.471044 deg/s,
      cmd heading: 190.058563 deg,
      new cmd heading: 190.290269 deg.

2020-12-13T22:30:58.809Z,1607898658.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:30:59.571Z,1607898659.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:30:59.957Z,1607898659.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:00.778Z,1607898660.778 [Micromodem](INFO): Nmea in: $SNTTA,0.168143,,,,223100.75*49

2020-12-13T22:31:01.204Z,1607898661.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.000000 m, bearing: 185.232763 deg, deltaT: 4.894726 s, approachRate: -0.637417 m/s, LOS rate: 0.120408 deg/s, posRepo size: 4
2020-12-13T22:31:01.206Z,1607898661.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.000000 m,
      bearing: 185.232763 deg,
      approachRate: -0.637417 m/s,
      LOS rate: 0.120408 deg/s,
      cmd update: 0.361223 deg/s,
      cmd heading: 187.754977 deg,
      new cmd heading: 187.585242 deg.

2020-12-13T22:31:03.197Z,1607898663.197 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:31:03.785Z,1607898663.785 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:31:03.786Z,1607898663.786 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:31:03.786Z,1607898663.786 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:31:03.879Z,1607898663.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:04.061Z,1607898664.061 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:31:04.465Z,1607898664.465 [Micromodem](INFO): Nmea in: $CADRQ,223104,1,9,0,64,1*48

2020-12-13T22:31:04.466Z,1607898664.466 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:31:04.855Z,1607898664.855 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:31:04.855Z,1607898664.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:05.263Z,1607898665.263 [Micromodem](INFO): Nmea in: $CADRQ,223105,1,9,0,64,2*4A

2020-12-13T22:31:05.263Z,1607898665.263 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,223105,1,9,0,64,2*4A

2020-12-13T22:31:05.677Z,1607898665.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:06.089Z,1607898666.089 [Micromodem](INFO): Nmea in: $SNTTA,0.165798,,,,223106.03*43

2020-12-13T22:31:06.547Z,1607898666.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.580002 m, bearing: 186.347259 deg, deltaT: 5.282855 s, approachRate: -0.647377 m/s, LOS rate: 0.210965 deg/s, posRepo size: 4
2020-12-13T22:31:06.550Z,1607898666.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.580002 m,
      bearing: 186.347259 deg,
      approachRate: -0.647377 m/s,
      LOS rate: 0.210965 deg/s,
      cmd update: 0.632894 deg/s,
      cmd heading: 189.654777 deg,
      new cmd heading: 189.815277 deg.

2020-12-13T22:31:08.531Z,1607898668.531 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:31:08.975Z,1607898668.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:09.731Z,1607898669.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:10.117Z,1607898670.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:10.938Z,1607898670.938 [Micromodem](INFO): Nmea in: $SNTTA,0.163714,,,,223110.91*4D

2020-12-13T22:31:11.399Z,1607898671.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.339981 m, bearing: 185.216685 deg, deltaT: 4.847877 s, approachRate: -0.668338 m/s, LOS rate: -0.233210 deg/s, posRepo size: 4
2020-12-13T22:31:11.402Z,1607898671.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.339981 m,
      bearing: 185.216685 deg,
      approachRate: -0.668338 m/s,
      LOS rate: -0.233210 deg/s,
      cmd update: -0.699630 deg/s,
      cmd heading: 192.730451 deg,
      new cmd heading: 193.005977 deg.

2020-12-13T22:31:13.782Z,1607898673.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:14.587Z,1607898674.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:15.021Z,1607898675.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:15.843Z,1607898675.843 [Micromodem](INFO): Nmea in: $SNTTA,0.161866,,,,223115.76*49

2020-12-13T22:31:16.273Z,1607898676.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.639984 m, bearing: 185.104397 deg, deltaT: 4.947967 s, approachRate: -0.545678 m/s, LOS rate: -0.022694 deg/s, posRepo size: 4
2020-12-13T22:31:16.275Z,1607898676.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.639984 m,
      bearing: 185.104397 deg,
      approachRate: -0.545678 m/s,
      LOS rate: -0.022694 deg/s,
      cmd update: -0.068081 deg/s,
      cmd heading: 189.257502 deg,
      new cmd heading: 189.015615 deg.

2020-12-13T22:31:18.738Z,1607898678.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:19.494Z,1607898679.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:19.891Z,1607898679.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:20.722Z,1607898680.722 [Micromodem](INFO): Nmea in: $SNTTA,0.160089,,,,223120.69*49

2020-12-13T22:31:20.757Z,1607898680.757 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:31:21.236Z,1607898681.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.359985 m, bearing: 185.719373 deg, deltaT: 4.838624 s, approachRate: -0.471208 m/s, LOS rate: 0.127097 deg/s, posRepo size: 4
2020-12-13T22:31:21.238Z,1607898681.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.359985 m,
      bearing: 185.719373 deg,
      approachRate: -0.471208 m/s,
      LOS rate: 0.127097 deg/s,
      cmd update: 0.381292 deg/s,
      cmd heading: 188.927808 deg,
      new cmd heading: 188.896044 deg.

2020-12-13T22:31:23.273Z,1607898683.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:23.911Z,1607898683.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:24.313Z,1607898684.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:25.149Z,1607898685.149 [Micromodem](INFO): Nmea in: $SNTTA,0.157974,,,,223125.09*45

2020-12-13T22:31:25.587Z,1607898685.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.819992 m, bearing: 186.135236 deg, deltaT: 4.411072 s, approachRate: -0.802525 m/s, LOS rate: 0.094277 deg/s, posRepo size: 4
2020-12-13T22:31:25.589Z,1607898685.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.819992 m,
      bearing: 186.135236 deg,
      approachRate: -0.802525 m/s,
      LOS rate: 0.094277 deg/s,
      cmd update: 0.282831 deg/s,
      cmd heading: 190.607946 deg,
      new cmd heading: 190.764591 deg.

2020-12-13T22:31:27.804Z,1607898687.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:28.392Z,1607898688.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:28.793Z,1607898688.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:29.622Z,1607898689.622 [Micromodem](INFO): Nmea in: $SNTTA,0.155981,,,,223129.57*4A

2020-12-13T22:31:30.047Z,1607898690.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.819977 m, bearing: 185.901862 deg, deltaT: 4.662375 s, approachRate: -0.643452 m/s, LOS rate: -0.050055 deg/s, posRepo size: 4
2020-12-13T22:31:30.049Z,1607898690.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.819977 m,
      bearing: 185.901862 deg,
      approachRate: -0.643452 m/s,
      LOS rate: -0.050055 deg/s,
      cmd update: -0.150164 deg/s,
      cmd heading: 191.927924 deg,
      new cmd heading: 191.985587 deg.

2020-12-13T22:31:32.504Z,1607898692.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:33.372Z,1607898693.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:33.744Z,1607898693.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:34.563Z,1607898694.563 [Micromodem](INFO): Nmea in: $SNTTA,0.153937,,,,223134.55*4F

2020-12-13T22:31:35.006Z,1607898695.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.759979 m, bearing: 184.640763 deg, deltaT: 4.806014 s, approachRate: -0.636702 m/s, LOS rate: -0.262400 deg/s, posRepo size: 4
2020-12-13T22:31:35.007Z,1607898695.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.759979 m,
      bearing: 184.640763 deg,
      approachRate: -0.636702 m/s,
      LOS rate: -0.262400 deg/s,
      cmd update: -0.787200 deg/s,
      cmd heading: 191.206902 deg,
      new cmd heading: 191.152700 deg.

2020-12-13T22:31:35.746Z,1607898695.746 [Micromodem](INFO): Nmea in: $CAERR,223135,DATA_TIMEOUT,2*49

2020-12-13T22:31:36.155Z,1607898696.155 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:31:36.589Z,1607898696.589 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:31:36.986Z,1607898696.986 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223135.710848,3,0,200,4000,14500,1,1,9,1,2,1,3,64*7D

2020-12-13T22:31:37.386Z,1607898697.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:38.215Z,1607898698.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:38.581Z,1607898698.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:39.403Z,1607898699.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223139.39*5C

2020-12-13T22:31:39.861Z,1607898699.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.819992 m, bearing: 185.919921 deg, deltaT: 4.805740 s, approachRate: -0.611766 m/s, LOS rate: 0.266173 deg/s, posRepo size: 4
2020-12-13T22:31:39.863Z,1607898699.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.819992 m,
      bearing: 185.919921 deg,
      approachRate: -0.611766 m/s,
      LOS rate: 0.266173 deg/s,
      cmd update: 0.798519 deg/s,
      cmd heading: 187.427844 deg,
      new cmd heading: 187.100596 deg.

2020-12-13T22:31:42.364Z,1607898702.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:43.023Z,1607898703.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:43.419Z,1607898703.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:44.257Z,1607898704.257 [Micromodem](INFO): Nmea in: $SNTTA,0.150077,,,,223144.20*44

2020-12-13T22:31:44.722Z,1607898704.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.999985 m, bearing: 187.991026 deg, deltaT: 4.816244 s, approachRate: -0.585520 m/s, LOS rate: 0.430025 deg/s, posRepo size: 4
2020-12-13T22:31:44.723Z,1607898704.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.999985 m,
      bearing: 187.991026 deg,
      approachRate: -0.585520 m/s,
      LOS rate: 0.430025 deg/s,
      cmd update: 1.290074 deg/s,
      cmd heading: 191.281271 deg,
      new cmd heading: 191.641063 deg.

2020-12-13T22:31:46.870Z,1607898706.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:47.471Z,1607898707.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:47.870Z,1607898707.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:48.695Z,1607898708.695 [Micromodem](INFO): Nmea in: $SNTTA,0.148183,,,,223148.65*4A

2020-12-13T22:31:49.108Z,1607898709.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.059998 m, bearing: 186.027866 deg, deltaT: 4.614978 s, approachRate: -0.637053 m/s, LOS rate: -0.425389 deg/s, posRepo size: 4
2020-12-13T22:31:49.110Z,1607898709.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.059998 m,
      bearing: 186.027866 deg,
      approachRate: -0.637053 m/s,
      LOS rate: -0.425389 deg/s,
      cmd update: -1.276167 deg/s,
      cmd heading: 197.234778 deg,
      new cmd heading: 197.521805 deg.

2020-12-13T22:31:51.555Z,1607898711.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:52.303Z,1607898712.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:52.737Z,1607898712.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:53.562Z,1607898713.562 [Micromodem](INFO): Nmea in: $SNTTA,0.146228,,,,223153.48*43

2020-12-13T22:31:53.972Z,1607898713.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.179993 m, bearing: 185.782293 deg, deltaT: 4.725253 s, approachRate: -0.609492 m/s, LOS rate: -0.051970 deg/s, posRepo size: 4
2020-12-13T22:31:53.974Z,1607898713.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.179993 m,
      bearing: 185.782293 deg,
      approachRate: -0.609492 m/s,
      LOS rate: -0.051970 deg/s,
      cmd update: -0.155911 deg/s,
      cmd heading: 191.229828 deg,
      new cmd heading: 190.743514 deg.

2020-12-13T22:31:56.405Z,1607898716.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:31:57.155Z,1607898717.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:31:57.569Z,1607898717.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:31:58.389Z,1607898718.389 [Micromodem](INFO): Nmea in: $SNTTA,0.144212,,0.148518,0.146711,223158.33*4A

2020-12-13T22:31:58.865Z,1607898718.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.179993 m, bearing: 185.657137 deg, deltaT: 4.827993 s, approachRate: -0.621376 m/s, LOS rate: -0.025923 deg/s, posRepo size: 4
2020-12-13T22:31:58.867Z,1607898718.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.179993 m,
      bearing: 185.657137 deg,
      approachRate: -0.621376 m/s,
      LOS rate: -0.025923 deg/s,
      cmd update: -0.077769 deg/s,
      cmd heading: 190.473987 deg,
      new cmd heading: 190.408461 deg.

2020-12-13T22:32:01.244Z,1607898721.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:02.011Z,1607898722.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:02.425Z,1607898722.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:03.253Z,1607898723.253 [Micromodem](INFO): Nmea in: $SNTTA,0.142261,,,,223203.19*48

2020-12-13T22:32:03.705Z,1607898723.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.239990 m, bearing: 186.825317 deg, deltaT: 4.827940 s, approachRate: -0.608956 m/s, LOS rate: 0.241963 deg/s, posRepo size: 4
2020-12-13T22:32:03.707Z,1607898723.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.239990 m,
      bearing: 186.825317 deg,
      approachRate: -0.608956 m/s,
      LOS rate: 0.241963 deg/s,
      cmd update: 0.725888 deg/s,
      cmd heading: 190.098514 deg,
      new cmd heading: 190.064811 deg.

2020-12-13T22:32:06.223Z,1607898726.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:06.859Z,1607898726.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:07.273Z,1607898727.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:08.093Z,1607898728.093 [Micromodem](INFO): Nmea in: $SNTTA,0.140237,,,,223208.03*49

2020-12-13T22:32:08.538Z,1607898728.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.179993 m, bearing: 187.387100 deg, deltaT: 4.988408 s, approachRate: -0.613422 m/s, LOS rate: 0.112618 deg/s, posRepo size: 4
2020-12-13T22:32:08.540Z,1607898728.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.179993 m,
      bearing: 187.387100 deg,
      approachRate: -0.613422 m/s,
      LOS rate: 0.112618 deg/s,
      cmd update: 0.337853 deg/s,
      cmd heading: 193.719576 deg,
      new cmd heading: 193.924303 deg.

2020-12-13T22:32:08.894Z,1607898728.894 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:32:09.415Z,1607898729.415 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:32:09.416Z,1607898729.416 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:32:09.417Z,1607898729.417 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:32:09.750Z,1607898729.750 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:32:10.130Z,1607898730.130 [Micromodem](INFO): Nmea in: $CADRQ,223210,1,9,0,64,1*4E

2020-12-13T22:32:10.130Z,1607898730.130 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:32:10.539Z,1607898730.539 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:32:10.923Z,1607898730.923 [Micromodem](INFO): Nmea in: $CADRQ,223211,1,9,0,64,2*4C

2020-12-13T22:32:10.923Z,1607898730.923 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:32:11.000Z,1607898731.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:11.341Z,1607898731.341 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:32:11.731Z,1607898731.731 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:32:11.732Z,1607898731.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:13.844Z,1607898733.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:14.154Z,1607898734.154 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:32:14.155Z,1607898734.155 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:32:14.564Z,1607898734.564 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223212.076638,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:32:14.564Z,1607898734.564 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223212.076638,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:32:16.648Z,1607898736.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:19.207Z,1607898739.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:21.921Z,1607898741.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:23.066Z,1607898743.066 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:23.477Z,1607898743.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:24.305Z,1607898744.305 [Micromodem](INFO): Nmea in: $SNTTA,0.133542,,,,223224.24*43

2020-12-13T22:32:24.760Z,1607898744.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.159988 m, bearing: 187.271274 deg, deltaT: 16.105864 s, approachRate: -0.622134 m/s, LOS rate: -0.007192 deg/s, posRepo size: 4
2020-12-13T22:32:24.766Z,1607898744.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.159988 m,
      bearing: 187.271274 deg,
      approachRate: -0.622134 m/s,
      LOS rate: -0.007192 deg/s,
      cmd update: -0.021575 deg/s,
      cmd heading: 199.158574 deg,
      new cmd heading: 199.295645 deg.

2020-12-13T22:32:27.142Z,1607898747.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:27.934Z,1607898747.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:28.321Z,1607898748.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:29.142Z,1607898749.142 [Micromodem](INFO): Nmea in: $SNTTA,0.131658,,,,223229.11*42

2020-12-13T22:32:29.607Z,1607898749.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.279984 m, bearing: 186.729312 deg, deltaT: 4.821971 s, approachRate: -0.597267 m/s, LOS rate: -0.112394 deg/s, posRepo size: 4
2020-12-13T22:32:29.627Z,1607898749.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.279984 m,
      bearing: 186.729312 deg,
      approachRate: -0.597267 m/s,
      LOS rate: -0.112394 deg/s,
      cmd update: -0.337183 deg/s,
      cmd heading: 199.054623 deg,
      new cmd heading: 199.045266 deg.

2020-12-13T22:32:32.154Z,1607898752.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:32.759Z,1607898752.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:33.180Z,1607898753.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:33.995Z,1607898753.995 [Micromodem](INFO): Nmea in: $SNTTA,0.129718,,,,223233.94*48

2020-12-13T22:32:34.832Z,1607898754.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:36.411Z,1607898756.411 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:32:37.641Z,1607898757.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:38.421Z,1607898758.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:38.889Z,1607898758.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:39.714Z,1607898759.714 [Micromodem](INFO): Nmea in: $SNTTA,0.127364,,,,223239.60*48

2020-12-13T22:32:39.784Z,1607898759.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 187.829683 deg, deltaT: 10.123293 s, approachRate: -0.646034 m/s, LOS rate: 0.108697 deg/s, posRepo size: 4
2020-12-13T22:32:39.786Z,1607898759.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 187.829683 deg,
      approachRate: -0.646034 m/s,
      LOS rate: 0.108697 deg/s,
      cmd update: 0.326091 deg/s,
      cmd heading: 195.637621 deg,
      new cmd heading: 195.476601 deg.

2020-12-13T22:32:41.825Z,1607898761.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:42.538Z,1607898762.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:42.937Z,1607898762.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:43.757Z,1607898763.757 [Micromodem](INFO): Nmea in: $SNTTA,0.125599,,,,223243.72*40

2020-12-13T22:32:44.181Z,1607898764.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 187.854162 deg, deltaT: 4.509461 s, approachRate: -0.545521 m/s, LOS rate: 0.005428 deg/s, posRepo size: 4
2020-12-13T22:32:44.183Z,1607898764.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 187.854162 deg,
      approachRate: -0.545521 m/s,
      LOS rate: 0.005428 deg/s,
      cmd update: 0.016285 deg/s,
      cmd heading: 197.099843 deg,
      new cmd heading: 197.227069 deg.

2020-12-13T22:32:46.658Z,1607898766.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:47.379Z,1607898767.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:47.773Z,1607898767.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:48.618Z,1607898768.618 [Micromodem](INFO): Nmea in: $SNTTA,0.123433,,,,223248.55*49

2020-12-13T22:32:49.034Z,1607898769.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.980011 m, bearing: 187.406266 deg, deltaT: 4.829821 s, approachRate: -0.683249 m/s, LOS rate: -0.092736 deg/s, posRepo size: 4
2020-12-13T22:32:49.036Z,1607898769.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.980011 m,
      bearing: 187.406266 deg,
      approachRate: -0.683249 m/s,
      LOS rate: -0.092736 deg/s,
      cmd update: -0.278207 deg/s,
      cmd heading: 197.178912 deg,
      new cmd heading: 197.185240 deg.

2020-12-13T22:32:51.623Z,1607898771.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:52.223Z,1607898772.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:52.621Z,1607898772.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:53.458Z,1607898773.458 [Micromodem](INFO): Nmea in: $SNTTA,0.121527,,,,223253.40*41

2020-12-13T22:32:53.700Z,1607898773.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.980011 m, bearing: 189.191350 deg, deltaT: 4.443246 s, approachRate: 0.000000 m/s, LOS rate: 0.401752 deg/s, posRepo size: 4
2020-12-13T22:32:53.706Z,1607898773.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.980011 m,
      bearing: 189.191350 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.401752 deg/s,
      cmd update: 1.205256 deg/s,
      cmd heading: 195.942781 deg,
      new cmd heading: 195.772852 deg.

2020-12-13T22:32:55.930Z,1607898775.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:32:56.740Z,1607898776.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:32:57.109Z,1607898777.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:32:57.949Z,1607898777.949 [Micromodem](INFO): Nmea in: $SNTTA,0.119697,,,,223257.91*4A

2020-12-13T22:32:58.378Z,1607898778.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.400009 m, bearing: 188.470669 deg, deltaT: 5.055305 s, approachRate: -1.103791 m/s, LOS rate: -0.142559 deg/s, posRepo size: 4
2020-12-13T22:32:58.380Z,1607898778.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.400009 m,
      bearing: 188.470669 deg,
      approachRate: -1.103791 m/s,
      LOS rate: -0.142559 deg/s,
      cmd update: -0.427678 deg/s,
      cmd heading: 202.011841 deg,
      new cmd heading: 202.316969 deg.

2020-12-13T22:33:00.786Z,1607898780.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:01.582Z,1607898781.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:01.969Z,1607898781.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:02.794Z,1607898782.794 [Micromodem](INFO): Nmea in: $SNTTA,0.117807,,,,223302.76*4B

2020-12-13T22:33:03.212Z,1607898783.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.340012 m, bearing: 188.463210 deg, deltaT: 4.703299 s, approachRate: -0.650607 m/s, LOS rate: -0.001586 deg/s, posRepo size: 4
2020-12-13T22:33:03.214Z,1607898783.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.340012 m,
      bearing: 188.463210 deg,
      approachRate: -0.650607 m/s,
      LOS rate: -0.001586 deg/s,
      cmd update: -0.004757 deg/s,
      cmd heading: 199.991795 deg,
      new cmd heading: 199.835927 deg.

2020-12-13T22:33:05.677Z,1607898785.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:06.404Z,1607898786.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:06.885Z,1607898786.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:07.710Z,1607898787.710 [Micromodem](INFO): Nmea in: $SNTTA,0.115854,,,,223307.58*46

2020-12-13T22:33:07.771Z,1607898787.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.580002 m, bearing: 187.796611 deg, deltaT: 4.445837 s, approachRate: -0.620808 m/s, LOS rate: -0.149938 deg/s, posRepo size: 4
2020-12-13T22:33:07.774Z,1607898787.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.580002 m,
      bearing: 187.796611 deg,
      approachRate: -0.620808 m/s,
      LOS rate: -0.149938 deg/s,
      cmd update: -0.449814 deg/s,
      cmd heading: 199.970644 deg,
      new cmd heading: 199.968371 deg.

2020-12-13T22:33:10.146Z,1607898790.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:10.915Z,1607898790.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:11.323Z,1607898791.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:12.166Z,1607898792.166 [Micromodem](INFO): Nmea in: $SNTTA,0.114174,,,,223312.09*4C

2020-12-13T22:33:12.231Z,1607898792.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 188.000465 deg, deltaT: 4.520255 s, approachRate: -0.584038 m/s, LOS rate: 0.045098 deg/s, posRepo size: 4
2020-12-13T22:33:12.233Z,1607898792.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.940002 m,
      bearing: 188.000465 deg,
      approachRate: -0.584038 m/s,
      LOS rate: 0.045098 deg/s,
      cmd update: 0.135294 deg/s,
      cmd heading: 197.937725 deg,
      new cmd heading: 197.749889 deg.

2020-12-13T22:33:14.570Z,1607898794.570 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:33:14.616Z,1607898794.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:15.115Z,1607898795.115 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:33:15.115Z,1607898795.115 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:33:15.116Z,1607898795.116 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:33:15.371Z,1607898795.371 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:33:15.372Z,1607898795.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:15.779Z,1607898795.779 [Micromodem](INFO): Nmea in: $CADRQ,223316,1,9,0,64,1*49

2020-12-13T22:33:15.779Z,1607898795.779 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,223316,1,9,0,64,1*49

2020-12-13T22:33:16.212Z,1607898796.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:16.622Z,1607898796.622 [Micromodem](INFO): Nmea in: $SNTTA,0.112337,,,,223316.55*42

2020-12-13T22:33:16.707Z,1607898796.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.179993 m, bearing: 188.491665 deg, deltaT: 4.430246 s, approachRate: -0.622992 m/s, LOS rate: 0.110874 deg/s, posRepo size: 4
2020-12-13T22:33:16.713Z,1607898796.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.179993 m,
      bearing: 188.491665 deg,
      approachRate: -0.622992 m/s,
      LOS rate: 0.110874 deg/s,
      cmd update: 0.332623 deg/s,
      cmd heading: 198.537217 deg,
      new cmd heading: 198.599787 deg.

2020-12-13T22:33:19.203Z,1607898799.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:19.831Z,1607898799.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:20.221Z,1607898800.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:21.070Z,1607898801.070 [Micromodem](INFO): Nmea in: $SNTTA,0.110525,,,,223321.01*40

2020-12-13T22:33:21.103Z,1607898801.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 188.771115 deg, deltaT: 4.474888 s, approachRate: -0.589955 m/s, LOS rate: 0.062449 deg/s, posRepo size: 4
2020-12-13T22:33:21.106Z,1607898801.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.540009 m,
      bearing: 188.771115 deg,
      approachRate: -0.589955 m/s,
      LOS rate: 0.062449 deg/s,
      cmd update: 0.187346 deg/s,
      cmd heading: 200.025658 deg,
      new cmd heading: 200.153376 deg.

2020-12-13T22:33:23.703Z,1607898803.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:24.267Z,1607898804.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:24.705Z,1607898804.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:25.542Z,1607898805.542 [Micromodem](INFO): Nmea in: $SNTTA,0.108467,,,,223325.45*4A

2020-12-13T22:33:25.746Z,1607898805.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.539993 m, bearing: 187.580094 deg, deltaT: 4.417123 s, approachRate: -0.679179 m/s, LOS rate: -0.269637 deg/s, posRepo size: 4
2020-12-13T22:33:25.748Z,1607898805.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.539993 m,
      bearing: 187.580094 deg,
      approachRate: -0.679179 m/s,
      LOS rate: -0.269637 deg/s,
      cmd update: -0.808912 deg/s,
      cmd heading: 200.853194 deg,
      new cmd heading: 200.967386 deg.

2020-12-13T22:33:28.057Z,1607898808.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:28.739Z,1607898808.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:29.157Z,1607898809.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:29.982Z,1607898809.982 [Micromodem](INFO): Nmea in: $SNTTA,0.106508,,,,223329.91*49

2020-12-13T22:33:30.165Z,1607898810.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.660004 m, bearing: 187.307652 deg, deltaT: 4.507049 s, approachRate: -0.638997 m/s, LOS rate: -0.060448 deg/s, posRepo size: 4
2020-12-13T22:33:30.168Z,1607898810.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.660004 m,
      bearing: 187.307652 deg,
      approachRate: -0.638997 m/s,
      LOS rate: -0.060448 deg/s,
      cmd update: -0.181344 deg/s,
      cmd heading: 197.207399 deg,
      new cmd heading: 196.785781 deg.

2020-12-13T22:33:32.198Z,1607898812.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:32.771Z,1607898812.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:32.837Z,1607898812.837 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:33:33.233Z,1607898813.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:34.022Z,1607898814.022 [Micromodem](INFO): Nmea in: $SNTTA,0.104877,,,,223333.95*41

2020-12-13T22:33:34.046Z,1607898814.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 187.697970 deg, deltaT: 3.972972 s, approachRate: -0.634287 m/s, LOS rate: 0.098243 deg/s, posRepo size: 4
2020-12-13T22:33:34.072Z,1607898814.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 187.697970 deg,
      approachRate: -0.634287 m/s,
      LOS rate: 0.098243 deg/s,
      cmd update: 0.294730 deg/s,
      cmd heading: 196.486925 deg,
      new cmd heading: 196.408878 deg.

2020-12-13T22:33:36.678Z,1607898816.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:37.263Z,1607898817.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:37.682Z,1607898817.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:38.520Z,1607898818.520 [Micromodem](INFO): Nmea in: $SNTTA,0.103128,,,,223338.44*42

2020-12-13T22:33:38.821Z,1607898818.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 188.512497 deg, deltaT: 4.516804 s, approachRate: -0.557918 m/s, LOS rate: 0.180333 deg/s, posRepo size: 4
2020-12-13T22:33:38.823Z,1607898818.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.619995 m,
      bearing: 188.512497 deg,
      approachRate: -0.557918 m/s,
      LOS rate: 0.180333 deg/s,
      cmd update: 0.540998 deg/s,
      cmd heading: 197.818117 deg,
      new cmd heading: 198.020885 deg.

2020-12-13T22:33:41.042Z,1607898821.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:41.818Z,1607898821.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:42.241Z,1607898822.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:43.074Z,1607898823.074 [Micromodem](INFO): Nmea in: $SNTTA,0.101197,,,,223343.00*48

2020-12-13T22:33:43.096Z,1607898823.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.680008 m, bearing: 188.281350 deg, deltaT: 4.694826 s, approachRate: -0.626219 m/s, LOS rate: -0.049234 deg/s, posRepo size: 4
2020-12-13T22:33:43.098Z,1607898823.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.680008 m,
      bearing: 188.281350 deg,
      approachRate: -0.626219 m/s,
      LOS rate: -0.049234 deg/s,
      cmd update: -0.147703 deg/s,
      cmd heading: 200.358043 deg,
      new cmd heading: 200.503206 deg.

2020-12-13T22:33:45.443Z,1607898825.443 [Micromodem](INFO): Nmea in: $CAERR,223346,DATA_TIMEOUT,1*4C

2020-12-13T22:33:45.516Z,1607898825.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:46.259Z,1607898826.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:46.649Z,1607898826.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:47.518Z,1607898827.518 [Micromodem](INFO): Nmea in: $SNTTA,0.099484,,,,223347.44*4B

2020-12-13T22:33:47.568Z,1607898827.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.099991 m, bearing: 187.367443 deg, deltaT: 4.306341 s, approachRate: -0.599120 m/s, LOS rate: -0.212223 deg/s, posRepo size: 4
2020-12-13T22:33:47.574Z,1607898827.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.099991 m,
      bearing: 187.367443 deg,
      approachRate: -0.599120 m/s,
      LOS rate: -0.212223 deg/s,
      cmd update: -0.636670 deg/s,
      cmd heading: 199.722215 deg,
      new cmd heading: 199.657913 deg.

2020-12-13T22:33:49.932Z,1607898829.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:50.727Z,1607898830.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:51.109Z,1607898831.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:51.928Z,1607898831.928 [Micromodem](INFO): Nmea in: $SNTTA,0.097556,,,,223351.90*45

2020-12-13T22:33:51.954Z,1607898831.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.220001 m, bearing: 189.318746 deg, deltaT: 4.434796 s, approachRate: -0.649407 m/s, LOS rate: 0.439998 deg/s, posRepo size: 4
2020-12-13T22:33:51.956Z,1607898831.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.220001 m,
      bearing: 189.318746 deg,
      approachRate: -0.649407 m/s,
      LOS rate: 0.439998 deg/s,
      cmd update: 1.319995 deg/s,
      cmd heading: 196.900186 deg,
      new cmd heading: 196.652747 deg.

2020-12-13T22:33:54.342Z,1607898834.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:55.135Z,1607898835.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:33:55.561Z,1607898835.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:33:56.427Z,1607898836.427 [Micromodem](INFO): Nmea in: $SNTTA,0.095703,,,,223356.31*49

2020-12-13T22:33:56.448Z,1607898836.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.400009 m, bearing: 189.178359 deg, deltaT: 4.457188 s, approachRate: -0.632684 m/s, LOS rate: -0.031497 deg/s, posRepo size: 4
2020-12-13T22:33:56.468Z,1607898836.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.400009 m,
      bearing: 189.178359 deg,
      approachRate: -0.632684 m/s,
      LOS rate: -0.031497 deg/s,
      cmd update: -0.094491 deg/s,
      cmd heading: 202.788920 deg,
      new cmd heading: 203.345821 deg.

2020-12-13T22:33:58.930Z,1607898838.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:33:59.656Z,1607898839.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:00.076Z,1607898840.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:00.908Z,1607898840.908 [Micromodem](INFO): Nmea in: $SNTTA,0.093909,,,,223400.83*46

2020-12-13T22:34:00.979Z,1607898840.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.699997 m, bearing: 188.124570 deg, deltaT: 4.510860 s, approachRate: -0.598558 m/s, LOS rate: -0.233612 deg/s, posRepo size: 4
2020-12-13T22:34:00.986Z,1607898840.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.699997 m,
      bearing: 188.124570 deg,
      approachRate: -0.598558 m/s,
      LOS rate: -0.233612 deg/s,
      cmd update: -0.700835 deg/s,
      cmd heading: 202.363070 deg,
      new cmd heading: 202.320926 deg.

2020-12-13T22:34:03.346Z,1607898843.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:04.118Z,1607898844.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:04.581Z,1607898844.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:05.382Z,1607898845.382 [Micromodem](INFO): Nmea in: $SNTTA,0.092188,,,,223405.29*43

2020-12-13T22:34:05.451Z,1607898845.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 188.555172 deg, deltaT: 4.443736 s, approachRate: -0.621098 m/s, LOS rate: 0.096901 deg/s, posRepo size: 4
2020-12-13T22:34:05.453Z,1607898845.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.940002 m,
      bearing: 188.555172 deg,
      approachRate: -0.621098 m/s,
      LOS rate: 0.096901 deg/s,
      cmd update: 0.290703 deg/s,
      cmd heading: 199.246055 deg,
      new cmd heading: 198.916163 deg.

2020-12-13T22:34:07.835Z,1607898847.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:08.603Z,1607898848.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:09.070Z,1607898849.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:09.874Z,1607898849.874 [Micromodem](INFO): Nmea in: $SNTTA,0.090216,,,,223409.78*4D

2020-12-13T22:34:09.941Z,1607898849.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.240005 m, bearing: 188.749928 deg, deltaT: 4.555663 s, approachRate: -0.592668 m/s, LOS rate: 0.042750 deg/s, posRepo size: 4
2020-12-13T22:34:09.943Z,1607898849.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.240005 m,
      bearing: 188.749928 deg,
      approachRate: -0.592668 m/s,
      LOS rate: 0.042750 deg/s,
      cmd update: 0.128251 deg/s,
      cmd heading: 200.569296 deg,
      new cmd heading: 200.688179 deg.

2020-12-13T22:34:12.299Z,1607898852.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:13.100Z,1607898853.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:13.517Z,1607898853.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:14.358Z,1607898854.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223414.27*59

2020-12-13T22:34:14.379Z,1607898854.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.240005 m, bearing: 188.729028 deg, deltaT: 4.413936 s, approachRate: -0.679666 m/s, LOS rate: -0.004735 deg/s, posRepo size: 4
2020-12-13T22:34:14.381Z,1607898854.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.240005 m,
      bearing: 188.729028 deg,
      approachRate: -0.679666 m/s,
      LOS rate: -0.004735 deg/s,
      cmd update: -0.014205 deg/s,
      cmd heading: 201.134607 deg,
      new cmd heading: 201.190935 deg.

2020-12-13T22:34:16.798Z,1607898856.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:17.563Z,1607898857.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:17.951Z,1607898857.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:18.764Z,1607898858.764 [Micromodem](INFO): Nmea in: $SNTTA,0.086458,,,,223418.74*4A

2020-12-13T22:34:18.817Z,1607898858.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.539993 m, bearing: 188.764586 deg, deltaT: 4.456245 s, approachRate: -0.605894 m/s, LOS rate: 0.007979 deg/s, posRepo size: 4
2020-12-13T22:34:18.819Z,1607898858.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.539993 m,
      bearing: 188.764586 deg,
      approachRate: -0.605894 m/s,
      LOS rate: 0.007979 deg/s,
      cmd update: 0.023938 deg/s,
      cmd heading: 201.071202 deg,
      new cmd heading: 201.065329 deg.

2020-12-13T22:34:20.383Z,1607898860.383 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:34:20.899Z,1607898860.899 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:34:20.899Z,1607898860.899 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:34:20.900Z,1607898860.900 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:34:20.991Z,1607898860.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:21.189Z,1607898861.189 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:34:21.580Z,1607898861.580 [Micromodem](INFO): Nmea in: $CADRQ,223422,1,9,0,64,1*49

2020-12-13T22:34:21.581Z,1607898861.581 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:34:21.975Z,1607898861.975 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:34:21.975Z,1607898861.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:22.388Z,1607898862.388 [Micromodem](INFO): Nmea in: $CADRQ,223422,1,9,0,64,2*4A

2020-12-13T22:34:22.388Z,1607898862.388 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,223422,1,9,0,64,2*4A

2020-12-13T22:34:22.790Z,1607898862.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:23.219Z,1607898863.219 [Micromodem](INFO): Nmea in: $SNTTA,0.084642,,,,223423.15*4E

2020-12-13T22:34:23.423Z,1607898863.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.839996 m, bearing: 188.031338 deg, deltaT: 4.473452 s, approachRate: -0.603560 m/s, LOS rate: -0.163911 deg/s, posRepo size: 4
2020-12-13T22:34:23.426Z,1607898863.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.839996 m,
      bearing: 188.031338 deg,
      approachRate: -0.603560 m/s,
      LOS rate: -0.163911 deg/s,
      cmd update: -0.491733 deg/s,
      cmd heading: 201.177920 deg,
      new cmd heading: 201.191337 deg.

2020-12-13T22:34:25.742Z,1607898865.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:26.523Z,1607898866.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:26.893Z,1607898866.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:27.758Z,1607898867.758 [Micromodem](INFO): Nmea in: $SNTTA,0.082813,,,,223427.70*45

2020-12-13T22:34:27.951Z,1607898867.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.020004 m, bearing: 188.511677 deg, deltaT: 4.464266 s, approachRate: -0.631681 m/s, LOS rate: 0.107597 deg/s, posRepo size: 4
2020-12-13T22:34:27.953Z,1607898867.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 188.511677 deg,
      approachRate: -0.631681 m/s,
      LOS rate: 0.107597 deg/s,
      cmd update: 0.322790 deg/s,
      cmd heading: 198.973841 deg,
      new cmd heading: 198.675363 deg.

2020-12-13T22:34:29.985Z,1607898869.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:30.608Z,1607898870.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:31.005Z,1607898871.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:31.048Z,1607898871.048 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:34:31.846Z,1607898871.846 [Micromodem](INFO): Nmea in: $SNTTA,0.081025,,,,223431.78*44

2020-12-13T22:34:31.919Z,1607898871.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 189.277738 deg, deltaT: 4.114442 s, approachRate: -0.656226 m/s, LOS rate: 0.186188 deg/s, posRepo size: 4
2020-12-13T22:34:31.926Z,1607898871.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.320000 m,
      bearing: 189.277738 deg,
      approachRate: -0.656226 m/s,
      LOS rate: 0.186188 deg/s,
      cmd update: 0.558564 deg/s,
      cmd heading: 200.300744 deg,
      new cmd heading: 200.450780 deg.

2020-12-13T22:34:34.398Z,1607898874.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:35.043Z,1607898875.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:35.457Z,1607898875.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:36.302Z,1607898876.302 [Micromodem](INFO): Nmea in: $SNTTA,0.079348,,,,223436.22*43

2020-12-13T22:34:36.526Z,1607898876.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 189.360165 deg, deltaT: 4.475511 s, approachRate: -0.589877 m/s, LOS rate: 0.018417 deg/s, posRepo size: 4
2020-12-13T22:34:36.528Z,1607898876.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.680000 m,
      bearing: 189.360165 deg,
      approachRate: -0.589877 m/s,
      LOS rate: 0.018417 deg/s,
      cmd update: 0.055252 deg/s,
      cmd heading: 202.791379 deg,
      new cmd heading: 203.133243 deg.

2020-12-13T22:34:38.783Z,1607898878.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:39.559Z,1607898879.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:39.945Z,1607898879.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:40.774Z,1607898880.774 [Micromodem](INFO): Nmea in: $SNTTA,0.077373,,,,223440.73*40

2020-12-13T22:34:40.945Z,1607898880.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 189.136968 deg, deltaT: 4.471344 s, approachRate: -0.630681 m/s, LOS rate: -0.049917 deg/s, posRepo size: 4
2020-12-13T22:34:40.947Z,1607898880.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.860008 m,
      bearing: 189.136968 deg,
      approachRate: -0.630681 m/s,
      LOS rate: -0.049917 deg/s,
      cmd update: -0.149752 deg/s,
      cmd heading: 203.038369 deg,
      new cmd heading: 203.069376 deg.

2020-12-13T22:34:43.063Z,1607898883.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:43.662Z,1607898883.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:44.061Z,1607898884.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:44.914Z,1607898884.914 [Micromodem](INFO): Nmea in: $SNTTA,0.075524,,,,223444.84*4A

2020-12-13T22:34:44.938Z,1607898884.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.100006 m, bearing: 188.255914 deg, deltaT: 4.165212 s, approachRate: -0.662632 m/s, LOS rate: -0.211527 deg/s, posRepo size: 4
2020-12-13T22:34:44.940Z,1607898884.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.100006 m,
      bearing: 188.255914 deg,
      approachRate: -0.662632 m/s,
      LOS rate: -0.211527 deg/s,
      cmd update: -0.634580 deg/s,
      cmd heading: 202.412038 deg,
      new cmd heading: 202.356380 deg.

2020-12-13T22:34:47.330Z,1607898887.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:48.096Z,1607898888.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:48.529Z,1607898888.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:49.331Z,1607898889.331 [Micromodem](INFO): Nmea in: $SNTTA,0.073960,,,,223449.27*44

2020-12-13T22:34:50.174Z,1607898890.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:51.745Z,1607898891.745 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:34:51.748Z,1607898891.748 [Micromodem](INFO): Nmea in: $CAERR,223452,DATA_TIMEOUT,2*4D

2020-12-13T22:34:52.166Z,1607898892.166 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:34:53.027Z,1607898893.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:53.791Z,1607898893.791 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:34:53.792Z,1607898893.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:54.185Z,1607898894.185 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223452.797144,3,0,200,4000,14500,1,1,9,1,2,1,3,64*73

2020-12-13T22:34:54.185Z,1607898894.185 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223452.797144,3,0,200,4000,14500,1,1,9,1,2,1,3,64*73

2020-12-13T22:34:54.593Z,1607898894.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:34:55.015Z,1607898895.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223454.97*56

2020-12-13T22:34:55.623Z,1607898895.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:57.407Z,1607898897.407 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:34:58.245Z,1607898898.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:34:59.019Z,1607898899.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:34:59.447Z,1607898899.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:00.278Z,1607898900.278 [Micromodem](INFO): Nmea in: $SNTTA,0.069270,,,,223500.20*4E

2020-12-13T22:35:00.296Z,1607898900.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 189.517669 deg, deltaT: 15.452394 s, approachRate: -0.605732 m/s, LOS rate: 0.081654 deg/s, posRepo size: 4
2020-12-13T22:35:00.298Z,1607898900.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 189.517669 deg,
      approachRate: -0.605732 m/s,
      LOS rate: 0.081654 deg/s,
      cmd update: 0.244963 deg/s,
      cmd heading: 192.603588 deg,
      new cmd heading: 192.430183 deg.

2020-12-13T22:35:02.713Z,1607898902.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:03.475Z,1607898903.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:03.877Z,1607898903.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:04.738Z,1607898904.738 [Micromodem](INFO): Nmea in: $SNTTA,0.067401,,0.078626,,223504.65*56

2020-12-13T22:35:04.772Z,1607898904.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 188.035012 deg, deltaT: 4.266352 s, approachRate: -0.675049 m/s, LOS rate: -0.347523 deg/s, posRepo size: 4
2020-12-13T22:35:04.774Z,1607898904.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.860001 m,
      bearing: 188.035012 deg,
      approachRate: -0.675049 m/s,
      LOS rate: -0.347523 deg/s,
      cmd update: -1.042570 deg/s,
      cmd heading: 193.648723 deg,
      new cmd heading: 193.766845 deg.

2020-12-13T22:35:06.823Z,1607898906.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:07.537Z,1607898907.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:07.926Z,1607898907.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:08.770Z,1607898908.770 [Micromodem](INFO): Nmea in: $SNTTA,0.065769,,,,223508.71*43

2020-12-13T22:35:08.823Z,1607898908.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 190.939441 deg, deltaT: 4.234491 s, approachRate: -0.524266 m/s, LOS rate: 0.685898 deg/s, posRepo size: 4
2020-12-13T22:35:08.830Z,1607898908.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.639999 m,
      bearing: 190.939441 deg,
      approachRate: -0.524266 m/s,
      LOS rate: 0.685898 deg/s,
      cmd update: 2.057694 deg/s,
      cmd heading: 189.234203 deg,
      new cmd heading: 188.921752 deg.

2020-12-13T22:35:11.160Z,1607898911.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:11.951Z,1607898911.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:12.361Z,1607898912.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:13.206Z,1607898913.206 [Micromodem](INFO): Nmea in: $SNTTA,0.063979,,,,223513.13*44

2020-12-13T22:35:13.231Z,1607898913.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.760002 m, bearing: 190.916724 deg, deltaT: 4.427352 s, approachRate: -0.650501 m/s, LOS rate: -0.005131 deg/s, posRepo size: 4
2020-12-13T22:35:13.234Z,1607898913.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.760002 m,
      bearing: 190.916724 deg,
      approachRate: -0.650501 m/s,
      LOS rate: -0.005131 deg/s,
      cmd update: -0.015393 deg/s,
      cmd heading: 198.344349 deg,
      new cmd heading: 198.920820 deg.

2020-12-13T22:35:15.628Z,1607898915.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:16.405Z,1607898916.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:16.817Z,1607898916.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:17.673Z,1607898917.673 [Micromodem](INFO): Nmea in: $SNTTA,0.062084,,,,223517.58*45

2020-12-13T22:35:17.727Z,1607898917.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 189.190858 deg, deltaT: 4.278072 s, approachRate: -0.645151 m/s, LOS rate: -0.403421 deg/s, posRepo size: 4
2020-12-13T22:35:17.729Z,1607898917.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.000000 m,
      bearing: 189.190858 deg,
      approachRate: -0.645151 m/s,
      LOS rate: -0.403421 deg/s,
      cmd update: -1.210264 deg/s,
      cmd heading: 198.278493 deg,
      new cmd heading: 198.270833 deg.

2020-12-13T22:35:20.076Z,1607898920.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:20.855Z,1607898920.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:21.249Z,1607898921.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:22.078Z,1607898922.078 [Micromodem](INFO): Nmea in: $SNTTA,0.060242,,,,223522.03*47

2020-12-13T22:35:22.149Z,1607898922.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 191.182664 deg, deltaT: 4.521520 s, approachRate: -0.623684 m/s, LOS rate: 0.440517 deg/s, posRepo size: 4
2020-12-13T22:35:22.151Z,1607898922.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.180000 m,
      bearing: 191.182664 deg,
      approachRate: -0.623684 m/s,
      LOS rate: 0.440517 deg/s,
      cmd update: 1.321551 deg/s,
      cmd heading: 192.811249 deg,
      new cmd heading: 192.329465 deg.

2020-12-13T22:35:24.562Z,1607898924.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:25.283Z,1607898925.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:25.709Z,1607898925.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:26.112Z,1607898926.112 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:35:26.558Z,1607898926.558 [Micromodem](INFO): Nmea in: $SNTTA,0.058429,,,,223526.46*42

2020-12-13T22:35:26.728Z,1607898926.728 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:35:26.729Z,1607898926.729 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:35:26.729Z,1607898926.729 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:35:26.816Z,1607898926.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 190.948265 deg, deltaT: 4.375498 s, approachRate: -0.617072 m/s, LOS rate: -0.053571 deg/s, posRepo size: 4
2020-12-13T22:35:26.818Z,1607898926.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 190.948265 deg,
      approachRate: -0.617072 m/s,
      LOS rate: -0.053571 deg/s,
      cmd update: -0.160712 deg/s,
      cmd heading: 198.599190 deg,
      new cmd heading: 199.510821 deg.

2020-12-13T22:35:27.834Z,1607898927.834 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:35:28.230Z,1607898928.230 [Micromodem](INFO): Nmea in: $CADRQ,223527,1,9,0,64,1*4D

2020-12-13T22:35:28.230Z,1607898928.230 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:35:28.639Z,1607898928.639 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:35:28.714Z,1607898928.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:29.027Z,1607898929.027 [Micromodem](INFO): Nmea in: $CADRQ,223529,1,9,0,64,2*40

2020-12-13T22:35:29.030Z,1607898929.030 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:35:29.436Z,1607898929.436 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:35:29.437Z,1607898929.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:29.835Z,1607898929.835 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:35:29.835Z,1607898929.835 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:35:31.510Z,1607898931.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:32.263Z,1607898932.263 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:35:32.264Z,1607898932.264 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:35:32.698Z,1607898932.698 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223530.176731,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:35:32.698Z,1607898932.698 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223530.176731,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T22:35:34.481Z,1607898934.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:37.165Z,1607898937.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:39.990Z,1607898939.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:40.739Z,1607898940.739 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:41.189Z,1607898941.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:42.014Z,1607898942.014 [Micromodem](INFO): Nmea in: $SNTTA,0.051945,0.057709,,,223541.91*55

2020-12-13T22:35:42.079Z,1607898942.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 192.134929 deg, deltaT: 15.511504 s, approachRate: -0.622764 m/s, LOS rate: 0.076502 deg/s, posRepo size: 4
2020-12-13T22:35:42.081Z,1607898942.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.820000 m,
      bearing: 192.134929 deg,
      approachRate: -0.622764 m/s,
      LOS rate: 0.076502 deg/s,
      cmd update: 0.229506 deg/s,
      cmd heading: 196.108087 deg,
      new cmd heading: 196.035491 deg.

2020-12-13T22:35:44.442Z,1607898944.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:45.223Z,1607898945.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:45.753Z,1607898945.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:46.534Z,1607898946.534 [Micromodem](INFO): Nmea in: $SNTTA,0.050048,,,,223546.40*49

2020-12-13T22:35:46.592Z,1607898946.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 193.439126 deg, deltaT: 4.489865 s, approachRate: -0.654809 m/s, LOS rate: 0.290476 deg/s, posRepo size: 4
2020-12-13T22:35:46.594Z,1607898946.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.879997 m,
      bearing: 193.439126 deg,
      approachRate: -0.654809 m/s,
      LOS rate: 0.290476 deg/s,
      cmd update: 0.871427 deg/s,
      cmd heading: 197.141055 deg,
      new cmd heading: 197.247615 deg.

2020-12-13T22:35:48.966Z,1607898948.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:49.751Z,1607898949.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:50.142Z,1607898950.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:50.978Z,1607898950.978 [Micromodem](INFO): Nmea in: $SNTTA,0.048250,,,,223550.93*42

2020-12-13T22:35:51.023Z,1607898951.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 193.144335 deg, deltaT: 4.486008 s, approachRate: -0.601871 m/s, LOS rate: -0.065713 deg/s, posRepo size: 4
2020-12-13T22:35:51.029Z,1607898951.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.180000 m,
      bearing: 193.144335 deg,
      approachRate: -0.601871 m/s,
      LOS rate: -0.065713 deg/s,
      cmd update: -0.197140 deg/s,
      cmd heading: 201.043233 deg,
      new cmd heading: 201.406570 deg.

2020-12-13T22:35:53.442Z,1607898953.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:54.183Z,1607898954.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:54.593Z,1607898954.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:35:55.425Z,1607898955.425 [Micromodem](INFO): Nmea in: $SNTTA,0.046423,,,,223555.36*44

2020-12-13T22:35:55.471Z,1607898955.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 194.325453 deg, deltaT: 4.438531 s, approachRate: -0.608310 m/s, LOS rate: 0.266105 deg/s, posRepo size: 4
2020-12-13T22:35:55.477Z,1607898955.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.479996 m,
      bearing: 194.325453 deg,
      approachRate: -0.608310 m/s,
      LOS rate: 0.266105 deg/s,
      cmd update: 0.798316 deg/s,
      cmd heading: 200.166606 deg,
      new cmd heading: 200.084150 deg.

2020-12-13T22:35:58.141Z,1607898958.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:35:58.752Z,1607898958.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:35:59.157Z,1607898959.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:00.006Z,1607898960.006 [Micromodem](INFO): Nmea in: $SNTTA,0.044598,,,,223559.93*44

2020-12-13T22:36:00.049Z,1607898960.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 192.175760 deg, deltaT: 4.566302 s, approachRate: -0.604425 m/s, LOS rate: -0.470773 deg/s, posRepo size: 4
2020-12-13T22:36:00.051Z,1607898960.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.720009 m,
      bearing: 192.175760 deg,
      approachRate: -0.604425 m/s,
      LOS rate: -0.470773 deg/s,
      cmd update: -1.412320 deg/s,
      cmd heading: 203.811859 deg,
      new cmd heading: 204.155505 deg.

2020-12-13T22:36:02.399Z,1607898962.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:03.236Z,1607898963.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:03.601Z,1607898963.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:04.429Z,1607898964.429 [Micromodem](INFO): Nmea in: $SNTTA,0.042650,,,,223604.41*41

2020-12-13T22:36:04.476Z,1607898964.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 193.525105 deg, deltaT: 4.406662 s, approachRate: -0.653557 m/s, LOS rate: 0.306206 deg/s, posRepo size: 4
2020-12-13T22:36:04.483Z,1607898964.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.840004 m,
      bearing: 193.525105 deg,
      approachRate: -0.653557 m/s,
      LOS rate: 0.306206 deg/s,
      cmd update: 0.918617 deg/s,
      cmd heading: 197.594939 deg,
      new cmd heading: 196.955089 deg.

2020-12-13T22:36:06.537Z,1607898966.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:07.247Z,1607898967.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:07.676Z,1607898967.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:08.503Z,1607898968.503 [Micromodem](INFO): Nmea in: $SNTTA,0.041068,,,,223608.42*40

2020-12-13T22:36:08.538Z,1607898968.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 195.873897 deg, deltaT: 4.069640 s, approachRate: -0.589734 m/s, LOS rate: 0.577150 deg/s, posRepo size: 4
2020-12-13T22:36:08.539Z,1607898968.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 195.873897 deg,
      approachRate: -0.589734 m/s,
      LOS rate: 0.577150 deg/s,
      cmd update: 1.731450 deg/s,
      cmd heading: 201.337849 deg,
      new cmd heading: 201.744239 deg.

2020-12-13T22:36:10.938Z,1607898970.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:11.705Z,1607898971.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:12.089Z,1607898972.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:12.922Z,1607898972.922 [Micromodem](INFO): Nmea in: $SNTTA,0.039288,,,,223612.88*4E

2020-12-13T22:36:12.976Z,1607898972.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.739998 m, bearing: 196.302970 deg, deltaT: 4.509416 s, approachRate: -0.598747 m/s, LOS rate: 0.095150 deg/s, posRepo size: 4
2020-12-13T22:36:12.978Z,1607898972.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.739998 m,
      bearing: 196.302970 deg,
      approachRate: -0.598747 m/s,
      LOS rate: 0.095150 deg/s,
      cmd update: 0.285451 deg/s,
      cmd heading: 209.099770 deg,
      new cmd heading: 209.788736 deg.

2020-12-13T22:36:15.332Z,1607898975.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:16.115Z,1607898976.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:16.549Z,1607898976.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:17.358Z,1607898977.358 [Micromodem](INFO): Nmea in: $SNTTA,0.037411,,,,223617.29*48

2020-12-13T22:36:17.391Z,1607898977.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.920002 m, bearing: 194.849301 deg, deltaT: 4.367628 s, approachRate: -0.645658 m/s, LOS rate: -0.332828 deg/s, posRepo size: 4
2020-12-13T22:36:17.393Z,1607898977.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.920002 m,
      bearing: 194.849301 deg,
      approachRate: -0.645658 m/s,
      LOS rate: -0.332828 deg/s,
      cmd update: -0.998484 deg/s,
      cmd heading: 210.353979 deg,
      new cmd heading: 210.473746 deg.

2020-12-13T22:36:19.942Z,1607898979.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:20.571Z,1607898980.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:20.961Z,1607898980.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:21.810Z,1607898981.810 [Micromodem](INFO): Nmea in: $SNTTA,0.035770,,0.068458,,223621.75*5B

2020-12-13T22:36:21.847Z,1607898981.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.399998 m, bearing: 197.196809 deg, deltaT: 4.432735 s, approachRate: -0.568499 m/s, LOS rate: 0.529585 deg/s, posRepo size: 4
2020-12-13T22:36:21.849Z,1607898981.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.399998 m,
      bearing: 197.196809 deg,
      approachRate: -0.568499 m/s,
      LOS rate: 0.529585 deg/s,
      cmd update: 1.588754 deg/s,
      cmd heading: 205.930087 deg,
      new cmd heading: 205.485633 deg.

2020-12-13T22:36:24.385Z,1607898984.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:25.011Z,1607898985.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:25.430Z,1607898985.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:26.254Z,1607898986.254 [Micromodem](INFO): Nmea in: $SNTTA,0.034276,,,,223626.19*4D

2020-12-13T22:36:26.436Z,1607898986.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 195.749711 deg, deltaT: 4.470802 s, approachRate: -0.483133 m/s, LOS rate: -0.323678 deg/s, posRepo size: 4
2020-12-13T22:36:26.438Z,1607898986.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.240005 m,
      bearing: 195.749711 deg,
      approachRate: -0.483133 m/s,
      LOS rate: -0.323678 deg/s,
      cmd update: -0.971033 deg/s,
      cmd heading: 213.037098 deg,
      new cmd heading: 213.925770 deg.

2020-12-13T22:36:28.722Z,1607898988.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:29.459Z,1607898989.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:29.857Z,1607898989.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:30.722Z,1607898990.722 [Micromodem](INFO): Nmea in: $SNTTA,0.032175,,,,223630.63*41

2020-12-13T22:36:30.902Z,1607898990.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 195.389883 deg, deltaT: 4.439684 s, approachRate: -0.716268 m/s, LOS rate: -0.081048 deg/s, posRepo size: 4
2020-12-13T22:36:30.904Z,1607898990.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.060001 m,
      bearing: 195.389883 deg,
      approachRate: -0.716268 m/s,
      LOS rate: -0.081048 deg/s,
      cmd update: -0.243144 deg/s,
      cmd heading: 208.726128 deg,
      new cmd heading: 208.156743 deg.

2020-12-13T22:36:31.933Z,1607898991.933 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:36:32.455Z,1607898992.455 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:36:32.455Z,1607898992.455 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:36:32.455Z,1607898992.455 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:36:32.758Z,1607898992.758 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:36:32.947Z,1607898992.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:33.136Z,1607898993.136 [Micromodem](INFO): Nmea in: $CADRQ,223633,1,9,0,64,1*4B

2020-12-13T22:36:33.138Z,1607898993.138 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:36:33.548Z,1607898993.548 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:36:33.549Z,1607898993.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:33.955Z,1607898993.955 [Micromodem](INFO): Nmea in: $CADRQ,223634,1,9,0,64,2*4F

2020-12-13T22:36:33.955Z,1607898993.955 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,223634,1,9,0,64,2*4F

2020-12-13T22:36:34.343Z,1607898994.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:34.781Z,1607898994.781 [Micromodem](INFO): Nmea in: $SNTTA,0.030480,,0.038455,,223634.73*58

2020-12-13T22:36:34.815Z,1607898994.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.540001 m, bearing: 196.241867 deg, deltaT: 4.087952 s, approachRate: -0.616446 m/s, LOS rate: 0.208413 deg/s, posRepo size: 4
2020-12-13T22:36:34.817Z,1607898994.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.540001 m,
      bearing: 196.241867 deg,
      approachRate: -0.616446 m/s,
      LOS rate: 0.208413 deg/s,
      cmd update: 0.625240 deg/s,
      cmd heading: 207.732736 deg,
      new cmd heading: 207.631930 deg.

2020-12-13T22:36:37.366Z,1607898997.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:37.987Z,1607898997.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:38.384Z,1607898998.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:39.242Z,1607898999.242 [Micromodem](INFO): Nmea in: $SNTTA,0.028769,,,,223639.16*4A

2020-12-13T22:36:39.402Z,1607898999.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 194.843645 deg, deltaT: 4.459446 s, approachRate: -0.578548 m/s, LOS rate: -0.313542 deg/s, posRepo size: 4
2020-12-13T22:36:39.405Z,1607898999.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 194.843645 deg,
      approachRate: -0.578548 m/s,
      LOS rate: -0.313542 deg/s,
      cmd update: -0.940625 deg/s,
      cmd heading: 210.519984 deg,
      new cmd heading: 210.858997 deg.

2020-12-13T22:36:41.699Z,1607899001.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:42.429Z,1607899002.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:42.833Z,1607899002.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:43.692Z,1607899003.692 [Micromodem](INFO): Nmea in: $SNTTA,0.027027,,,,223643.61*45

2020-12-13T22:36:43.865Z,1607899003.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 194.537024 deg, deltaT: 4.402721 s, approachRate: -0.599630 m/s, LOS rate: -0.069643 deg/s, posRepo size: 4
2020-12-13T22:36:43.867Z,1607899003.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.319996 m,
      bearing: 194.537024 deg,
      approachRate: -0.599630 m/s,
      LOS rate: -0.069643 deg/s,
      cmd update: -0.208930 deg/s,
      cmd heading: 206.374916 deg,
      new cmd heading: 205.810658 deg.

2020-12-13T22:36:45.887Z,1607899005.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:46.475Z,1607899006.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:46.882Z,1607899006.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:47.738Z,1607899007.738 [Micromodem](INFO): Nmea in: $SNTTA,0.025292,,,,223647.65*4B

2020-12-13T22:36:47.783Z,1607899007.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.799999 m, bearing: 196.549950 deg, deltaT: 4.041428 s, approachRate: -0.623541 m/s, LOS rate: 0.498073 deg/s, posRepo size: 4
2020-12-13T22:36:47.783Z,1607899007.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.80 m.
2020-12-13T22:36:47.786Z,1607899007.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.799999 m,
      bearing: 196.549950 deg,
      approachRate: -0.623541 m/s,
      LOS rate: 0.498073 deg/s,
      cmd update: 1.494218 deg/s,
      cmd heading: 205.530557 deg,
      new cmd heading: 205.431049 deg.

2020-12-13T22:36:48.119Z,1607899008.119 [PowerOnly](INFO): Powering up loadControl
2020-12-13T22:36:49.826Z,1607899009.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:50.547Z,1607899010.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:50.913Z,1607899010.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:51.766Z,1607899011.766 [Micromodem](INFO): Nmea in: $SNTTA,0.023724,,,,223651.72*44

2020-12-13T22:36:51.826Z,1607899011.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.399998 m, bearing: 197.774985 deg, deltaT: 4.081498 s, approachRate: -0.588020 m/s, LOS rate: 0.300144 deg/s, posRepo size: 4
2020-12-13T22:36:51.826Z,1607899011.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.40 m.
2020-12-13T22:36:51.828Z,1607899011.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.399998 m,
      bearing: 197.774985 deg,
      approachRate: -0.588020 m/s,
      LOS rate: 0.300144 deg/s,
      cmd update: 0.900431 deg/s,
      cmd heading: 211.623103 deg,
      new cmd heading: 212.282419 deg.

2020-12-13T22:36:54.166Z,1607899014.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:54.955Z,1607899014.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:55.369Z,1607899015.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:36:56.210Z,1607899016.210 [Micromodem](INFO): Nmea in: $SNTTA,0.022223,,,,223656.13*47

2020-12-13T22:36:56.248Z,1607899016.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.180000 m, bearing: 202.883242 deg, deltaT: 4.430587 s, approachRate: -0.501062 m/s, LOS rate: 1.152953 deg/s, posRepo size: 4
2020-12-13T22:36:56.249Z,1607899016.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.18 m.
2020-12-13T22:36:56.251Z,1607899016.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.180000 m,
      bearing: 202.883242 deg,
      approachRate: -0.501062 m/s,
      LOS rate: 1.152953 deg/s,
      cmd update: 3.458858 deg/s,
      cmd heading: 215.598170 deg,
      new cmd heading: 216.002895 deg.

2020-12-13T22:36:58.811Z,1607899018.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:36:59.400Z,1607899019.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:36:59.805Z,1607899019.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:00.653Z,1607899020.653 [Micromodem](INFO): Nmea in: $SNTTA,0.021485,,,,223700.57*4C

2020-12-13T22:37:00.725Z,1607899020.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 204.103606 deg, deltaT: 4.410403 s, approachRate: -0.435335 m/s, LOS rate: 0.276701 deg/s, posRepo size: 4
2020-12-13T22:37:00.726Z,1607899020.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.26 m.
2020-12-13T22:37:00.733Z,1607899020.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.259998 m,
      bearing: 204.103606 deg,
      approachRate: -0.435335 m/s,
      LOS rate: 0.276701 deg/s,
      cmd update: 0.830103 deg/s,
      cmd heading: 230.922369 deg,
      new cmd heading: 232.622817 deg.

2020-12-13T22:37:02.747Z,1607899022.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:03.447Z,1607899023.447 [Micromodem](INFO): Nmea in: $CAERR,223704,DATA_TIMEOUT,2*4D

2020-12-13T22:37:03.448Z,1607899023.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:03.842Z,1607899023.842 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:37:03.843Z,1607899023.843 [Micromodem](ERROR): Response from modem unexpected: $CATXP,64*70

2020-12-13T22:37:05.482Z,1607899025.482 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:37:05.483Z,1607899025.483 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T22:37:05.555Z,1607899025.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:05.872Z,1607899025.872 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223704.358185,3,0,200,4000,14500,1,1,9,1,2,1,3,64*79

2020-12-13T22:37:05.872Z,1607899025.872 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223704.358185,3,0,200,4000,14500,1,1,9,1,2,1,3,64*79

2020-12-13T22:37:08.307Z,1607899028.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:10.808Z,1607899030.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:13.600Z,1607899033.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:14.754Z,1607899034.754 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:15.165Z,1607899035.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:15.998Z,1607899035.998 [Micromodem](INFO): Nmea in: $SNTTA,0.016851,,,0.054676,223715.93*59

2020-12-13T22:37:16.184Z,1607899036.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 202.202682 deg, deltaT: 15.393038 s, approachRate: -0.401480 m/s, LOS rate: -0.123492 deg/s, posRepo size: 4
2020-12-13T22:37:16.185Z,1607899036.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.08 m.
2020-12-13T22:37:16.185Z,1607899036.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 25.08 m.
2020-12-13T22:37:16.185Z,1607899036.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T22:37:16.187Z,1607899036.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 202.202682 deg,
      approachRate: -0.401480 m/s,
      LOS rate: -0.123492 deg/s,
      cmd update: -0.370477 deg/s,
      cmd heading: 243.700072 deg,
      new cmd heading: 244.166712 deg.

2020-12-13T22:37:18.162Z,1607899038.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:18.783Z,1607899038.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:19.201Z,1607899039.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:20.034Z,1607899040.034 [Micromodem](INFO): Nmea in: $SNTTA,0.015943,,,,223719.96*49

2020-12-13T22:37:20.059Z,1607899040.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 200.224318 deg, deltaT: 4.064011 s, approachRate: -0.339565 m/s, LOS rate: -0.486801 deg/s, posRepo size: 4
2020-12-13T22:37:20.061Z,1607899040.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.700001 m,
      bearing: 200.224318 deg,
      approachRate: -0.339565 m/s,
      LOS rate: -0.486801 deg/s,
      cmd update: -1.460403 deg/s,
      cmd heading: 242.206868 deg,
      new cmd heading: 242.056217 deg.

2020-12-13T22:37:22.625Z,1607899042.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:23.231Z,1607899043.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:23.641Z,1607899043.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:24.505Z,1607899044.505 [Micromodem](INFO): Nmea in: $SNTTA,0.015020,,,,223724.41*41

2020-12-13T22:37:24.716Z,1607899044.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.379997 m, bearing: 199.251440 deg, deltaT: 4.405831 s, approachRate: -0.299604 m/s, LOS rate: -0.220816 deg/s, posRepo size: 4
2020-12-13T22:37:24.718Z,1607899044.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.379997 m,
      bearing: 199.251440 deg,
      approachRate: -0.299604 m/s,
      LOS rate: -0.220816 deg/s,
      cmd update: -0.662448 deg/s,
      cmd heading: 235.752487 deg,
      new cmd heading: 234.811831 deg.

2020-12-13T22:37:26.617Z,1607899046.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:27.367Z,1607899047.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:27.781Z,1607899047.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:28.618Z,1607899048.618 [Micromodem](INFO): Nmea in: $SNTTA,0.014119,,,,223728.54*43

2020-12-13T22:37:28.832Z,1607899048.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 198.999365 deg, deltaT: 4.156027 s, approachRate: -0.346485 m/s, LOS rate: -0.060653 deg/s, posRepo size: 4
2020-12-13T22:37:28.834Z,1607899048.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.939997 m,
      bearing: 198.999365 deg,
      approachRate: -0.346485 m/s,
      LOS rate: -0.060653 deg/s,
      cmd update: -0.181959 deg/s,
      cmd heading: 232.996674 deg,
      new cmd heading: 232.599562 deg.

2020-12-13T22:37:30.824Z,1607899050.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:31.429Z,1607899051.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:31.813Z,1607899051.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:32.656Z,1607899052.656 [Micromodem](INFO): Nmea in: $SNTTA,0.013163,,,,223732.60*45

2020-12-13T22:37:32.713Z,1607899052.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 196.430462 deg, deltaT: 4.046121 s, approachRate: -0.341066 m/s, LOS rate: -0.634905 deg/s, posRepo size: 4
2020-12-13T22:37:32.715Z,1607899052.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 196.430462 deg,
      approachRate: -0.341066 m/s,
      LOS rate: -0.634905 deg/s,
      cmd update: -1.904715 deg/s,
      cmd heading: 232.258259 deg,
      new cmd heading: 232.181311 deg.

2020-12-13T22:37:35.318Z,1607899055.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:35.879Z,1607899055.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:36.297Z,1607899056.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:37.141Z,1607899057.141 [Micromodem](INFO): Nmea in: $SNTTA,0.013003,,,,223737.05*44

2020-12-13T22:37:37.340Z,1607899057.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 193.440561 deg, deltaT: 4.501325 s, approachRate: -0.053318 m/s, LOS rate: -0.664227 deg/s, posRepo size: 4
2020-12-13T22:37:37.342Z,1607899057.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.320000 m,
      bearing: 193.440561 deg,
      approachRate: -0.053318 m/s,
      LOS rate: -0.664227 deg/s,
      cmd update: -1.992681 deg/s,
      cmd heading: 223.677236 deg,
      new cmd heading: 222.640174 deg.

2020-12-13T22:37:37.646Z,1607899057.646 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:37:38.155Z,1607899058.155 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:37:38.156Z,1607899058.156 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:37:38.156Z,1607899058.156 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:37:38.446Z,1607899058.446 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:37:38.842Z,1607899058.842 [Micromodem](INFO): Nmea in: $CADRQ,223739,1,9,0,64,1*40

2020-12-13T22:37:38.842Z,1607899058.842 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:37:39.246Z,1607899059.246 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:37:39.649Z,1607899059.649 [Micromodem](INFO): Nmea in: $CADRQ,223740,1,9,0,64,2*4D

2020-12-13T22:37:39.651Z,1607899059.651 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:37:39.742Z,1607899059.742 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:37:39.791Z,1607899059.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:40.055Z,1607899060.055 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,65

2020-12-13T22:37:40.056Z,1607899060.056 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATXD,1,9,1,65
 expected 77
2020-12-13T22:37:40.057Z,1607899060.057 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:37:42.538Z,1607899062.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:42.890Z,1607899062.890 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:37:42.890Z,1607899062.890 [Micromodem](ERROR): TXD response from modem unexpected: $CATXF,70*63

2020-12-13T22:37:43.280Z,1607899063.280 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223740.801805,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T22:37:43.280Z,1607899063.280 [Micromodem](ERROR): TXD response from modem unexpected: $CAXST,6,20201213,223740.801805,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T22:37:45.355Z,1607899065.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:48.492Z,1607899068.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:51.114Z,1607899071.114 [Micromodem](ERROR): Nmea resend: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:37:51.174Z,1607899071.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:51.528Z,1607899071.528 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:37:51.528Z,1607899071.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:51.920Z,1607899071.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:52.770Z,1607899072.770 [Micromodem](INFO): Nmea in: $SNTTA,0.007698,,,,223752.70*44

2020-12-13T22:37:52.861Z,1607899072.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.339997 m, bearing: 188.916298 deg, deltaT: 15.572935 s, approachRate: -0.512428 m/s, LOS rate: -0.290521 deg/s, posRepo size: 4
2020-12-13T22:37:52.863Z,1607899072.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 188.916298 deg,
      approachRate: -0.512428 m/s,
      LOS rate: -0.290521 deg/s,
      cmd update: -0.871563 deg/s,
      cmd heading: 192.657364 deg,
      new cmd heading: 191.720685 deg.

2020-12-13T22:37:54.931Z,1607899074.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:55.583Z,1607899075.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:37:55.957Z,1607899075.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:37:56.790Z,1607899076.790 [Micromodem](INFO): Nmea in: $SNTTA,0.006342,,,,223756.76*45

2020-12-13T22:37:56.970Z,1607899076.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 192.207220 deg, deltaT: 4.034333 s, approachRate: -0.505660 m/s, LOS rate: 0.815729 deg/s, posRepo size: 4
2020-12-13T22:37:56.972Z,1607899076.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 192.207220 deg,
      approachRate: -0.505660 m/s,
      LOS rate: 0.815729 deg/s,
      cmd update: 2.447187 deg/s,
      cmd heading: 189.138137 deg,
      new cmd heading: 188.641851 deg.

2020-12-13T22:37:59.219Z,1607899079.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:37:59.995Z,1607899079.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:00.402Z,1607899080.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:01.238Z,1607899081.238 [Micromodem](INFO): Nmea in: $SNTTA,0.004867,,,,223801.17*41

2020-12-13T22:38:01.429Z,1607899081.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 196.286837 deg, deltaT: 4.466628 s, approachRate: -0.497019 m/s, LOS rate: 0.913355 deg/s, posRepo size: 4
2020-12-13T22:38:01.435Z,1607899081.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 196.286837 deg,
      approachRate: -0.497019 m/s,
      LOS rate: 0.913355 deg/s,
      cmd update: 2.740065 deg/s,
      cmd heading: 200.064959 deg,
      new cmd heading: 201.437968 deg.

2020-12-13T22:38:03.417Z,1607899083.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:04.031Z,1607899084.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:04.449Z,1607899084.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:05.290Z,1607899085.290 [Micromodem](INFO): Nmea in: $SNTTA,0.003945,,,,223805.21*46

2020-12-13T22:38:05.315Z,1607899085.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 203.847269 deg, deltaT: 4.023662 s, approachRate: -0.342972 m/s, LOS rate: 1.878993 deg/s, posRepo size: 4
2020-12-13T22:38:05.337Z,1607899085.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 203.847269 deg,
      approachRate: -0.342972 m/s,
      LOS rate: 1.878993 deg/s,
      cmd update: 5.636978 deg/s,
      cmd heading: 211.101624 deg,
      new cmd heading: 212.258474 deg.

2020-12-13T22:38:07.944Z,1607899087.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:08.519Z,1607899088.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:08.905Z,1607899088.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:09.750Z,1607899089.750 [Micromodem](INFO): Nmea in: $SNTTA,0.002899,,,,223809.69*47

2020-12-13T22:38:09.934Z,1607899089.934 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T22:38:09.934Z,1607899089.934 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T22:38:09.934Z,1607899089.934 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T22:38:09.935Z,1607899089.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:38:09.935Z,1607899089.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T22:38:09.935Z,1607899089.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2020-12-13T22:38:09.935Z,1607899089.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T22:38:09.935Z,1607899089.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T22:38:09.935Z,1607899089.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T22:38:09.938Z,1607899089.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 218.365423 deg, deltaT: 4.463629 s, approachRate: -0.362933 m/s, LOS rate: 3.252545 deg/s, posRepo size: 4
2020-12-13T22:38:09.940Z,1607899089.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 218.365423 deg,
      approachRate: -0.362933 m/s,
      LOS rate: 3.252545 deg/s,
      cmd update: 9.757636 deg/s,
      cmd heading: 236.168471 deg,
      new cmd heading: 239.538352 deg.

2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T223810: (41.552319, -70.708603)
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T22:38:10.147Z,1607899090.147 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T22:38:10.148Z,1607899090.148 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T22:38:10.566Z,1607899090.566 [UniversalFixResidualReporter](INFO): Fix residual: 4.4 %DT, over the last 1112.0 m. Residual distance 49.1 m at bearing 45.4 degrees. Fix at (41.5493, -70.7074) with 0.0 m made good.
2020-12-13T22:38:12.148Z,1607899092.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:12.939Z,1607899092.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:13.356Z,1607899093.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:14.190Z,1607899094.190 [Micromodem](INFO): Nmea in: $SNTTA,0.002394,,,0.034533,223814.12*5D

2020-12-13T22:38:14.360Z,1607899094.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.419998 m, bearing: 249.192239 deg, deltaT: 4.447436 s, approachRate: -0.148401 m/s, LOS rate: 6.931368 deg/s, posRepo size: 4
2020-12-13T22:38:14.362Z,1607899094.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 249.192239 deg,
      approachRate: -0.148401 m/s,
      LOS rate: 6.931368 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 279.719960 deg,
      new cmd heading: 285.154397 deg.

2020-12-13T22:38:16.354Z,1607899096.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:16.975Z,1607899096.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:17.392Z,1607899097.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:18.254Z,1607899098.254 [Micromodem](INFO): Nmea in: $SNTTA,0.002304,,,,223818.15*43

2020-12-13T22:38:18.288Z,1607899098.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 245.221796 deg, deltaT: 4.071028 s, approachRate: 0.014738 m/s, LOS rate: -0.975293 deg/s, posRepo size: 4
2020-12-13T22:38:18.290Z,1607899098.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 245.221796 deg,
      approachRate: 0.014738 m/s,
      LOS rate: -0.975293 deg/s,
      cmd update: -2.925878 deg/s,
      cmd heading: 328.453856 deg,
      new cmd heading: 333.536277 deg.

2020-12-13T22:38:20.812Z,1607899100.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:21.425Z,1607899101.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:21.829Z,1607899101.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:22.275Z,1607899102.275 [PowerOnly](INFO): Powering down loadControl
2020-12-13T22:38:22.673Z,1607899102.673 [Micromodem](INFO): Nmea in: $SNTTA,0.002518,,,,223822.60*43

2020-12-13T22:38:22.862Z,1607899102.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 211.684966 deg, deltaT: 4.433732 s, approachRate: 0.067663 m/s, LOS rate: -7.564018 deg/s, posRepo size: 4
2020-12-13T22:38:22.864Z,1607899102.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 211.684966 deg,
      approachRate: 0.067663 m/s,
      LOS rate: -7.564018 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 315.449815 deg,
      new cmd heading: 313.832881 deg.

2020-12-13T22:38:25.075Z,1607899105.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:25.867Z,1607899105.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:26.273Z,1607899106.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:27.117Z,1607899107.117 [Micromodem](INFO): Nmea in: $SNTTA,0.002946,,,,223827.04*43

2020-12-13T22:38:27.297Z,1607899107.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 289.400333 deg, deltaT: 4.430564 s, approachRate: 0.121881 m/s, LOS rate: 17.540739 deg/s, posRepo size: 4
2020-12-13T22:38:27.298Z,1607899107.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.32 m.
2020-12-13T22:38:27.298Z,1607899107.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.540739 deg/s. Setting heading cmd to target bearing of 289.400333deg and heading rate command to 0 deg/s.
2020-12-13T22:38:29.266Z,1607899109.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:29.911Z,1607899109.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:30.314Z,1607899110.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:31.158Z,1607899111.158 [Micromodem](INFO): Nmea in: $SNTTA,0.003289,,0.029289,,223831.09*56

2020-12-13T22:38:31.180Z,1607899111.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 287.364718 deg, deltaT: 4.049033 s, approachRate: 0.133366 m/s, LOS rate: -0.502741 deg/s, posRepo size: 4
2020-12-13T22:38:31.182Z,1607899111.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 287.364718 deg,
      approachRate: 0.133366 m/s,
      LOS rate: -0.502741 deg/s,
      cmd update: -1.508223 deg/s,
      cmd heading: 289.400333 deg,
      new cmd heading: 289.400333 deg.

2020-12-13T22:38:33.294Z,1607899113.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:33.995Z,1607899113.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:34.397Z,1607899114.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:35.230Z,1607899115.230 [Micromodem](INFO): Nmea in: $SNTTA,0.003690,,0.044122,,223835.17*58

2020-12-13T22:38:35.275Z,1607899115.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 284.874650 deg, deltaT: 4.123829 s, approachRate: 0.174595 m/s, LOS rate: -0.603824 deg/s, posRepo size: 4
2020-12-13T22:38:35.277Z,1607899115.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 284.874650 deg,
      approachRate: 0.174595 m/s,
      LOS rate: -0.603824 deg/s,
      cmd update: -1.811473 deg/s,
      cmd heading: 283.151764 deg,
      new cmd heading: 282.598678 deg.

2020-12-13T22:38:37.693Z,1607899117.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:38.451Z,1607899118.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:38.837Z,1607899118.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:39.677Z,1607899119.677 [Micromodem](INFO): Nmea in: $SNTTA,0.004076,,,,223839.63*41

2020-12-13T22:38:39.735Z,1607899119.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 301.036271 deg, deltaT: 4.352039 s, approachRate: 0.151653 m/s, LOS rate: 3.713574 deg/s, posRepo size: 4
2020-12-13T22:38:39.735Z,1607899119.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 6.24 m.
2020-12-13T22:38:39.737Z,1607899119.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 301.036271 deg,
      approachRate: 0.151653 m/s,
      LOS rate: 3.713574 deg/s,
      cmd update: 11.140723 deg/s,
      cmd heading: 275.260658 deg,
      new cmd heading: 274.408394 deg.

2020-12-13T22:38:41.770Z,1607899121.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:42.525Z,1607899122.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:42.945Z,1607899122.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:43.339Z,1607899123.339 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:38:43.782Z,1607899123.782 [Micromodem](INFO): Nmea in: $SNTTA,0.004733,,,,223843.70*48

2020-12-13T22:38:43.910Z,1607899123.910 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:38:43.910Z,1607899123.910 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:38:43.911Z,1607899123.911 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:38:43.990Z,1607899123.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 333.312221 deg, deltaT: 4.186644 s, approachRate: 0.229300 m/s, LOS rate: 7.709265 deg/s, posRepo size: 4
2020-12-13T22:38:43.992Z,1607899123.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 333.312221 deg,
      approachRate: 0.229300 m/s,
      LOS rate: 7.709265 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.775572 deg,
      new cmd heading: 327.901388 deg.

2020-12-13T22:38:45.010Z,1607899125.010 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:38:45.410Z,1607899125.410 [Micromodem](INFO): Nmea in: $CADRQ,223845,1,9,0,64,2*47

2020-12-13T22:38:45.411Z,1607899125.411 [Micromodem](INFO): Received CADRQ with unexpected frame#: 2
2020-12-13T22:38:45.411Z,1607899125.411 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:38:45.826Z,1607899125.826 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:38:46.206Z,1607899126.206 [Micromodem](INFO): Nmea in: $CATXP,12*71

2020-12-13T22:38:46.370Z,1607899126.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:47.015Z,1607899127.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:48.638Z,1607899128.638 [Micromodem](INFO): Nmea in: $CATXF,12*67

2020-12-13T22:38:48.639Z,1607899128.639 [Micromodem](ERROR): Response from modem unexpected: $CATXF,12*67

2020-12-13T22:38:49.035Z,1607899129.035 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223846.561446,3,0,200,4000,14500,1,1,9,1,2,2,3,12*74

2020-12-13T22:38:49.036Z,1607899129.036 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223846.561446,3,0,200,4000,14500,1,1,9,1,2,2,3,12*74

2020-12-13T22:38:49.086Z,1607899129.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:51.932Z,1607899131.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:54.862Z,1607899134.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:57.576Z,1607899137.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:38:58.331Z,1607899138.331 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:38:58.741Z,1607899138.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:38:59.602Z,1607899139.602 [Micromodem](INFO): Nmea in: $SNTTA,0.006959,,,,223859.51*40

2020-12-13T22:38:59.625Z,1607899139.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.500002 m, bearing: 7.916970 deg, deltaT: 15.854333 s, approachRate: 0.208145 m/s, LOS rate: 2.182669 deg/s, posRepo size: 4
2020-12-13T22:38:59.627Z,1607899139.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.500002 m,
      bearing: 7.916970 deg,
      approachRate: 0.208145 m/s,
      LOS rate: 2.182669 deg/s,
      cmd update: 6.548007 deg/s,
      cmd heading: 152.142510 deg,
      new cmd heading: 156.001242 deg.

2020-12-13T22:39:02.009Z,1607899142.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:02.778Z,1607899142.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:03.177Z,1607899143.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:04.014Z,1607899144.014 [Micromodem](INFO): Nmea in: $SNTTA,0.007769,,,,223903.95*4A

2020-12-13T22:39:04.068Z,1607899144.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 359.050286 deg, deltaT: 4.321940 s, approachRate: 0.277653 m/s, LOS rate: -2.051554 deg/s, posRepo size: 4
2020-12-13T22:39:04.070Z,1607899144.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 359.050286 deg,
      approachRate: 0.277653 m/s,
      LOS rate: -2.051554 deg/s,
      cmd update: -6.154663 deg/s,
      cmd heading: 180.454579 deg,
      new cmd heading: 183.339787 deg.

2020-12-13T22:39:06.455Z,1607899146.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:07.215Z,1607899147.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:07.634Z,1607899147.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:08.493Z,1607899148.493 [Micromodem](INFO): Nmea in: $SNTTA,0.009527,,,,223908.39*41

2020-12-13T22:39:08.557Z,1607899148.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 320.830460 deg, deltaT: 4.455549 s, approachRate: 0.579053 m/s, LOS rate: -8.578029 deg/s, posRepo size: 4
2020-12-13T22:39:08.557Z,1607899148.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.28 m. Rolling out.
2020-12-13T22:39:08.558Z,1607899148.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T22:39:10.915Z,1607899150.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:11.690Z,1607899151.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:12.106Z,1607899152.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:12.918Z,1607899152.918 [Micromodem](INFO): Nmea in: $SNTTA,0.010590,,,,223912.87*4B

2020-12-13T22:39:12.963Z,1607899152.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 302.277070 deg, deltaT: 4.468994 s, approachRate: 0.026852 m/s, LOS rate: -4.151581 deg/s, posRepo size: 4
2020-12-13T22:39:14.177Z,1607899154.177 [DDM](ERROR): Could not parse whisker state
2020-12-13T22:39:15.396Z,1607899155.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:16.147Z,1607899156.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:16.582Z,1607899156.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:17.425Z,1607899157.425 [Micromodem](INFO): Nmea in: $SNTTA,0.011665,,,,223917.32*48

2020-12-13T22:39:17.448Z,1607899157.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 261.567558 deg, deltaT: 4.425042 s, approachRate: 0.732196 m/s, LOS rate: -9.199802 deg/s, posRepo size: 4
2020-12-13T22:39:18.946Z,1607899158.946 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:39:19.642Z,1607899159.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:20.391Z,1607899160.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:20.813Z,1607899160.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:21.669Z,1607899161.669 [Micromodem](INFO): Nmea in: $SNTTA,0.011854,,,,223921.57*42

2020-12-13T22:39:21.743Z,1607899161.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 303.162454 deg, deltaT: 4.241196 s, approachRate: 0.297086 m/s, LOS rate: 9.807351 deg/s, posRepo size: 4
2020-12-13T22:39:23.739Z,1607899163.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:24.441Z,1607899164.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:24.853Z,1607899164.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:25.710Z,1607899165.710 [Micromodem](INFO): Nmea in: $SNTTA,0.012568,,,,223925.62*41

2020-12-13T22:39:25.761Z,1607899165.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.039999 m, bearing: 187.973062 deg, deltaT: 4.218862 s, approachRate: 0.270215 m/s, LOS rate: -27.303427 deg/s, posRepo size: 4
2020-12-13T22:39:28.105Z,1607899168.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:28.889Z,1607899168.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:29.346Z,1607899169.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:30.158Z,1607899170.158 [Micromodem](INFO): Nmea in: $SNTTA,0.012977,,,,223930.06*45

2020-12-13T22:39:30.195Z,1607899170.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 190.981529 deg, deltaT: 4.358161 s, approachRate: -0.110138 m/s, LOS rate: 0.690306 deg/s, posRepo size: 4
2020-12-13T22:39:32.299Z,1607899172.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:33.083Z,1607899173.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:33.517Z,1607899173.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:34.366Z,1607899174.366 [Micromodem](INFO): Nmea in: $SNTTA,0.012891,,,,223934.26*4A

2020-12-13T22:39:34.381Z,1607899174.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 136.775727 deg, deltaT: 4.183227 s, approachRate: -0.043030 m/s, LOS rate: -12.957892 deg/s, posRepo size: 4
2020-12-13T22:39:36.801Z,1607899176.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:37.582Z,1607899177.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:37.977Z,1607899177.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:38.810Z,1607899178.810 [Micromodem](INFO): Nmea in: $SNTTA,0.012492,,0.027829,,223938.76*54

2020-12-13T22:39:38.844Z,1607899178.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 147.817492 deg, deltaT: 4.435127 s, approachRate: -0.135284 m/s, LOS rate: 2.489617 deg/s, posRepo size: 4
2020-12-13T22:39:41.314Z,1607899181.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:42.067Z,1607899182.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:42.468Z,1607899182.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:43.280Z,1607899183.280 [Micromodem](INFO): Nmea in: $SNTTA,0.011791,,0.019384,,223943.24*5D

2020-12-13T22:39:44.114Z,1607899184.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:44.885Z,1607899184.885 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:39:45.702Z,1607899185.702 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:39:46.716Z,1607899186.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:47.311Z,1607899187.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:47.748Z,1607899187.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:39:48.550Z,1607899188.550 [Micromodem](INFO): Nmea in: $SNTTA,0.010707,,,,223948.49*4A

2020-12-13T22:39:48.594Z,1607899188.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 85.371607 deg, deltaT: 9.747744 s, approachRate: -0.289297 m/s, LOS rate: -6.406189 deg/s, posRepo size: 4
2020-12-13T22:39:48.930Z,1607899188.930 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:39:48.966Z,1607899188.966 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T22:29:48.9Z
2020-12-13T22:39:48.966Z,1607899188.966 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T22:39:48.966Z,1607899188.966 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:39:48.966Z,1607899188.966 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T22:39:48.966Z,1607899188.966 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:39:48.967Z,1607899188.967 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T22:39:49.354Z,1607899189.354 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T22:39:49.354Z,1607899189.354 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T22:39:49.354Z,1607899189.354 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T22:39:49.354Z,1607899189.354 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:39:49.354Z,1607899189.354 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T22:39:49.973Z,1607899189.973 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:39:49.973Z,1607899189.973 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:39:49.973Z,1607899189.973 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:39:50.270Z,1607899190.270 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:39:50.703Z,1607899190.703 [Micromodem](INFO): Nmea in: $CADRQ,223951,1,9,0,64,1*40

2020-12-13T22:39:50.703Z,1607899190.703 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:39:50.972Z,1607899190.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:51.210Z,1607899191.210 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:39:51.633Z,1607899191.633 [Micromodem](INFO): Nmea in: $CADRQ,223951,1,9,0,64,2*43

2020-12-13T22:39:51.634Z,1607899191.634 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:39:51.999Z,1607899191.999 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:39:51.999Z,1607899191.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:39:52.460Z,1607899192.460 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:39:52.460Z,1607899192.460 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:39:53.717Z,1607899193.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:54.827Z,1607899194.827 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:39:54.827Z,1607899194.827 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:39:55.231Z,1607899195.231 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,223952.782496,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:39:55.232Z,1607899195.232 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,223952.782496,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:39:56.474Z,1607899196.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:39:59.447Z,1607899199.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:02.131Z,1607899202.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:03.426Z,1607899203.426 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:03.809Z,1607899203.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:04.612Z,1607899204.612 [Micromodem](INFO): Nmea in: $SNTTA,0.010793,,,,224004.60*4A

2020-12-13T22:40:04.702Z,1607899204.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 113.564551 deg, deltaT: 16.066818 s, approachRate: 0.022406 m/s, LOS rate: 1.754731 deg/s, posRepo size: 4
2020-12-13T22:40:07.095Z,1607899207.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:07.908Z,1607899207.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:08.294Z,1607899208.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:09.116Z,1607899209.116 [Micromodem](INFO): Nmea in: $SNTTA,0.012218,,,,224009.08*4D

2020-12-13T22:40:09.136Z,1607899209.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.540001 m, bearing: 131.700473 deg, deltaT: 4.535083 s, approachRate: 0.489518 m/s, LOS rate: 3.999028 deg/s, posRepo size: 4
2020-12-13T22:40:11.594Z,1607899211.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:12.319Z,1607899212.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:12.878Z,1607899212.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:13.697Z,1607899213.697 [Micromodem](INFO): Nmea in: $SNTTA,0.013884,,,,224013.50*45

2020-12-13T22:40:13.769Z,1607899213.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 139.596786 deg, deltaT: 4.514266 s, approachRate: 0.531647 m/s, LOS rate: 1.749191 deg/s, posRepo size: 4
2020-12-13T22:40:16.122Z,1607899216.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:16.927Z,1607899216.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:17.386Z,1607899217.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:18.190Z,1607899218.190 [Micromodem](INFO): Nmea in: $SNTTA,0.015960,,,,224018.10*47

2020-12-13T22:40:18.224Z,1607899218.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 161.430674 deg, deltaT: 4.609598 s, approachRate: 0.689866 m/s, LOS rate: 4.736615 deg/s, posRepo size: 4
2020-12-13T22:40:20.616Z,1607899220.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:21.420Z,1607899221.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:21.813Z,1607899221.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:22.642Z,1607899222.642 [Micromodem](INFO): Nmea in: $SNTTA,0.018089,,,,224022.59*40

2020-12-13T22:40:22.714Z,1607899222.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 177.422729 deg, deltaT: 4.345067 s, approachRate: 0.731864 m/s, LOS rate: 3.680508 deg/s, posRepo size: 4
2020-12-13T22:40:25.214Z,1607899225.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:25.847Z,1607899225.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:26.253Z,1607899226.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:27.098Z,1607899227.098 [Micromodem](INFO): Nmea in: $SNTTA,0.020249,0.022236,,,224027.02*57

2020-12-13T22:40:27.112Z,1607899227.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 152.750064 deg, deltaT: 4.515356 s, approachRate: 0.863719 m/s, LOS rate: -5.464168 deg/s, posRepo size: 4
2020-12-13T22:40:29.764Z,1607899229.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:30.331Z,1607899230.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:30.751Z,1607899230.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:31.598Z,1607899231.598 [Micromodem](INFO): Nmea in: $SNTTA,0.022558,,,,224031.51*4A

2020-12-13T22:40:31.825Z,1607899231.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 153.081984 deg, deltaT: 4.447612 s, approachRate: 0.782442 m/s, LOS rate: 0.074629 deg/s, posRepo size: 4
2020-12-13T22:40:33.813Z,1607899233.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:34.559Z,1607899234.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:34.957Z,1607899234.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:35.782Z,1607899235.782 [Micromodem](INFO): Nmea in: $SNTTA,0.024758,,0.079646,,224035.73*5E

2020-12-13T22:40:35.994Z,1607899235.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 152.122287 deg, deltaT: 4.205068 s, approachRate: 0.770499 m/s, LOS rate: -0.228224 deg/s, posRepo size: 4
2020-12-13T22:40:38.027Z,1607899238.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:38.611Z,1607899238.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:39.013Z,1607899239.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:39.858Z,1607899239.858 [Micromodem](INFO): Nmea in: $SNTTA,0.026897,,,,224039.79*42

2020-12-13T22:40:39.924Z,1607899239.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.380001 m, bearing: 152.727715 deg, deltaT: 4.042672 s, approachRate: 0.608508 m/s, LOS rate: 0.149759 deg/s, posRepo size: 4
2020-12-13T22:40:42.475Z,1607899242.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:43.059Z,1607899243.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:43.465Z,1607899243.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:44.302Z,1607899244.302 [Micromodem](INFO): Nmea in: $SNTTA,0.029201,,,,224044.23*4D

2020-12-13T22:40:44.533Z,1607899244.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.400002 m, bearing: 149.924606 deg, deltaT: 4.505176 s, approachRate: 0.892307 m/s, LOS rate: -0.622198 deg/s, posRepo size: 4
2020-12-13T22:40:46.798Z,1607899246.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:47.569Z,1607899247.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:47.964Z,1607899247.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:48.778Z,1607899248.778 [Micromodem](INFO): Nmea in: $SNTTA,0.031623,,,,224048.74*4E

2020-12-13T22:40:48.970Z,1607899248.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 153.439366 deg, deltaT: 4.457888 s, approachRate: 0.807556 m/s, LOS rate: 0.788436 deg/s, posRepo size: 4
2020-12-13T22:40:50.971Z,1607899250.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:51.583Z,1607899251.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:52.005Z,1607899252.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:52.830Z,1607899252.830 [Micromodem](INFO): Nmea in: $SNTTA,0.033763,,,,224052.76*40

2020-12-13T22:40:52.910Z,1607899252.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 161.902080 deg, deltaT: 4.054170 s, approachRate: 0.813977 m/s, LOS rate: 2.087410 deg/s, posRepo size: 4
2020-12-13T22:40:55.219Z,1607899255.219 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:40:55.381Z,1607899255.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:40:55.782Z,1607899255.782 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:40:55.783Z,1607899255.783 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:40:55.783Z,1607899255.783 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:40:56.057Z,1607899256.057 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:40:56.058Z,1607899256.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:40:56.474Z,1607899256.474 [Micromodem](INFO): Nmea in: $CADRQ,224056,1,9,0,64,1*49

2020-12-13T22:40:56.474Z,1607899256.474 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,224056,1,9,0,64,1*49

2020-12-13T22:40:56.866Z,1607899256.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:40:57.302Z,1607899257.302 [Micromodem](INFO): Nmea in: $SNTTA,0.036786,,,,224057.23*4B

2020-12-13T22:40:57.548Z,1607899257.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.779995 m, bearing: 160.064063 deg, deltaT: 4.488834 s, approachRate: 0.775257 m/s, LOS rate: -0.409464 deg/s, posRepo size: 4
2020-12-13T22:40:59.791Z,1607899259.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:00.567Z,1607899260.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:00.967Z,1607899260.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:01.814Z,1607899261.814 [Micromodem](INFO): Nmea in: $SNTTA,0.038502,,,,224101.74*4B

2020-12-13T22:41:01.838Z,1607899261.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.840004 m, bearing: 154.287430 deg, deltaT: 4.655618 s, approachRate: 0.657272 m/s, LOS rate: -1.240787 deg/s, posRepo size: 4
2020-12-13T22:41:04.251Z,1607899264.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:05.032Z,1607899265.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:05.445Z,1607899265.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:06.270Z,1607899266.270 [Micromodem](INFO): Nmea in: $SNTTA,0.040852,,,,224106.21*4B

2020-12-13T22:41:06.285Z,1607899266.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 151.482954 deg, deltaT: 4.282928 s, approachRate: 0.812528 m/s, LOS rate: -0.654803 deg/s, posRepo size: 4
2020-12-13T22:41:08.737Z,1607899268.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:09.474Z,1607899269.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:09.882Z,1607899269.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:10.742Z,1607899270.742 [Micromodem](INFO): Nmea in: $SNTTA,0.043262,,,,224110.65*46

2020-12-13T22:41:10.776Z,1607899270.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.339996 m, bearing: 162.892539 deg, deltaT: 4.408678 s, approachRate: 0.911836 m/s, LOS rate: 2.587983 deg/s, posRepo size: 4
2020-12-13T22:41:13.150Z,1607899273.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:13.917Z,1607899273.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:14.327Z,1607899274.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:15.182Z,1607899275.182 [Micromodem](INFO): Nmea in: $SNTTA,0.045688,,,,224115.09*4F

2020-12-13T22:41:15.229Z,1607899275.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 164.676831 deg, deltaT: 4.478951 s, approachRate: 0.830552 m/s, LOS rate: 0.398373 deg/s, posRepo size: 4
2020-12-13T22:41:17.622Z,1607899277.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:18.359Z,1607899278.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:18.769Z,1607899278.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:19.598Z,1607899279.598 [Micromodem](INFO): Nmea in: $SNTTA,0.048059,,,,224119.53*4B

2020-12-13T22:41:20.440Z,1607899280.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:22.005Z,1607899282.005 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:41:22.975Z,1607899282.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:23.607Z,1607899283.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:24.015Z,1607899284.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:24.850Z,1607899284.850 [Micromodem](INFO): Nmea in: $SNTTA,0.050883,,,,224124.78*4A

2020-12-13T22:41:24.912Z,1607899284.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 145.633266 deg, deltaT: 9.688816 s, approachRate: 0.761704 m/s, LOS rate: -1.965520 deg/s, posRepo size: 4
2020-12-13T22:41:26.042Z,1607899286.042 [Micromodem](INFO): Nmea in: $CAERR,224126,DATA_TIMEOUT,1*4F

2020-12-13T22:41:27.405Z,1607899287.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:28.061Z,1607899288.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:28.466Z,1607899288.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:29.306Z,1607899289.306 [Micromodem](INFO): Nmea in: $SNTTA,0.053273,,,,224129.24*48

2020-12-13T22:41:29.481Z,1607899289.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 165.345096 deg, deltaT: 4.460244 s, approachRate: 0.901294 m/s, LOS rate: 4.419451 deg/s, posRepo size: 4
2020-12-13T22:41:31.782Z,1607899291.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:32.546Z,1607899292.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:32.922Z,1607899292.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:33.734Z,1607899293.734 [Micromodem](INFO): Nmea in: $SNTTA,0.055663,,,,224133.72*43

2020-12-13T22:41:34.601Z,1607899294.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:36.165Z,1607899296.165 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:41:37.386Z,1607899297.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:38.183Z,1607899298.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:38.585Z,1607899298.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:39.427Z,1607899299.427 [Micromodem](INFO): Nmea in: $SNTTA,0.058708,,,,224139.36*48

2020-12-13T22:41:39.448Z,1607899299.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 171.920847 deg, deltaT: 10.092339 s, approachRate: 0.796644 m/s, LOS rate: 0.651559 deg/s, posRepo size: 4
2020-12-13T22:41:41.868Z,1607899301.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:42.626Z,1607899302.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:43.037Z,1607899303.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:43.874Z,1607899303.874 [Micromodem](INFO): Nmea in: $SNTTA,0.061120,,,,224143.80*4E

2020-12-13T22:41:43.910Z,1607899303.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.800003 m, bearing: 144.328468 deg, deltaT: 4.473722 s, approachRate: 0.737642 m/s, LOS rate: -6.167656 deg/s, posRepo size: 4
2020-12-13T22:41:46.302Z,1607899306.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:47.083Z,1607899307.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:47.529Z,1607899307.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:48.299Z,1607899308.299 [Micromodem](INFO): Nmea in: $SNTTA,0.063514,,,,224148.26*48

2020-12-13T22:41:48.332Z,1607899308.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.400009 m, bearing: 150.391873 deg, deltaT: 4.466379 s, approachRate: 0.806023 m/s, LOS rate: 1.357566 deg/s, posRepo size: 4
2020-12-13T22:41:50.771Z,1607899310.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:51.533Z,1607899311.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:51.909Z,1607899311.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:52.758Z,1607899312.758 [Micromodem](INFO): Nmea in: $SNTTA,0.065950,,,,224152.71*4B

2020-12-13T22:41:52.818Z,1607899312.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 149.900522 deg, deltaT: 4.391996 s, approachRate: 0.833333 m/s, LOS rate: -0.111874 deg/s, posRepo size: 4
2020-12-13T22:41:55.306Z,1607899315.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:41:55.951Z,1607899315.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:41:56.353Z,1607899316.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:41:57.198Z,1607899317.198 [Micromodem](INFO): Nmea in: $SNTTA,0.068390,,0.108583,,224157.13*58

2020-12-13T22:41:57.242Z,1607899317.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 158.291000 deg, deltaT: 4.466734 s, approachRate: 0.819390 m/s, LOS rate: 1.878437 deg/s, posRepo size: 4
2020-12-13T22:41:59.817Z,1607899319.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:00.395Z,1607899320.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:00.797Z,1607899320.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:00.809Z,1607899320.809 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:42:01.335Z,1607899321.335 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:42:01.336Z,1607899321.336 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:42:01.336Z,1607899321.336 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:42:01.649Z,1607899321.649 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:42:01.854Z,1607899321.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 153.678368 deg, deltaT: 4.596904 s, approachRate: 0.770084 m/s, LOS rate: -1.003421 deg/s, posRepo size: 4
2020-12-13T22:42:02.054Z,1607899322.054 [Micromodem](INFO): Nmea in: $CADRQ,224202,1,9,0,64,1*4A

2020-12-13T22:42:02.054Z,1607899322.054 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:42:02.472Z,1607899322.472 [Micromodem](INFO): Nmea in: $SNTTA,0.070686,,0.101205,,224201.57*53

2020-12-13T22:42:02.475Z,1607899322.475 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.070686,,0.101205,,224201.57*53

2020-12-13T22:42:03.680Z,1607899323.680 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:42:04.073Z,1607899324.073 [Micromodem](INFO): Nmea in: $CADRQ,224203,1,9,0,64,2*48

2020-12-13T22:42:04.073Z,1607899324.073 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:42:04.108Z,1607899324.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:04.498Z,1607899324.498 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:42:04.875Z,1607899324.875 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:42:04.876Z,1607899324.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:06.933Z,1607899326.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:07.298Z,1607899327.298 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:42:07.299Z,1607899327.299 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:42:07.724Z,1607899327.724 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224205.219656,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T22:42:07.724Z,1607899327.724 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224205.219656,3,0,200,4000,14500,1,1,9,1,2,2,3,70*71

2020-12-13T22:42:09.791Z,1607899329.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:12.811Z,1607899332.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:15.426Z,1607899335.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:16.200Z,1607899336.200 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:16.611Z,1607899336.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:17.446Z,1607899337.446 [Micromodem](INFO): Nmea in: $SNTTA,0.079282,,,,224217.38*4D

2020-12-13T22:42:17.528Z,1607899337.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.040001 m, bearing: 156.758319 deg, deltaT: 15.656900 s, approachRate: 0.816253 m/s, LOS rate: 0.196715 deg/s, posRepo size: 4
2020-12-13T22:42:17.859Z,1607899337.859 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:42:19.889Z,1607899339.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:20.658Z,1607899340.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:21.070Z,1607899341.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:21.882Z,1607899341.882 [Micromodem](INFO): Nmea in: $SNTTA,0.081809,,,,224221.83*46

2020-12-13T22:42:21.927Z,1607899341.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.940002 m, bearing: 152.881381 deg, deltaT: 4.463785 s, approachRate: 0.873698 m/s, LOS rate: -0.868532 deg/s, posRepo size: 4
2020-12-13T22:42:22.714Z,1607899342.714 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:42:24.317Z,1607899344.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:25.089Z,1607899345.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:25.523Z,1607899345.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:26.366Z,1607899346.366 [Micromodem](INFO): Nmea in: $SNTTA,0.084155,,,,224226.26*4B

2020-12-13T22:42:26.398Z,1607899346.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 153.165817 deg, deltaT: 4.409122 s, approachRate: 0.802881 m/s, LOS rate: 0.064511 deg/s, posRepo size: 4
2020-12-13T22:42:28.857Z,1607899348.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:29.591Z,1607899349.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:29.997Z,1607899349.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:30.830Z,1607899350.830 [Micromodem](INFO): Nmea in: $SNTTA,0.086684,,,,224230.76*40

2020-12-13T22:42:30.878Z,1607899350.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.319992 m, bearing: 144.761160 deg, deltaT: 4.499064 s, approachRate: 0.853508 m/s, LOS rate: -1.868090 deg/s, posRepo size: 4
2020-12-13T22:42:32.888Z,1607899352.888 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:42:33.260Z,1607899353.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:34.039Z,1607899354.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:34.457Z,1607899354.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:35.282Z,1607899355.282 [Micromodem](INFO): Nmea in: $SNTTA,0.089042,,,0.091541,224235.21*52

2020-12-13T22:42:35.303Z,1607899355.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.680008 m, bearing: 157.923003 deg, deltaT: 4.498534 s, approachRate: 0.746913 m/s, LOS rate: 2.925807 deg/s, posRepo size: 4
2020-12-13T22:42:37.744Z,1607899357.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:38.494Z,1607899358.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:38.885Z,1607899358.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:39.734Z,1607899359.734 [Micromodem](INFO): Nmea in: $SNTTA,0.091493,,,,224239.67*4B

2020-12-13T22:42:39.796Z,1607899359.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 157.749243 deg, deltaT: 4.433530 s, approachRate: 0.825525 m/s, LOS rate: -0.039192 deg/s, posRepo size: 4
2020-12-13T22:42:42.200Z,1607899362.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:42.602Z,1607899362.602 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:42:42.931Z,1607899362.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:43.338Z,1607899363.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:44.170Z,1607899364.170 [Micromodem](INFO): Nmea in: $SNTTA,0.093943,,,,224244.11*42

2020-12-13T22:42:44.224Z,1607899364.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.059998 m, bearing: 157.416449 deg, deltaT: 4.426457 s, approachRate: 0.840402 m/s, LOS rate: -0.075183 deg/s, posRepo size: 4
2020-12-13T22:42:46.791Z,1607899366.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:47.389Z,1607899367.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:47.799Z,1607899367.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:47.862Z,1607899367.862 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:42:48.639Z,1607899368.639 [Micromodem](INFO): Nmea in: $SNTTA,0.096385,,,,224248.56*48

2020-12-13T22:42:48.717Z,1607899368.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 154.380799 deg, deltaT: 4.424728 s, approachRate: 0.840730 m/s, LOS rate: -0.686065 deg/s, posRepo size: 4
2020-12-13T22:42:50.730Z,1607899370.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:51.438Z,1607899371.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:51.849Z,1607899371.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:52.686Z,1607899372.686 [Micromodem](INFO): Nmea in: $SNTTA,0.098575,,,,224252.61*40

2020-12-13T22:42:52.718Z,1607899372.718 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:42:52.743Z,1607899372.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 157.306510 deg, deltaT: 4.063570 s, approachRate: 0.797330 m/s, LOS rate: 0.719986 deg/s, posRepo size: 4
2020-12-13T22:42:55.092Z,1607899375.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:42:55.871Z,1607899375.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:42:56.277Z,1607899376.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:42:57.124Z,1607899377.124 [Micromodem](INFO): Nmea in: $SNTTA,0.101067,,,,224257.04*41

2020-12-13T22:42:57.160Z,1607899377.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.739990 m, bearing: 152.398336 deg, deltaT: 4.449528 s, approachRate: 0.836041 m/s, LOS rate: -1.103077 deg/s, posRepo size: 4
2020-12-13T22:42:59.792Z,1607899379.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:00.351Z,1607899380.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:00.749Z,1607899380.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:01.604Z,1607899381.604 [Micromodem](INFO): Nmea in: $SNTTA,0.103453,,,,224301.53*40

2020-12-13T22:43:01.628Z,1607899381.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 155.274474 deg, deltaT: 4.431117 s, approachRate: 0.825981 m/s, LOS rate: 0.649077 deg/s, posRepo size: 4
2020-12-13T22:43:03.687Z,1607899383.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:04.387Z,1607899384.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:04.789Z,1607899384.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:05.646Z,1607899385.646 [Micromodem](INFO): Nmea in: $SNTTA,0.105717,,,,224305.56*44

2020-12-13T22:43:05.747Z,1607899385.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.760010 m, bearing: 153.700362 deg, deltaT: 4.074534 s, approachRate: 0.824634 m/s, LOS rate: -0.386330 deg/s, posRepo size: 4
2020-12-13T22:43:06.446Z,1607899386.446 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:43:06.972Z,1607899386.972 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:43:06.973Z,1607899386.973 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:43:06.973Z,1607899386.973 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:43:07.258Z,1607899387.258 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:43:07.656Z,1607899387.656 [Micromodem](INFO): Nmea in: $CADRQ,224308,1,9,0,64,1*41

2020-12-13T22:43:07.658Z,1607899387.658 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:43:07.776Z,1607899387.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:08.047Z,1607899388.047 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:43:08.460Z,1607899388.460 [Micromodem](INFO): Nmea in: $CADRQ,224308,1,9,0,64,2*42

2020-12-13T22:43:08.460Z,1607899388.460 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:43:08.859Z,1607899388.859 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:43:08.859Z,1607899388.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:09.267Z,1607899389.267 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:43:09.267Z,1607899389.267 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:43:10.714Z,1607899390.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:11.704Z,1607899391.704 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:43:11.704Z,1607899391.704 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:43:12.099Z,1607899392.099 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224309.611388,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:43:12.099Z,1607899392.099 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224309.611388,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T22:43:13.342Z,1607899393.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:16.167Z,1607899396.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:17.777Z,1607899397.777 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T22:43:19.158Z,1607899399.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:20.186Z,1607899400.186 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:20.604Z,1607899400.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:21.417Z,1607899401.417 [Micromodem](INFO): Nmea in: $SNTTA,0.114258,,,,224321.36*4A

2020-12-13T22:43:21.834Z,1607899401.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:22.671Z,1607899402.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:43:23.866Z,1607899403.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:43:24.776Z,1607899404.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:25.475Z,1607899405.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:26.006Z,1607899406.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:26.807Z,1607899406.807 [Micromodem](INFO): Nmea in: $SNTTA,0.117184,,,,224326.65*4A

2020-12-13T22:43:26.905Z,1607899406.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.919998 m, bearing: 150.689737 deg, deltaT: 21.193475 s, approachRate: 0.809683 m/s, LOS rate: -0.142054 deg/s, posRepo size: 4
2020-12-13T22:43:29.265Z,1607899409.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:30.052Z,1607899410.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:30.438Z,1607899410.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:31.259Z,1607899411.259 [Micromodem](INFO): Nmea in: $SNTTA,0.119698,,,,224331.23*4A

2020-12-13T22:43:31.850Z,1607899411.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.700012 m, bearing: 150.972562 deg, deltaT: 4.872254 s, approachRate: 0.775824 m/s, LOS rate: 0.058048 deg/s, posRepo size: 4
2020-12-13T22:43:33.702Z,1607899413.702 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:43:34.115Z,1607899414.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:34.890Z,1607899414.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:35.289Z,1607899415.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:36.134Z,1607899416.134 [Micromodem](INFO): Nmea in: $SNTTA,0.122318,,,,224336.06*4F

2020-12-13T22:43:36.298Z,1607899416.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.700012 m, bearing: 158.399627 deg, deltaT: 4.466916 s, approachRate: 0.000000 m/s, LOS rate: 1.662683 deg/s, posRepo size: 4
2020-12-13T22:43:37.787Z,1607899417.787 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:43:38.289Z,1607899418.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:38.927Z,1607899418.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:39.329Z,1607899419.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:40.158Z,1607899420.158 [Micromodem](INFO): Nmea in: $SNTTA,0.124553,,,,224340.10*46

2020-12-13T22:43:40.970Z,1607899420.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:42.590Z,1607899422.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:43:43.583Z,1607899423.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:44.339Z,1607899424.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:44.741Z,1607899424.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:45.596Z,1607899425.596 [Micromodem](INFO): Nmea in: $SNTTA,0.127474,,,,224345.51*41

2020-12-13T22:43:46.032Z,1607899426.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.279999 m, bearing: 159.923702 deg, deltaT: 9.844359 s, approachRate: 1.176307 m/s, LOS rate: 0.154817 deg/s, posRepo size: 4
2020-12-13T22:43:48.408Z,1607899428.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:49.187Z,1607899429.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:49.621Z,1607899429.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:50.453Z,1607899430.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224350.36*59

2020-12-13T22:43:50.547Z,1607899430.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.279999 m, bearing: 162.516920 deg, deltaT: 4.454977 s, approachRate: 0.000000 m/s, LOS rate: 0.582095 deg/s, posRepo size: 4
2020-12-13T22:43:52.589Z,1607899432.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:53.255Z,1607899433.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:53.691Z,1607899433.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:54.518Z,1607899434.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224354.43*5F

2020-12-13T22:43:54.910Z,1607899434.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.599991 m, bearing: 158.511233 deg, deltaT: 4.514592 s, approachRate: 1.621407 m/s, LOS rate: -0.887276 deg/s, posRepo size: 4
2020-12-13T22:43:57.341Z,1607899437.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:43:58.143Z,1607899438.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:43:58.569Z,1607899438.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:43:59.373Z,1607899439.373 [Micromodem](INFO): Nmea in: $SNTTA,0.135730,,,,224359.32*49

2020-12-13T22:43:59.844Z,1607899439.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.799988 m, bearing: 152.828474 deg, deltaT: 4.822795 s, approachRate: 0.870864 m/s, LOS rate: -1.178312 deg/s, posRepo size: 4
2020-12-13T22:44:02.350Z,1607899442.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:02.995Z,1607899442.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:03.393Z,1607899443.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:04.221Z,1607899444.221 [Micromodem](INFO): Nmea in: $SNTTA,0.137642,,,,224404.17*47

2020-12-13T22:44:04.639Z,1607899444.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.579987 m, bearing: 158.657795 deg, deltaT: 5.007016 s, approachRate: 0.754940 m/s, LOS rate: 1.164231 deg/s, posRepo size: 4
2020-12-13T22:44:07.085Z,1607899447.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:07.835Z,1607899447.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:08.239Z,1607899448.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:09.077Z,1607899449.077 [Micromodem](INFO): Nmea in: $SNTTA,0.140263,,,,224409.01*4A

2020-12-13T22:44:09.534Z,1607899449.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.539993 m, bearing: 154.076664 deg, deltaT: 4.700347 s, approachRate: 0.842492 m/s, LOS rate: -0.974637 deg/s, posRepo size: 4
2020-12-13T22:44:11.947Z,1607899451.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:12.294Z,1607899452.294 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:44:12.711Z,1607899452.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:13.105Z,1607899453.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:13.252Z,1607899453.252 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:44:13.252Z,1607899453.252 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:44:13.253Z,1607899453.253 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:44:13.522Z,1607899453.522 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:44:13.918Z,1607899453.918 [Micromodem](INFO): Nmea in: $CADRQ,224414,1,9,0,64,1*4B

2020-12-13T22:44:13.919Z,1607899453.919 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:44:14.311Z,1607899454.311 [Micromodem](INFO): Nmea in: $SNTTA,0.142904,,,0.145416,224413.88*55

2020-12-13T22:44:14.312Z,1607899454.312 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.142904,,,0.145416,224413.88*55

2020-12-13T22:44:14.332Z,1607899454.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.499985 m, bearing: 152.796208 deg, deltaT: 4.935780 s, approachRate: 0.802303 m/s, LOS rate: -0.259423 deg/s, posRepo size: 4
2020-12-13T22:44:15.541Z,1607899455.541 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:44:15.935Z,1607899455.935 [Micromodem](INFO): Nmea in: $CADRQ,224415,1,9,0,64,2*49

2020-12-13T22:44:15.935Z,1607899455.935 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:44:16.338Z,1607899456.338 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:44:16.736Z,1607899456.736 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:44:16.836Z,1607899456.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:17.581Z,1607899457.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:19.155Z,1607899459.155 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:44:19.155Z,1607899459.155 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:44:19.583Z,1607899459.583 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224417.086946,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T22:44:19.584Z,1607899459.584 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224417.086946,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T22:44:19.615Z,1607899459.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:22.421Z,1607899462.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:25.242Z,1607899465.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:28.207Z,1607899468.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:28.846Z,1607899468.846 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:29.253Z,1607899469.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:30.077Z,1607899470.077 [Micromodem](INFO): Nmea in: $SNTTA,0.151666,,,,224430.02*42

2020-12-13T22:44:30.550Z,1607899470.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.579987 m, bearing: 160.144345 deg, deltaT: 16.192796 s, approachRate: 0.807767 m/s, LOS rate: 0.453790 deg/s, posRepo size: 4
2020-12-13T22:44:32.917Z,1607899472.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:33.725Z,1607899473.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:34.101Z,1607899474.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:34.923Z,1607899474.923 [Micromodem](INFO): Nmea in: $SNTTA,0.154373,,,,224434.90*49

2020-12-13T22:44:35.356Z,1607899475.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.660004 m, bearing: 154.857122 deg, deltaT: 4.712540 s, approachRate: 0.865779 m/s, LOS rate: -1.121947 deg/s, posRepo size: 4
2020-12-13T22:44:37.815Z,1607899477.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:38.562Z,1607899478.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:38.961Z,1607899478.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:39.786Z,1607899479.786 [Micromodem](INFO): Nmea in: $SNTTA,0.157025,,,0.159267,224439.74*5D

2020-12-13T22:44:40.268Z,1607899480.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.619995 m, bearing: 161.400649 deg, deltaT: 4.875091 s, approachRate: 0.812291 m/s, LOS rate: 1.342237 deg/s, posRepo size: 4
2020-12-13T22:44:42.650Z,1607899482.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:43.399Z,1607899483.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:43.809Z,1607899483.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:44.629Z,1607899484.629 [Micromodem](INFO): Nmea in: $SNTTA,0.159612,,,,224444.57*4A

2020-12-13T22:44:45.058Z,1607899485.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.519989 m, bearing: 162.661392 deg, deltaT: 4.860260 s, approachRate: 0.802425 m/s, LOS rate: 0.259398 deg/s, posRepo size: 4
2020-12-13T22:44:47.722Z,1607899487.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:48.275Z,1607899488.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:48.700Z,1607899488.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:49.531Z,1607899489.531 [Micromodem](INFO): Nmea in: $SNTTA,0.162999,,,,224449.45*40

2020-12-13T22:44:49.998Z,1607899489.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.659973 m, bearing: 157.285979 deg, deltaT: 5.062857 s, approachRate: 0.817717 m/s, LOS rate: -1.061735 deg/s, posRepo size: 4
2020-12-13T22:44:52.378Z,1607899492.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:53.171Z,1607899493.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:53.577Z,1607899493.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:54.418Z,1607899494.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224454.34*58

2020-12-13T22:44:54.834Z,1607899494.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.679993 m, bearing: 161.393941 deg, deltaT: 4.698073 s, approachRate: 0.855674 m/s, LOS rate: 0.874393 deg/s, posRepo size: 4
2020-12-13T22:44:57.258Z,1607899497.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:44:58.027Z,1607899498.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:44:58.427Z,1607899498.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:44:59.257Z,1607899499.257 [Micromodem](INFO): Nmea in: $SNTTA,0.167869,,,,224459.20*49

2020-12-13T22:44:59.708Z,1607899499.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.639999 m, bearing: 163.821473 deg, deltaT: 4.837906 s, approachRate: 0.818537 m/s, LOS rate: 0.501773 deg/s, posRepo size: 4
2020-12-13T22:45:02.134Z,1607899502.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:02.947Z,1607899502.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:03.357Z,1607899503.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:04.177Z,1607899504.177 [Micromodem](INFO): Nmea in: $SNTTA,0.170395,,,,224504.12*4F

2020-12-13T22:45:04.620Z,1607899504.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.720001 m, bearing: 161.433871 deg, deltaT: 4.917787 s, approachRate: 0.829642 m/s, LOS rate: -0.485503 deg/s, posRepo size: 4
2020-12-13T22:45:07.170Z,1607899507.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:07.786Z,1607899507.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:08.197Z,1607899508.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:09.025Z,1607899509.025 [Micromodem](INFO): Nmea in: $SNTTA,0.172971,,,,224508.96*4D

2020-12-13T22:45:09.446Z,1607899509.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.559967 m, bearing: 159.681790 deg, deltaT: 5.006403 s, approachRate: 0.767011 m/s, LOS rate: -0.349968 deg/s, posRepo size: 4
2020-12-13T22:45:11.864Z,1607899511.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:12.685Z,1607899512.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:13.061Z,1607899513.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:13.890Z,1607899513.890 [Micromodem](INFO): Nmea in: $SNTTA,0.175643,,,,224513.86*4F

2020-12-13T22:45:14.332Z,1607899514.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.579987 m, bearing: 157.519476 deg, deltaT: 4.734937 s, approachRate: 0.849012 m/s, LOS rate: -0.456672 deg/s, posRepo size: 4
2020-12-13T22:45:16.804Z,1607899516.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:17.524Z,1607899517.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:17.919Z,1607899517.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:18.309Z,1607899518.309 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:45:18.749Z,1607899518.749 [Micromodem](INFO): Nmea in: $SNTTA,0.178258,,,,224518.70*4E

2020-12-13T22:45:18.884Z,1607899518.884 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:45:18.885Z,1607899518.885 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:45:18.885Z,1607899518.885 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:45:19.164Z,1607899519.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.479980 m, bearing: 158.227725 deg, deltaT: 5.014085 s, approachRate: 0.777808 m/s, LOS rate: 0.141252 deg/s, posRepo size: 4
2020-12-13T22:45:19.954Z,1607899519.954 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:45:20.358Z,1607899520.358 [Micromodem](INFO): Nmea in: $CADRQ,224519,1,9,0,64,1*47

2020-12-13T22:45:20.358Z,1607899520.358 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:45:20.757Z,1607899520.757 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:45:21.166Z,1607899521.166 [Micromodem](INFO): Nmea in: $CADRQ,224521,1,9,0,64,2*4F

2020-12-13T22:45:21.166Z,1607899521.166 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:45:21.575Z,1607899521.575 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:45:21.686Z,1607899521.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:21.961Z,1607899521.961 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:45:22.360Z,1607899522.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:24.370Z,1607899524.370 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:45:24.371Z,1607899524.371 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:45:24.421Z,1607899524.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:24.779Z,1607899524.779 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224522.311927,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:45:24.780Z,1607899524.780 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224522.311927,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T22:45:27.215Z,1607899527.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:30.081Z,1607899530.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:33.046Z,1607899533.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:33.679Z,1607899533.679 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:34.069Z,1607899534.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:34.903Z,1607899534.903 [Micromodem](INFO): Nmea in: $SNTTA,0.187067,,,,224534.85*44

2020-12-13T22:45:35.331Z,1607899535.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.679993 m, bearing: 156.855363 deg, deltaT: 16.108379 s, approachRate: 0.819450 m/s, LOS rate: -0.085196 deg/s, posRepo size: 4
2020-12-13T22:45:37.793Z,1607899537.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:38.547Z,1607899538.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:38.929Z,1607899538.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:39.764Z,1607899539.764 [Micromodem](INFO): Nmea in: $SNTTA,0.189643,,,,224539.72*4F

2020-12-13T22:45:40.172Z,1607899540.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.579987 m, bearing: 158.453121 deg, deltaT: 4.754704 s, approachRate: 0.820239 m/s, LOS rate: 0.336037 deg/s, posRepo size: 4
2020-12-13T22:45:42.694Z,1607899542.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:43.359Z,1607899543.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:43.785Z,1607899543.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:44.601Z,1607899544.601 [Micromodem](INFO): Nmea in: $SNTTA,0.192213,,,,224544.53*4D

2020-12-13T22:45:45.018Z,1607899545.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.419983 m, bearing: 159.850756 deg, deltaT: 4.839023 s, approachRate: 0.793548 m/s, LOS rate: 0.288826 deg/s, posRepo size: 4
2020-12-13T22:45:47.461Z,1607899547.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:48.224Z,1607899548.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:48.613Z,1607899548.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:49.442Z,1607899549.442 [Micromodem](INFO): Nmea in: $SNTTA,0.194887,,,,224549.40*43

2020-12-13T22:45:49.882Z,1607899549.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.500000 m, bearing: 158.594465 deg, deltaT: 4.814694 s, approachRate: 0.847409 m/s, LOS rate: -0.260928 deg/s, posRepo size: 4
2020-12-13T22:45:52.457Z,1607899552.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:53.063Z,1607899553.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:53.477Z,1607899553.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:54.305Z,1607899554.305 [Micromodem](INFO): Nmea in: $SNTTA,0.197541,,,,224554.24*49

2020-12-13T22:45:54.793Z,1607899554.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.459991 m, bearing: 156.944975 deg, deltaT: 5.042009 s, approachRate: 0.785399 m/s, LOS rate: -0.327149 deg/s, posRepo size: 4
2020-12-13T22:45:57.131Z,1607899557.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:45:57.923Z,1607899557.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:45:57.982Z,1607899557.982 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:45:58.333Z,1607899558.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:45:59.168Z,1607899559.168 [Micromodem](INFO): Nmea in: $SNTTA,0.200239,,,,224559.10*46

2020-12-13T22:45:59.602Z,1607899559.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.540009 m, bearing: 159.068685 deg, deltaT: 4.655051 s, approachRate: 0.876471 m/s, LOS rate: 0.456216 deg/s, posRepo size: 4
2020-12-13T22:45:59.602Z,1607899559.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 300.54 m. Resuming terminal guidance.
2020-12-13T22:45:59.602Z,1607899559.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T22:46:02.035Z,1607899562.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:02.767Z,1607899562.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:02.818Z,1607899562.818 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:46:03.169Z,1607899563.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:04.018Z,1607899564.018 [Micromodem](INFO): Nmea in: $SNTTA,0.202869,,,,224603.94*4B

2020-12-13T22:46:04.434Z,1607899564.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.440002 m, bearing: 156.171319 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T22:46:04.435Z,1607899564.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 156.171319deg and heading rate command to 0 deg/s.
2020-12-13T22:46:06.892Z,1607899566.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:07.623Z,1607899567.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:08.030Z,1607899568.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:08.861Z,1607899568.861 [Micromodem](INFO): Nmea in: $SNTTA,0.205582,,,,224608.80*4A

2020-12-13T22:46:09.300Z,1607899569.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.519989 m, bearing: 157.570880 deg, deltaT: 4.856500 s, approachRate: 0.840108 m/s, LOS rate: 0.288183 deg/s, posRepo size: 2
2020-12-13T22:46:09.303Z,1607899569.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.519989 m,
      bearing: 157.570880 deg,
      approachRate: 0.840108 m/s,
      LOS rate: 0.288183 deg/s,
      cmd update: 0.864549 deg/s,
      cmd heading: 156.171319 deg,
      new cmd heading: 156.171319 deg.

2020-12-13T22:46:11.891Z,1607899571.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:12.519Z,1607899572.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:12.877Z,1607899572.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:12.928Z,1607899572.928 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:46:13.725Z,1607899573.725 [Micromodem](INFO): Nmea in: $SNTTA,0.208246,,,,224613.69*45

2020-12-13T22:46:14.144Z,1607899574.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.540009 m, bearing: 158.264253 deg, deltaT: 5.010362 s, approachRate: 0.802341 m/s, LOS rate: 0.138388 deg/s, posRepo size: 3
2020-12-13T22:46:14.146Z,1607899574.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.540009 m,
      bearing: 158.264253 deg,
      approachRate: 0.802341 m/s,
      LOS rate: 0.138388 deg/s,
      cmd update: 0.415164 deg/s,
      cmd heading: 160.520187 deg,
      new cmd heading: 160.708970 deg.

2020-12-13T22:46:16.576Z,1607899576.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:17.339Z,1607899577.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:17.743Z,1607899577.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:18.577Z,1607899578.577 [Micromodem](INFO): Nmea in: $SNTTA,0.210872,,,,224618.51*41

2020-12-13T22:46:18.987Z,1607899578.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.379974 m, bearing: 142.258388 deg, deltaT: 4.701555 s, approachRate: 0.816744 m/s, LOS rate: -3.404377 deg/s, posRepo size: 4
2020-12-13T22:46:18.989Z,1607899578.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.379974 m,
      bearing: 142.258388 deg,
      approachRate: 0.816744 m/s,
      LOS rate: -3.404377 deg/s,
      cmd update: -10.213131 deg/s,
      cmd heading: 162.471670 deg,
      new cmd heading: 162.621395 deg.

2020-12-13T22:46:21.443Z,1607899581.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:22.183Z,1607899582.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:22.593Z,1607899582.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:22.999Z,1607899582.999 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T22:46:23.408Z,1607899583.408 [Micromodem](INFO): Nmea in: $SNTTA,0.213415,,,,224623.39*49

2020-12-13T22:46:23.844Z,1607899583.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.279999 m, bearing: 156.101965 deg, deltaT: 4.828252 s, approachRate: 0.807751 m/s, LOS rate: 2.867203 deg/s, posRepo size: 4
2020-12-13T22:46:23.846Z,1607899583.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.279999 m,
      bearing: 156.101965 deg,
      approachRate: 0.807751 m/s,
      LOS rate: 2.867203 deg/s,
      cmd update: 8.601609 deg/s,
      cmd heading: 113.189178 deg,
      new cmd heading: 109.180964 deg.

2020-12-13T22:46:24.218Z,1607899584.218 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:46:24.778Z,1607899584.778 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:46:24.778Z,1607899584.778 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:46:24.779Z,1607899584.779 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:46:25.298Z,1607899585.298 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:46:25.688Z,1607899585.688 [Micromodem](INFO): Nmea in: $CADRQ,224625,1,9,0,64,1*4B

2020-12-13T22:46:25.689Z,1607899585.689 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:46:26.075Z,1607899586.075 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:46:26.131Z,1607899586.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:26.484Z,1607899586.484 [Micromodem](INFO): Nmea in: $CADRQ,224626,1,9,0,64,2*4B

2020-12-13T22:46:26.486Z,1607899586.486 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:46:26.891Z,1607899586.891 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:46:26.892Z,1607899586.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:27.296Z,1607899587.296 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:46:27.296Z,1607899587.296 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:46:28.939Z,1607899588.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:29.747Z,1607899589.747 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:46:29.747Z,1607899589.747 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:46:30.116Z,1607899590.116 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224627.633923,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T22:46:30.116Z,1607899590.116 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224627.633923,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T22:46:31.542Z,1607899591.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:34.171Z,1607899594.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:37.021Z,1607899597.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:38.204Z,1607899598.204 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:38.601Z,1607899598.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:39.457Z,1607899599.457 [Micromodem](INFO): Nmea in: $SNTTA,0.221954,,,,224639.38*4A

2020-12-13T22:46:40.162Z,1607899600.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.059998 m, bearing: 159.114803 deg, deltaT: 16.074288 s, approachRate: 0.795058 m/s, LOS rate: 0.187432 deg/s, posRepo size: 4
2020-12-13T22:46:40.164Z,1607899600.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.059998 m,
      bearing: 159.114803 deg,
      approachRate: 0.795058 m/s,
      LOS rate: 0.187432 deg/s,
      cmd update: 0.562296 deg/s,
      cmd heading: 251.414135 deg,
      new cmd heading: 256.921376 deg.

2020-12-13T22:46:42.394Z,1607899602.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:43.171Z,1607899603.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:43.577Z,1607899603.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:44.411Z,1607899604.411 [Micromodem](INFO): Nmea in: $SNTTA,0.224415,,,,224644.34*41

2020-12-13T22:46:44.862Z,1607899604.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 336.959991 m, bearing: 209.207014 deg, deltaT: 4.943615 s, approachRate: 0.788895 m/s, LOS rate: 10.132709 deg/s, posRepo size: 4
2020-12-13T22:46:44.864Z,1607899604.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.959991 m,
      bearing: 209.207014 deg,
      approachRate: 0.788895 m/s,
      LOS rate: 10.132709 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 254.192938 deg,
      new cmd heading: 254.416934 deg.

2020-12-13T22:46:47.257Z,1607899607.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:48.019Z,1607899608.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:48.435Z,1607899608.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:49.263Z,1607899609.263 [Micromodem](INFO): Nmea in: $SNTTA,0.226144,,,,224649.19*40

2020-12-13T22:46:49.710Z,1607899609.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.299988 m, bearing: 252.988158 deg, deltaT: 4.803616 s, approachRate: 0.487132 m/s, LOS rate: 9.114205 deg/s, posRepo size: 4
2020-12-13T22:46:49.712Z,1607899609.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.299988 m,
      bearing: 252.988158 deg,
      approachRate: 0.487132 m/s,
      LOS rate: 9.114205 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 311.964852 deg,
      new cmd heading: 317.148636 deg.

2020-12-13T22:46:51.812Z,1607899611.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:52.530Z,1607899612.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:53.121Z,1607899613.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:53.941Z,1607899613.941 [Micromodem](INFO): Nmea in: $SNTTA,0.227613,,,,224653.70*40

2020-12-13T22:46:54.358Z,1607899614.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.519989 m, bearing: 272.573807 deg, deltaT: 4.730543 s, approachRate: 0.469291 m/s, LOS rate: 4.140254 deg/s, posRepo size: 4
2020-12-13T22:46:54.359Z,1607899614.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.519989 m,
      bearing: 272.573807 deg,
      approachRate: 0.469291 m/s,
      LOS rate: 4.140254 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 8.731754 deg,
      new cmd heading: 12.924626 deg.

2020-12-13T22:46:57.023Z,1607899617.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:46:57.607Z,1607899617.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:46:58.009Z,1607899618.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:46:58.849Z,1607899618.849 [Micromodem](INFO): Nmea in: $SNTTA,0.228561,,,,224658.78*4A

2020-12-13T22:46:59.271Z,1607899619.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 342.839996 m, bearing: 264.282149 deg, deltaT: 5.021988 s, approachRate: 0.262846 m/s, LOS rate: -1.651071 deg/s, posRepo size: 4
2020-12-13T22:46:59.273Z,1607899619.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.839996 m,
      bearing: 264.282149 deg,
      approachRate: 0.262846 m/s,
      LOS rate: -1.651071 deg/s,
      cmd update: -4.953213 deg/s,
      cmd heading: 68.992709 deg,
      new cmd heading: 71.891717 deg.

2020-12-13T22:47:01.714Z,1607899621.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:02.465Z,1607899622.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:02.857Z,1607899622.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:03.702Z,1607899623.702 [Micromodem](INFO): Nmea in: $SNTTA,0.228753,,,,224703.64*4B

2020-12-13T22:47:04.096Z,1607899624.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.140015 m, bearing: 291.165364 deg, deltaT: 4.735188 s, approachRate: 0.063359 m/s, LOS rate: 5.677328 deg/s, posRepo size: 4
2020-12-13T22:47:04.098Z,1607899624.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.140015 m,
      bearing: 291.165364 deg,
      approachRate: 0.063359 m/s,
      LOS rate: 5.677328 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.558341 deg,
      new cmd heading: 43.897891 deg.

2020-12-13T22:47:06.617Z,1607899626.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:07.303Z,1607899627.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:07.749Z,1607899627.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:08.560Z,1607899628.560 [Micromodem](INFO): Nmea in: $SNTTA,0.228895,,,,224708.48*4B

2020-12-13T22:47:08.962Z,1607899628.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.319977 m, bearing: 205.920040 deg, deltaT: 4.818333 s, approachRate: 0.037349 m/s, LOS rate: -17.691870 deg/s, posRepo size: 4
2020-12-13T22:47:08.963Z,1607899628.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.691870 deg/s. Setting heading cmd to target bearing of 205.920040deg and heading rate command to 0 deg/s.
2020-12-13T22:47:11.374Z,1607899631.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:12.151Z,1607899632.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:12.581Z,1607899632.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:13.390Z,1607899633.390 [Micromodem](INFO): Nmea in: $SNTTA,0.228963,,,,224713.32*44

2020-12-13T22:47:14.198Z,1607899634.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:15.782Z,1607899635.782 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:47:17.020Z,1607899637.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:17.800Z,1607899637.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:18.209Z,1607899638.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:19.041Z,1607899639.041 [Micromodem](INFO): Nmea in: $SNTTA,0.229211,,,,224718.97*4F

2020-12-13T22:47:19.525Z,1607899639.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.859985 m, bearing: 289.186221 deg, deltaT: 10.509678 s, approachRate: 0.051382 m/s, LOS rate: 7.922810 deg/s, posRepo size: 4
2020-12-13T22:47:19.527Z,1607899639.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.859985 m,
      bearing: 289.186221 deg,
      approachRate: 0.051382 m/s,
      LOS rate: 7.922810 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 205.920040 deg,
      new cmd heading: 205.920040 deg.

2020-12-13T22:47:21.894Z,1607899641.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:22.676Z,1607899642.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:23.105Z,1607899643.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:23.929Z,1607899643.929 [Micromodem](INFO): Nmea in: $SNTTA,0.230557,,,,224723.85*49

2020-12-13T22:47:24.356Z,1607899644.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.659973 m, bearing: 253.696667 deg, deltaT: 4.895462 s, approachRate: 0.367685 m/s, LOS rate: -7.249480 deg/s, posRepo size: 4
2020-12-13T22:47:24.358Z,1607899644.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.659973 m,
      bearing: 253.696667 deg,
      approachRate: 0.367685 m/s,
      LOS rate: -7.249480 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.668034 deg,
      new cmd heading: 269.079678 deg.

2020-12-13T22:47:26.815Z,1607899646.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:27.566Z,1607899647.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:27.949Z,1607899647.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:28.775Z,1607899648.775 [Micromodem](INFO): Nmea in: $SNTTA,0.231640,,,,224728.74*48

2020-12-13T22:47:29.338Z,1607899649.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.459961 m, bearing: 280.690941 deg, deltaT: 4.864615 s, approachRate: 0.370016 m/s, LOS rate: 5.549108 deg/s, posRepo size: 4
2020-12-13T22:47:29.340Z,1607899649.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.459961 m,
      bearing: 280.690941 deg,
      approachRate: 0.370016 m/s,
      LOS rate: 5.549108 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.340628 deg,
      new cmd heading: 200.468788 deg.

2020-12-13T22:47:29.982Z,1607899649.982 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:47:30.556Z,1607899650.556 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:47:30.557Z,1607899650.557 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:47:30.557Z,1607899650.557 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:47:30.870Z,1607899650.870 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:47:31.267Z,1607899651.267 [Micromodem](INFO): Nmea in: $CADRQ,224731,1,9,0,64,1*4F

2020-12-13T22:47:31.267Z,1607899651.267 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:47:31.570Z,1607899651.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:31.756Z,1607899651.756 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:47:32.139Z,1607899652.139 [Micromodem](INFO): Nmea in: $CADRQ,224732,1,9,0,64,2*4F

2020-12-13T22:47:32.139Z,1607899652.139 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:47:32.555Z,1607899652.555 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:47:32.555Z,1607899652.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:32.934Z,1607899652.934 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:47:32.935Z,1607899652.935 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:47:34.172Z,1607899654.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:35.367Z,1607899655.367 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:47:35.367Z,1607899655.367 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:47:35.760Z,1607899655.760 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224733.321099,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T22:47:35.760Z,1607899655.760 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224733.321099,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T22:47:37.058Z,1607899657.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:39.865Z,1607899659.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:42.386Z,1607899662.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:43.846Z,1607899663.846 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:44.249Z,1607899664.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:45.097Z,1607899665.097 [Micromodem](INFO): Nmea in: $SNTTA,0.233456,,,,224745.02*45

2020-12-13T22:47:45.568Z,1607899665.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.099976 m, bearing: 299.955161 deg, deltaT: 16.277621 s, approachRate: 0.162187 m/s, LOS rate: 1.183479 deg/s, posRepo size: 4
2020-12-13T22:47:45.570Z,1607899665.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.099976 m,
      bearing: 299.955161 deg,
      approachRate: 0.162187 m/s,
      LOS rate: 1.183479 deg/s,
      cmd update: 3.550436 deg/s,
      cmd heading: 41.672217 deg,
      new cmd heading: 46.967121 deg.

2020-12-13T22:47:48.276Z,1607899668.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:48.911Z,1607899668.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:49.381Z,1607899669.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:50.193Z,1607899670.193 [Micromodem](INFO): Nmea in: $SNTTA,0.232878,,,,224750.09*4B

2020-12-13T22:47:50.644Z,1607899670.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.260010 m, bearing: 346.555192 deg, deltaT: 5.133504 s, approachRate: -0.163624 m/s, LOS rate: 9.077626 deg/s, posRepo size: 4
2020-12-13T22:47:50.647Z,1607899670.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.260010 m,
      bearing: 346.555192 deg,
      approachRate: -0.163624 m/s,
      LOS rate: 9.077626 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 59.898347 deg,
      new cmd heading: 61.260898 deg.

2020-12-13T22:47:53.051Z,1607899673.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:53.815Z,1607899673.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:53.851Z,1607899673.851 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:47:54.225Z,1607899674.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:55.057Z,1607899675.057 [Micromodem](INFO): Nmea in: $SNTTA,0.231823,,,,224754.99*4B

2020-12-13T22:47:55.706Z,1607899675.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.639984 m, bearing: 338.041280 deg, deltaT: 4.841894 s, approachRate: -0.334585 m/s, LOS rate: -1.758385 deg/s, posRepo size: 4
2020-12-13T22:47:55.708Z,1607899675.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.639984 m,
      bearing: 338.041280 deg,
      approachRate: -0.334585 m/s,
      LOS rate: -1.758385 deg/s,
      cmd update: -5.275154 deg/s,
      cmd heading: 118.042357 deg,
      new cmd heading: 125.251658 deg.

2020-12-13T22:47:57.840Z,1607899677.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:47:58.405Z,1607899678.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:47:58.814Z,1607899678.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:47:59.625Z,1607899679.625 [Micromodem](INFO): Nmea in: $SNTTA,0.230382,,,,224759.58*4A

2020-12-13T22:48:00.052Z,1607899680.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.419983 m, bearing: 338.149443 deg, deltaT: 4.614587 s, approachRate: -0.481083 m/s, LOS rate: 0.023439 deg/s, posRepo size: 4
2020-12-13T22:48:00.054Z,1607899680.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.419983 m,
      bearing: 338.149443 deg,
      approachRate: -0.481083 m/s,
      LOS rate: 0.023439 deg/s,
      cmd update: 0.070318 deg/s,
      cmd heading: 93.706493 deg,
      new cmd heading: 91.949608 deg.

2020-12-13T22:48:02.232Z,1607899682.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:02.840Z,1607899682.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:03.245Z,1607899683.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:04.078Z,1607899684.078 [Micromodem](INFO): Nmea in: $SNTTA,0.228980,,,,224804.01*40

2020-12-13T22:48:04.919Z,1607899684.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:06.485Z,1607899686.485 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:48:07.743Z,1607899687.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:08.497Z,1607899688.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:08.977Z,1607899688.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:09.788Z,1607899689.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224809.67*5A

2020-12-13T22:48:10.228Z,1607899690.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.779999 m, bearing: 336.470937 deg, deltaT: 10.147380 s, approachRate: -0.555807 m/s, LOS rate: -0.165413 deg/s, posRepo size: 4
2020-12-13T22:48:10.230Z,1607899690.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.779999 m,
      bearing: 336.470937 deg,
      approachRate: -0.555807 m/s,
      LOS rate: -0.165413 deg/s,
      cmd update: -0.496238 deg/s,
      cmd heading: 94.420154 deg,
      new cmd heading: 94.445492 deg.

2020-12-13T22:48:12.705Z,1607899692.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:13.435Z,1607899693.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:13.853Z,1607899693.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:14.688Z,1607899694.688 [Micromodem](INFO): Nmea in: $SNTTA,0.225035,,,,224814.61*4D

2020-12-13T22:48:15.229Z,1607899695.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.320007 m, bearing: 332.503854 deg, deltaT: 4.892660 s, approachRate: -0.502792 m/s, LOS rate: -0.810823 deg/s, posRepo size: 4
2020-12-13T22:48:15.231Z,1607899695.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.320007 m,
      bearing: 332.503854 deg,
      approachRate: -0.502792 m/s,
      LOS rate: -0.810823 deg/s,
      cmd update: -2.432470 deg/s,
      cmd heading: 91.992137 deg,
      new cmd heading: 91.759746 deg.

2020-12-13T22:48:17.531Z,1607899697.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:18.292Z,1607899698.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:18.708Z,1607899698.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:19.526Z,1607899699.526 [Micromodem](INFO): Nmea in: $SNTTA,0.223821,,,,224819.46*4E

2020-12-13T22:48:19.946Z,1607899699.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.459991 m, bearing: 326.149674 deg, deltaT: 4.822346 s, approachRate: -0.385708 m/s, LOS rate: -1.317653 deg/s, posRepo size: 4
2020-12-13T22:48:19.948Z,1607899699.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.459991 m,
      bearing: 326.149674 deg,
      approachRate: -0.385708 m/s,
      LOS rate: -1.317653 deg/s,
      cmd update: -3.952960 deg/s,
      cmd heading: 80.271746 deg,
      new cmd heading: 79.378572 deg.

2020-12-13T22:48:22.362Z,1607899702.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:23.154Z,1607899703.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:23.573Z,1607899703.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:24.374Z,1607899704.374 [Micromodem](INFO): Nmea in: $SNTTA,0.223246,,,,224824.33*49

2020-12-13T22:48:24.838Z,1607899704.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.679993 m, bearing: 40.214081 deg, deltaT: 4.805089 s, approachRate: -0.162328 m/s, LOS rate: 15.413743 deg/s, posRepo size: 4
2020-12-13T22:48:24.839Z,1607899704.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.413743 deg/s. Setting heading cmd to target bearing of 40.214081deg and heading rate command to 0 deg/s.
2020-12-13T22:48:27.206Z,1607899707.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:27.994Z,1607899707.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:28.460Z,1607899708.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:29.243Z,1607899709.243 [Micromodem](INFO): Nmea in: $SNTTA,0.223109,,,,224829.17*4A

2020-12-13T22:48:29.721Z,1607899709.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:31.673Z,1607899711.673 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:48:32.538Z,1607899712.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:33.279Z,1607899713.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:33.717Z,1607899713.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:34.529Z,1607899714.529 [Micromodem](INFO): Nmea in: $SNTTA,0.223464,,,,224834.45*4F

2020-12-13T22:48:35.004Z,1607899715.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.159973 m, bearing: 13.497846 deg, deltaT: 10.369642 s, approachRate: 0.046287 m/s, LOS rate: -2.576389 deg/s, posRepo size: 4
2020-12-13T22:48:35.006Z,1607899715.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.159973 m,
      bearing: 13.497846 deg,
      approachRate: 0.046287 m/s,
      LOS rate: -2.576389 deg/s,
      cmd update: -7.729168 deg/s,
      cmd heading: 40.214081 deg,
      new cmd heading: 40.214081 deg.

2020-12-13T22:48:35.786Z,1607899715.786 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:48:36.297Z,1607899716.297 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:48:36.298Z,1607899716.298 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:48:36.298Z,1607899716.298 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:48:36.586Z,1607899716.586 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:48:37.022Z,1607899717.022 [Micromodem](INFO): Nmea in: $CADRQ,224837,1,9,0,64,1*46

2020-12-13T22:48:37.022Z,1607899717.022 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:48:37.412Z,1607899717.412 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:48:37.462Z,1607899717.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:37.826Z,1607899717.826 [Micromodem](INFO): Nmea in: $CADRQ,224838,1,9,0,64,2*4A

2020-12-13T22:48:37.828Z,1607899717.828 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:48:38.211Z,1607899718.211 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:48:38.211Z,1607899718.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:38.610Z,1607899718.610 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:48:38.611Z,1607899718.611 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:48:40.247Z,1607899720.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:41.035Z,1607899721.035 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:48:41.035Z,1607899721.035 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:48:41.444Z,1607899721.444 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,224838.978426,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:48:41.444Z,1607899721.444 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,224838.978426,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:48:43.222Z,1607899723.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:45.922Z,1607899725.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:48.836Z,1607899728.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:49.572Z,1607899729.572 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:50.049Z,1607899730.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:50.873Z,1607899730.873 [Micromodem](INFO): Nmea in: $SNTTA,0.220681,,,,224850.75*44

2020-12-13T22:48:51.296Z,1607899731.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 330.839996 m, bearing: 328.949533 deg, deltaT: 16.183443 s, approachRate: -0.266938 m/s, LOS rate: -2.752709 deg/s, posRepo size: 4
2020-12-13T22:48:51.298Z,1607899731.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.839996 m,
      bearing: 328.949533 deg,
      approachRate: -0.266938 m/s,
      LOS rate: -2.752709 deg/s,
      cmd update: -8.258127 deg/s,
      cmd heading: 275.113748 deg,
      new cmd heading: 272.372274 deg.

2020-12-13T22:48:53.896Z,1607899733.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:54.529Z,1607899734.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:54.957Z,1607899734.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:48:55.769Z,1607899735.769 [Micromodem](INFO): Nmea in: $SNTTA,0.218813,,,,224855.70*4A

2020-12-13T22:48:56.215Z,1607899736.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.019989 m, bearing: 330.957199 deg, deltaT: 5.061544 s, approachRate: -0.557144 m/s, LOS rate: 0.396651 deg/s, posRepo size: 4
2020-12-13T22:48:56.217Z,1607899736.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.019989 m,
      bearing: 330.957199 deg,
      approachRate: -0.557144 m/s,
      LOS rate: 0.396651 deg/s,
      cmd update: 1.189953 deg/s,
      cmd heading: 233.532260 deg,
      new cmd heading: 231.560748 deg.

2020-12-13T22:48:58.624Z,1607899738.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:48:59.409Z,1607899739.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:48:59.814Z,1607899739.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:00.656Z,1607899740.656 [Micromodem](INFO): Nmea in: $SNTTA,0.216941,,,,224900.58*49

2020-12-13T22:49:01.074Z,1607899741.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.199982 m, bearing: 330.275191 deg, deltaT: 4.717095 s, approachRate: -0.597827 m/s, LOS rate: -0.144582 deg/s, posRepo size: 4
2020-12-13T22:49:01.076Z,1607899741.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.199982 m,
      bearing: 330.275191 deg,
      approachRate: -0.597827 m/s,
      LOS rate: -0.144582 deg/s,
      cmd update: -0.433747 deg/s,
      cmd heading: 239.174788 deg,
      new cmd heading: 239.598492 deg.

2020-12-13T22:49:03.556Z,1607899743.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:04.255Z,1607899744.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:04.666Z,1607899744.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:05.498Z,1607899745.498 [Micromodem](INFO): Nmea in: $SNTTA,0.215385,,,,224905.43*47

2020-12-13T22:49:05.924Z,1607899745.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.919983 m, bearing: 329.110753 deg, deltaT: 4.845499 s, approachRate: -0.470540 m/s, LOS rate: -0.240313 deg/s, posRepo size: 4
2020-12-13T22:49:05.931Z,1607899745.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.919983 m,
      bearing: 329.110753 deg,
      approachRate: -0.470540 m/s,
      LOS rate: -0.240313 deg/s,
      cmd update: -0.720940 deg/s,
      cmd heading: 237.075890 deg,
      new cmd heading: 236.917047 deg.

2020-12-13T22:49:08.339Z,1607899748.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:09.111Z,1607899749.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:09.530Z,1607899749.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:10.345Z,1607899750.345 [Micromodem](INFO): Nmea in: $SNTTA,0.214319,,0.217063,,224910.29*54

2020-12-13T22:49:10.783Z,1607899750.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.419983 m, bearing: 329.182552 deg, deltaT: 4.793876 s, approachRate: -0.312899 m/s, LOS rate: 0.014977 deg/s, posRepo size: 4
2020-12-13T22:49:10.786Z,1607899750.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.419983 m,
      bearing: 329.182552 deg,
      approachRate: -0.312899 m/s,
      LOS rate: 0.014977 deg/s,
      cmd update: 0.044932 deg/s,
      cmd heading: 233.613934 deg,
      new cmd heading: 233.308246 deg.

2020-12-13T22:49:13.321Z,1607899753.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:13.959Z,1607899753.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:14.365Z,1607899754.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:15.185Z,1607899755.185 [Micromodem](INFO): Nmea in: $SNTTA,0.214082,,,0.216595,224915.13*54

2020-12-13T22:49:15.614Z,1607899755.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.059998 m, bearing: 209.114506 deg, deltaT: 5.010984 s, approachRate: -0.071839 m/s, LOS rate: -23.960971 deg/s, posRepo size: 4
2020-12-13T22:49:15.614Z,1607899755.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.960971 deg/s. Setting heading cmd to target bearing of 209.114506deg and heading rate command to 0 deg/s.
2020-12-13T22:49:18.017Z,1607899758.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:18.803Z,1607899758.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:19.205Z,1607899759.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:20.041Z,1607899760.041 [Micromodem](INFO): Nmea in: $SNTTA,0.214553,,,,224919.98*40

2020-12-13T22:49:20.468Z,1607899760.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.779999 m, bearing: 290.633483 deg, deltaT: 4.685096 s, approachRate: 0.153679 m/s, LOS rate: 17.399639 deg/s, posRepo size: 4
2020-12-13T22:49:20.469Z,1607899760.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.399639 deg/s. Setting heading cmd to target bearing of 290.633483deg and heading rate command to 0 deg/s.
2020-12-13T22:49:22.940Z,1607899762.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:23.654Z,1607899763.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:23.699Z,1607899763.699 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T22:49:24.053Z,1607899764.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:24.893Z,1607899764.893 [Micromodem](INFO): Nmea in: $SNTTA,0.215467,,,,224924.83*43

2020-12-13T22:49:25.307Z,1607899765.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.339996 m, bearing: 268.403048 deg, deltaT: 4.899493 s, approachRate: 0.318400 m/s, LOS rate: -4.537293 deg/s, posRepo size: 4
2020-12-13T22:49:25.309Z,1607899765.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.339996 m,
      bearing: 268.403048 deg,
      approachRate: 0.318400 m/s,
      LOS rate: -4.537293 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 290.633483 deg,
      new cmd heading: 290.633483 deg.

2020-12-13T22:49:27.767Z,1607899767.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:28.510Z,1607899768.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:28.909Z,1607899768.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:29.753Z,1607899769.753 [Micromodem](INFO): Nmea in: $SNTTA,0.216567,,,,224929.69*48

2020-12-13T22:49:30.167Z,1607899770.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.839996 m, bearing: 288.800260 deg, deltaT: 4.864526 s, approachRate: 0.308355 m/s, LOS rate: 4.193052 deg/s, posRepo size: 4
2020-12-13T22:49:30.170Z,1607899770.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.839996 m,
      bearing: 288.800260 deg,
      approachRate: 0.308355 m/s,
      LOS rate: 4.193052 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 232.258437 deg,
      new cmd heading: 228.082533 deg.

2020-12-13T22:49:32.746Z,1607899772.746 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T22:49:32.771Z,1607899772.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:33.347Z,1607899773.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:33.753Z,1607899773.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:34.577Z,1607899774.577 [Micromodem](INFO): Nmea in: $SNTTA,0.217058,,,,224934.52*44

2020-12-13T22:49:34.989Z,1607899774.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.619995 m, bearing: 224.297771 deg, deltaT: 4.973858 s, approachRate: 0.156820 m/s, LOS rate: -12.968302 deg/s, posRepo size: 4
2020-12-13T22:49:34.990Z,1607899774.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.968302 deg/s. Setting heading cmd to target bearing of 224.297771deg and heading rate command to 0 deg/s.
2020-12-13T22:49:37.424Z,1607899777.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:38.191Z,1607899778.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:38.593Z,1607899778.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:39.433Z,1607899779.433 [Micromodem](INFO): Nmea in: $SNTTA,0.216983,,,,224939.36*45

2020-12-13T22:49:39.879Z,1607899779.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.379974 m, bearing: 306.066241 deg, deltaT: 4.655800 s, approachRate: -0.051553 m/s, LOS rate: 17.562711 deg/s, posRepo size: 4
2020-12-13T22:49:39.880Z,1607899779.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.562711 deg/s. Setting heading cmd to target bearing of 306.066241deg and heading rate command to 0 deg/s.
2020-12-13T22:49:41.438Z,1607899781.438 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:49:41.970Z,1607899781.970 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:49:41.970Z,1607899781.970 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:49:41.970Z,1607899781.970 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:49:42.065Z,1607899782.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:42.243Z,1607899782.243 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:49:42.635Z,1607899782.635 [Micromodem](INFO): Nmea in: $CADRQ,224943,1,9,0,64,1*44

2020-12-13T22:49:42.636Z,1607899782.636 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:49:43.039Z,1607899783.039 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:49:43.039Z,1607899783.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:43.447Z,1607899783.447 [Micromodem](INFO): Nmea in: $CADRQ,224943,1,9,0,64,2*47

2020-12-13T22:49:43.447Z,1607899783.447 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,224943,1,9,0,64,2*47

2020-12-13T22:49:43.857Z,1607899783.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:44.288Z,1607899784.288 [Micromodem](INFO): Nmea in: $SNTTA,0.216499,,,,224944.21*4F

2020-12-13T22:49:44.719Z,1607899784.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.719971 m, bearing: 289.137262 deg, deltaT: 4.853464 s, approachRate: -0.135986 m/s, LOS rate: -3.488020 deg/s, posRepo size: 4
2020-12-13T22:49:44.721Z,1607899784.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.719971 m,
      bearing: 289.137262 deg,
      approachRate: -0.135986 m/s,
      LOS rate: -3.488020 deg/s,
      cmd update: -10.464060 deg/s,
      cmd heading: 306.066241 deg,
      new cmd heading: 306.066241 deg.

2020-12-13T22:49:47.130Z,1607899787.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:47.919Z,1607899787.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:48.301Z,1607899788.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:49.128Z,1607899789.128 [Micromodem](INFO): Nmea in: $SNTTA,0.216270,,,,224949.09*49

2020-12-13T22:49:49.574Z,1607899789.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.419983 m, bearing: 231.909129 deg, deltaT: 4.839962 s, approachRate: -0.061981 m/s, LOS rate: -11.824087 deg/s, posRepo size: 4
2020-12-13T22:49:49.574Z,1607899789.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.824087 deg/s. Setting heading cmd to target bearing of 231.909129deg and heading rate command to 0 deg/s.
2020-12-13T22:49:49.583Z,1607899789.583 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T22:39:49.4Z
2020-12-13T22:49:49.583Z,1607899789.583 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T22:49:49.583Z,1607899789.583 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:49:49.583Z,1607899789.583 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T22:49:49.583Z,1607899789.583 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:49:49.583Z,1607899789.583 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T22:49:49.950Z,1607899789.950 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T22:49:49.950Z,1607899789.950 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T22:49:49.950Z,1607899789.950 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T22:49:49.950Z,1607899789.950 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:49:49.951Z,1607899789.951 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T22:49:50.746Z,1607899790.746 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:49:52.094Z,1607899792.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:52.739Z,1607899792.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:53.146Z,1607899793.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:53.977Z,1607899793.977 [Micromodem](INFO): Nmea in: $SNTTA,0.215955,,,,224953.91*4C

2020-12-13T22:49:54.394Z,1607899794.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.940002 m, bearing: 291.037994 deg, deltaT: 5.005692 s, approachRate: -0.095887 m/s, LOS rate: 11.812326 deg/s, posRepo size: 4
2020-12-13T22:49:54.394Z,1607899794.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.812326 deg/s. Setting heading cmd to target bearing of 291.037994deg and heading rate command to 0 deg/s.
2020-12-13T22:49:56.830Z,1607899796.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:49:57.595Z,1607899797.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:49:58.001Z,1607899798.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:49:58.827Z,1607899798.827 [Micromodem](INFO): Nmea in: $SNTTA,0.215562,,0.216742,,224958.77*5D

2020-12-13T22:49:59.721Z,1607899799.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:01.222Z,1607899801.222 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:50:02.447Z,1607899802.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:03.243Z,1607899803.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:03.654Z,1607899803.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:04.477Z,1607899804.477 [Micromodem](INFO): Nmea in: $SNTTA,0.215515,,,,225004.42*40

2020-12-13T22:50:05.086Z,1607899805.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.220001 m, bearing: 301.569818 deg, deltaT: 10.406984 s, approachRate: -0.069184 m/s, LOS rate: 1.011996 deg/s, posRepo size: 4
2020-12-13T22:50:05.088Z,1607899805.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.220001 m,
      bearing: 301.569818 deg,
      approachRate: -0.069184 m/s,
      LOS rate: 1.011996 deg/s,
      cmd update: 3.035987 deg/s,
      cmd heading: 291.037994 deg,
      new cmd heading: 291.037994 deg.

2020-12-13T22:50:07.318Z,1607899807.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:08.095Z,1607899808.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:08.529Z,1607899808.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:09.348Z,1607899809.348 [Micromodem](INFO): Nmea in: $SNTTA,0.215113,,,,225009.27*4C

2020-12-13T22:50:09.788Z,1607899809.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.499969 m, bearing: 344.029552 deg, deltaT: 4.807132 s, approachRate: -0.149784 m/s, LOS rate: 8.832654 deg/s, posRepo size: 4
2020-12-13T22:50:09.790Z,1607899809.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.499969 m,
      bearing: 344.029552 deg,
      approachRate: -0.149784 m/s,
      LOS rate: 8.832654 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 305.644632 deg,
      new cmd heading: 306.936757 deg.

2020-12-13T22:50:12.195Z,1607899812.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:13.030Z,1607899813.030 [Micromodem](INFO): Nmea in: $CAERR,225013,DATA_TIMEOUT,2*4A

2020-12-13T22:50:13.031Z,1607899813.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:13.394Z,1607899813.394 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:50:13.394Z,1607899813.394 [Micromodem](ERROR): Response from modem unexpected: $CATXP,64*70

2020-12-13T22:50:14.706Z,1607899814.706 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:50:14.706Z,1607899814.706 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T22:50:14.775Z,1607899814.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:15.064Z,1607899815.064 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225013.855457,3,0,200,4000,14500,1,1,9,1,2,1,3,64*72

2020-12-13T22:50:15.064Z,1607899815.064 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,225013.855457,3,0,200,4000,14500,1,1,9,1,2,1,3,64*72

2020-12-13T22:50:17.733Z,1607899817.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:20.334Z,1607899820.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:23.171Z,1607899823.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:24.358Z,1607899824.358 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:24.773Z,1607899824.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:25.597Z,1607899825.597 [Micromodem](INFO): Nmea in: $SNTTA,0.210116,,,,225025.53*41

2020-12-13T22:50:26.148Z,1607899826.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.940002 m, bearing: 338.649932 deg, deltaT: 16.329982 s, approachRate: -0.462950 m/s, LOS rate: -0.329432 deg/s, posRepo size: 4
2020-12-13T22:50:26.150Z,1607899826.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.940002 m,
      bearing: 338.649932 deg,
      approachRate: -0.462950 m/s,
      LOS rate: -0.329432 deg/s,
      cmd update: -0.988296 deg/s,
      cmd heading: 141.452058 deg,
      new cmd heading: 147.071838 deg.

2020-12-13T22:50:28.447Z,1607899828.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:29.207Z,1607899829.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:29.617Z,1607899829.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:30.477Z,1607899830.477 [Micromodem](INFO): Nmea in: $SNTTA,0.208321,,,,225030.38*47

2020-12-13T22:50:30.000Z,1607899831.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.299988 m, bearing: 336.301357 deg, deltaT: 5.040200 s, approachRate: -0.523792 m/s, LOS rate: -0.465968 deg/s, posRepo size: 4
2020-12-13T22:50:31.002Z,1607899831.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.299988 m,
      bearing: 336.301357 deg,
      approachRate: -0.523792 m/s,
      LOS rate: -0.465968 deg/s,
      cmd update: -1.397905 deg/s,
      cmd heading: 136.458525 deg,
      new cmd heading: 136.194146 deg.

2020-12-13T22:50:33.416Z,1607899833.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:34.199Z,1607899834.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:34.613Z,1607899834.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:35.447Z,1607899835.447 [Micromodem](INFO): Nmea in: $SNTTA,0.206613,,,,225035.37*47

2020-12-13T22:50:35.879Z,1607899835.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.720001 m, bearing: 333.456556 deg, deltaT: 4.789678 s, approachRate: -0.538656 m/s, LOS rate: -0.593944 deg/s, posRepo size: 4
2020-12-13T22:50:35.893Z,1607899835.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.720001 m,
      bearing: 333.456556 deg,
      approachRate: -0.538656 m/s,
      LOS rate: -0.593944 deg/s,
      cmd update: -1.781832 deg/s,
      cmd heading: 129.818273 deg,
      new cmd heading: 129.263711 deg.

2020-12-13T22:50:38.290Z,1607899838.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:39.047Z,1607899839.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:39.490Z,1607899839.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:40.300Z,1607899840.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225040.22*5F

2020-12-13T22:50:40.739Z,1607899840.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.160004 m, bearing: 330.215222 deg, deltaT: 4.846079 s, approachRate: -0.321909 m/s, LOS rate: -0.668857 deg/s, posRepo size: 4
2020-12-13T22:50:40.742Z,1607899840.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.160004 m,
      bearing: 330.215222 deg,
      approachRate: -0.321909 m/s,
      LOS rate: -0.668857 deg/s,
      cmd update: -2.006571 deg/s,
      cmd heading: 121.119729 deg,
      new cmd heading: 120.451269 deg.

2020-12-13T22:50:43.290Z,1607899843.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:43.923Z,1607899843.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:44.333Z,1607899844.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:45.157Z,1607899845.157 [Micromodem](INFO): Nmea in: $SNTTA,0.205104,,,,225045.10*47

2020-12-13T22:50:45.707Z,1607899845.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.559998 m, bearing: 42.151577 deg, deltaT: 4.967916 s, approachRate: -0.120776 m/s, LOS rate: 14.480189 deg/s, posRepo size: 4
2020-12-13T22:50:45.707Z,1607899845.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.480189 deg/s. Setting heading cmd to target bearing of 42.151577deg and heading rate command to 0 deg/s.
2020-12-13T22:50:47.262Z,1607899847.262 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:50:47.968Z,1607899847.968 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:50:47.969Z,1607899847.969 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:50:47.969Z,1607899847.969 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:50:48.056Z,1607899848.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:48.239Z,1607899848.239 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:50:48.615Z,1607899848.615 [Micromodem](INFO): Nmea in: $CADRQ,225049,1,9,0,64,1*46

2020-12-13T22:50:48.616Z,1607899848.616 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:50:49.023Z,1607899849.023 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:50:49.023Z,1607899849.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:49.438Z,1607899849.438 [Micromodem](INFO): Nmea in: $CADRQ,225049,1,9,0,64,2*45

2020-12-13T22:50:49.439Z,1607899849.439 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225049,1,9,0,64,2*45

2020-12-13T22:50:49.845Z,1607899849.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:50.263Z,1607899850.263 [Micromodem](INFO): Nmea in: $SNTTA,0.205345,,,,225050.20*47

2020-12-13T22:50:50.736Z,1607899850.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:52.677Z,1607899852.677 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:50:53.550Z,1607899853.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:54.279Z,1607899854.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:54.703Z,1607899854.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:50:55.539Z,1607899855.539 [Micromodem](INFO): Nmea in: $SNTTA,0.206054,,,,225055.45*41

2020-12-13T22:50:56.110Z,1607899856.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:57.918Z,1607899857.918 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T22:50:58.786Z,1607899858.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:50:59.567Z,1607899859.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:50:59.945Z,1607899859.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:00.755Z,1607899860.755 [Micromodem](INFO): Nmea in: $SNTTA,0.206749,,,,225100.74*49

2020-12-13T22:51:01.195Z,1607899861.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.079987 m, bearing: 20.034360 deg, deltaT: 15.497641 s, approachRate: 0.162605 m/s, LOS rate: -1.427134 deg/s, posRepo size: 4
2020-12-13T22:51:01.197Z,1607899861.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.079987 m,
      bearing: 20.034360 deg,
      approachRate: 0.162605 m/s,
      LOS rate: -1.427134 deg/s,
      cmd update: -4.281403 deg/s,
      cmd heading: 42.151577 deg,
      new cmd heading: 42.151577 deg.

2020-12-13T22:51:03.668Z,1607899863.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:04.379Z,1607899864.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:04.870Z,1607899864.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:05.696Z,1607899865.696 [Micromodem](INFO): Nmea in: $SNTTA,0.206740,,,,225105.55*46

2020-12-13T22:51:06.116Z,1607899866.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.019989 m, bearing: 335.457720 deg, deltaT: 4.924594 s, approachRate: -0.012183 m/s, LOS rate: -9.051841 deg/s, posRepo size: 4
2020-12-13T22:51:06.118Z,1607899866.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.019989 m,
      bearing: 335.457720 deg,
      approachRate: -0.012183 m/s,
      LOS rate: -9.051841 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 21.031410 deg,
      new cmd heading: 19.500842 deg.

2020-12-13T22:51:08.763Z,1607899868.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:09.332Z,1607899869.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:09.762Z,1607899869.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:10.593Z,1607899870.593 [Micromodem](INFO): Nmea in: $SNTTA,0.206168,,,,225110.50*4B

2020-12-13T22:51:11.067Z,1607899871.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.059998 m, bearing: 322.577759 deg, deltaT: 5.064037 s, approachRate: -0.189570 m/s, LOS rate: -2.543418 deg/s, posRepo size: 4
2020-12-13T22:51:11.069Z,1607899871.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.059998 m,
      bearing: 322.577759 deg,
      approachRate: -0.189570 m/s,
      LOS rate: -2.543418 deg/s,
      cmd update: -7.630253 deg/s,
      cmd heading: 320.283640 deg,
      new cmd heading: 317.327524 deg.

2020-12-13T22:51:13.474Z,1607899873.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:14.247Z,1607899874.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:14.678Z,1607899874.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:15.522Z,1607899875.522 [Micromodem](INFO): Nmea in: $SNTTA,0.204977,,,,225115.42*49

2020-12-13T22:51:15.898Z,1607899875.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.259979 m, bearing: 327.805640 deg, deltaT: 4.753616 s, approachRate: -0.378663 m/s, LOS rate: 1.099769 deg/s, posRepo size: 4
2020-12-13T22:51:15.900Z,1607899875.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.259979 m,
      bearing: 327.805640 deg,
      approachRate: -0.378663 m/s,
      LOS rate: 1.099769 deg/s,
      cmd update: 3.299308 deg/s,
      cmd heading: 284.030104 deg,
      new cmd heading: 281.540833 deg.

2020-12-13T22:51:18.358Z,1607899878.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:18.744Z,1607899878.744 [Micromodem](INFO): Nmea in: $CAERR,225119,DATA_TIMEOUT,2*41

2020-12-13T22:51:19.103Z,1607899879.103 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:51:19.103Z,1607899879.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:20.751Z,1607899880.751 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:51:20.751Z,1607899880.751 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T22:51:21.120Z,1607899881.120 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225119.831095,3,0,200,4000,14500,1,1,9,1,2,1,3,64*71

2020-12-13T22:51:21.120Z,1607899881.120 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,225119.831095,3,0,200,4000,14500,1,1,9,1,2,1,3,64*71

2020-12-13T22:51:21.194Z,1607899881.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:23.802Z,1607899883.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:26.427Z,1607899886.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:29.281Z,1607899889.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:30.424Z,1607899890.424 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:30.837Z,1607899890.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:30.876Z,1607899890.876 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:51:31.698Z,1607899891.698 [Micromodem](INFO): Nmea in: $SNTTA,0.199062,,,,225131.60*45

2020-12-13T22:51:32.089Z,1607899892.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.380005 m, bearing: 332.096338 deg, deltaT: 16.177884 s, approachRate: -0.548896 m/s, LOS rate: 0.265220 deg/s, posRepo size: 4
2020-12-13T22:51:32.091Z,1607899892.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.380005 m,
      bearing: 332.096338 deg,
      approachRate: -0.548896 m/s,
      LOS rate: 0.265220 deg/s,
      cmd update: 0.795660 deg/s,
      cmd heading: 337.418073 deg,
      new cmd heading: 338.522451 deg.

2020-12-13T22:51:34.709Z,1607899894.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:35.295Z,1607899895.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:35.691Z,1607899895.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:36.529Z,1607899896.529 [Micromodem](INFO): Nmea in: $SNTTA,0.197088,,,,225136.47*4D

2020-12-13T22:51:37.044Z,1607899897.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.439972 m, bearing: 331.205736 deg, deltaT: 5.020112 s, approachRate: -0.585651 m/s, LOS rate: -0.177407 deg/s, posRepo size: 4
2020-12-13T22:51:37.046Z,1607899897.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.439972 m,
      bearing: 331.205736 deg,
      approachRate: -0.585651 m/s,
      LOS rate: -0.177407 deg/s,
      cmd update: -0.532220 deg/s,
      cmd heading: 341.405477 deg,
      new cmd heading: 341.627489 deg.

2020-12-13T22:51:39.482Z,1607899899.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:40.248Z,1607899900.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:40.675Z,1607899900.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:41.476Z,1607899901.476 [Micromodem](INFO): Nmea in: $SNTTA,0.195109,,,,225141.42*42

2020-12-13T22:51:41.935Z,1607899901.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 292.500000 m, bearing: 330.223254 deg, deltaT: 4.758897 s, approachRate: -0.617784 m/s, LOS rate: -0.206452 deg/s, posRepo size: 4
2020-12-13T22:51:41.937Z,1607899901.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.500000 m,
      bearing: 330.223254 deg,
      approachRate: -0.617784 m/s,
      LOS rate: -0.206452 deg/s,
      cmd update: -0.619355 deg/s,
      cmd heading: 338.868964 deg,
      new cmd heading: 338.653852 deg.

2020-12-13T22:51:44.343Z,1607899904.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:45.135Z,1607899905.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:45.565Z,1607899905.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:46.376Z,1607899906.376 [Micromodem](INFO): Nmea in: $SNTTA,0.193072,,,,225146.31*4A

2020-12-13T22:51:46.968Z,1607899906.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.499969 m, bearing: 329.620585 deg, deltaT: 4.909103 s, approachRate: -0.611116 m/s, LOS rate: -0.122766 deg/s, posRepo size: 4
2020-12-13T22:51:46.970Z,1607899906.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.499969 m,
      bearing: 329.620585 deg,
      approachRate: -0.611116 m/s,
      LOS rate: -0.122766 deg/s,
      cmd update: -0.368297 deg/s,
      cmd heading: 335.845790 deg,
      new cmd heading: 335.501562 deg.

2020-12-13T22:51:48.970Z,1607899908.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:49.579Z,1607899909.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:49.997Z,1607899909.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:50.832Z,1607899910.832 [Micromodem](INFO): Nmea in: $SNTTA,0.191256,,,,225150.75*4B

2020-12-13T22:51:51.236Z,1607899911.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.679993 m, bearing: 330.224647 deg, deltaT: 4.451999 s, approachRate: -0.633418 m/s, LOS rate: 0.135683 deg/s, posRepo size: 4
2020-12-13T22:51:51.264Z,1607899911.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.679993 m,
      bearing: 330.224647 deg,
      approachRate: -0.633418 m/s,
      LOS rate: 0.135683 deg/s,
      cmd update: 0.407050 deg/s,
      cmd heading: 334.203932 deg,
      new cmd heading: 334.069198 deg.

2020-12-13T22:51:53.233Z,1607899913.233 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:51:53.422Z,1607899913.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:53.807Z,1607899913.807 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:51:53.807Z,1607899913.807 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:51:53.807Z,1607899913.807 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:51:54.031Z,1607899914.031 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:51:54.032Z,1607899914.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:54.443Z,1607899914.443 [Micromodem](INFO): Nmea in: $CADRQ,225154,1,9,0,64,1*4B

2020-12-13T22:51:54.443Z,1607899914.443 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225154,1,9,0,64,1*4B

2020-12-13T22:51:54.861Z,1607899914.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:51:55.267Z,1607899915.267 [Micromodem](INFO): Nmea in: $SNTTA,0.189339,,,,225155.21*4E

2020-12-13T22:51:55.803Z,1607899915.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.859985 m, bearing: 329.674598 deg, deltaT: 4.632246 s, approachRate: -0.608778 m/s, LOS rate: -0.118743 deg/s, posRepo size: 4
2020-12-13T22:51:55.806Z,1607899915.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.859985 m,
      bearing: 329.674598 deg,
      approachRate: -0.608778 m/s,
      LOS rate: -0.118743 deg/s,
      cmd update: -0.356230 deg/s,
      cmd heading: 336.082593 deg,
      new cmd heading: 336.211855 deg.

2020-12-13T22:51:58.163Z,1607899918.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:51:58.939Z,1607899918.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:51:59.353Z,1607899919.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:00.186Z,1607899920.186 [Micromodem](INFO): Nmea in: $SNTTA,0.187254,,,,225200.11*4A

2020-12-13T22:52:00.610Z,1607899920.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.679993 m, bearing: 329.076984 deg, deltaT: 4.673879 s, approachRate: -0.680375 m/s, LOS rate: -0.127863 deg/s, posRepo size: 4
2020-12-13T22:52:00.612Z,1607899920.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.679993 m,
      bearing: 329.076984 deg,
      approachRate: -0.680375 m/s,
      LOS rate: -0.127863 deg/s,
      cmd update: -0.383588 deg/s,
      cmd heading: 334.403051 deg,
      new cmd heading: 334.256935 deg.

2020-12-13T22:52:03.064Z,1607899923.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:03.787Z,1607899923.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:04.205Z,1607899924.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:05.021Z,1607899925.021 [Micromodem](INFO): Nmea in: $SNTTA,0.185130,,,,225204.96*42

2020-12-13T22:52:05.449Z,1607899925.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.440002 m, bearing: 329.411800 deg, deltaT: 4.844581 s, approachRate: -0.668786 m/s, LOS rate: 0.069111 deg/s, posRepo size: 4
2020-12-13T22:52:05.451Z,1607899925.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.440002 m,
      bearing: 329.411800 deg,
      approachRate: -0.668786 m/s,
      LOS rate: 0.069111 deg/s,
      cmd update: 0.207334 deg/s,
      cmd heading: 332.544724 deg,
      new cmd heading: 332.389722 deg.

2020-12-13T22:52:07.907Z,1607899927.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:08.639Z,1607899928.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:09.041Z,1607899929.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:09.898Z,1607899929.898 [Micromodem](INFO): Nmea in: $SNTTA,0.182979,,,,225209.81*4B

2020-12-13T22:52:10.300Z,1607899930.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.259979 m, bearing: 329.655884 deg, deltaT: 4.913688 s, approachRate: -0.647176 m/s, LOS rate: 0.049674 deg/s, posRepo size: 4
2020-12-13T22:52:10.322Z,1607899930.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.259979 m,
      bearing: 329.655884 deg,
      approachRate: -0.647176 m/s,
      LOS rate: 0.049674 deg/s,
      cmd update: 0.149023 deg/s,
      cmd heading: 333.558112 deg,
      new cmd heading: 333.634334 deg.

2020-12-13T22:52:12.881Z,1607899932.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:13.502Z,1607899933.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:13.906Z,1607899933.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:14.739Z,1607899934.739 [Micromodem](INFO): Nmea in: $SNTTA,0.181014,,,,225214.67*4E

2020-12-13T22:52:15.162Z,1607899935.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.320007 m, bearing: 329.123320 deg, deltaT: 4.994842 s, approachRate: -0.588602 m/s, LOS rate: -0.106623 deg/s, posRepo size: 4
2020-12-13T22:52:15.164Z,1607899935.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.320007 m,
      bearing: 329.123320 deg,
      approachRate: -0.588602 m/s,
      LOS rate: -0.106623 deg/s,
      cmd update: -0.319868 deg/s,
      cmd heading: 334.303946 deg,
      new cmd heading: 334.337369 deg.

2020-12-13T22:52:17.588Z,1607899937.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:18.355Z,1607899938.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:18.781Z,1607899938.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:19.593Z,1607899939.593 [Micromodem](INFO): Nmea in: $SNTTA,0.178905,,0.189297,,225219.53*59

2020-12-13T22:52:20.034Z,1607899940.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.139984 m, bearing: 328.797247 deg, deltaT: 4.739823 s, approachRate: -0.670916 m/s, LOS rate: -0.068794 deg/s, posRepo size: 4
2020-12-13T22:52:20.036Z,1607899940.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.139984 m,
      bearing: 328.797247 deg,
      approachRate: -0.670916 m/s,
      LOS rate: -0.068794 deg/s,
      cmd update: -0.206383 deg/s,
      cmd heading: 332.783990 deg,
      new cmd heading: 332.673558 deg.

2020-12-13T22:52:22.453Z,1607899942.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:23.213Z,1607899943.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:23.613Z,1607899943.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:24.022Z,1607899944.022 [Micromodem](INFO): Nmea in: $CAERR,225224,DATA_TIMEOUT,1*4F

2020-12-13T22:52:24.441Z,1607899944.441 [Micromodem](INFO): Nmea in: $SNTTA,0.176791,,,,225224.39*44

2020-12-13T22:52:24.865Z,1607899944.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.019989 m, bearing: 329.515127 deg, deltaT: 4.789178 s, approachRate: -0.651468 m/s, LOS rate: 0.149896 deg/s, posRepo size: 4
2020-12-13T22:52:24.867Z,1607899944.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.019989 m,
      bearing: 329.515127 deg,
      approachRate: -0.651468 m/s,
      LOS rate: 0.149896 deg/s,
      cmd update: 0.449689 deg/s,
      cmd heading: 331.800189 deg,
      new cmd heading: 331.715789 deg.

2020-12-13T22:52:27.310Z,1607899947.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:28.055Z,1607899948.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:28.466Z,1607899948.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:29.297Z,1607899949.297 [Micromodem](INFO): Nmea in: $SNTTA,0.174694,,,,225229.23*44

2020-12-13T22:52:29.737Z,1607899949.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.899994 m, bearing: 328.822355 deg, deltaT: 4.829094 s, approachRate: -0.646083 m/s, LOS rate: -0.143458 deg/s, posRepo size: 4
2020-12-13T22:52:29.739Z,1607899949.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.899994 m,
      bearing: 328.822355 deg,
      approachRate: -0.646083 m/s,
      LOS rate: -0.143458 deg/s,
      cmd update: -0.430374 deg/s,
      cmd heading: 333.983602 deg,
      new cmd heading: 334.174964 deg.

2020-12-13T22:52:32.259Z,1607899952.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:32.903Z,1607899952.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:33.309Z,1607899953.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:34.133Z,1607899954.133 [Micromodem](INFO): Nmea in: $SNTTA,0.172702,,,,225234.08*49

2020-12-13T22:52:34.585Z,1607899954.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.899994 m, bearing: 328.387764 deg, deltaT: 4.988906 s, approachRate: -0.601334 m/s, LOS rate: -0.087112 deg/s, posRepo size: 4
2020-12-13T22:52:34.587Z,1607899954.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.899994 m,
      bearing: 328.387764 deg,
      approachRate: -0.601334 m/s,
      LOS rate: -0.087112 deg/s,
      cmd update: -0.261335 deg/s,
      cmd heading: 331.836586 deg,
      new cmd heading: 331.714015 deg.

2020-12-13T22:52:36.986Z,1607899956.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:37.755Z,1607899957.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:38.341Z,1607899958.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:39.166Z,1607899959.166 [Micromodem](INFO): Nmea in: $SNTTA,0.170629,,0.173421,,225238.93*51

2020-12-13T22:52:39.191Z,1607899959.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.779984 m, bearing: 328.101934 deg, deltaT: 4.673210 s, approachRate: -0.667638 m/s, LOS rate: -0.061163 deg/s, posRepo size: 4
2020-12-13T22:52:39.213Z,1607899959.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.779984 m,
      bearing: 328.101934 deg,
      approachRate: -0.667638 m/s,
      LOS rate: -0.061163 deg/s,
      cmd update: -0.183490 deg/s,
      cmd heading: 330.616382 deg,
      new cmd heading: 330.558347 deg.

2020-12-13T22:52:41.627Z,1607899961.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:42.383Z,1607899962.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:42.789Z,1607899962.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:43.625Z,1607899963.625 [Micromodem](INFO): Nmea in: $SNTTA,0.168681,,,,225243.56*43

2020-12-13T22:52:44.060Z,1607899964.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.839996 m, bearing: 328.438826 deg, deltaT: 4.726701 s, approachRate: -0.621996 m/s, LOS rate: 0.071274 deg/s, posRepo size: 4
2020-12-13T22:52:44.062Z,1607899964.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.839996 m,
      bearing: 328.438826 deg,
      approachRate: -0.621996 m/s,
      LOS rate: 0.071274 deg/s,
      cmd update: 0.213823 deg/s,
      cmd heading: 329.749066 deg,
      new cmd heading: 329.682259 deg.

2020-12-13T22:52:46.519Z,1607899966.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:47.231Z,1607899967.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:47.736Z,1607899967.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:48.530Z,1607899968.530 [Micromodem](INFO): Nmea in: $SNTTA,0.166618,,,0.169099,225248.40*51

2020-12-13T22:52:48.949Z,1607899968.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.719986 m, bearing: 328.033359 deg, deltaT: 4.906993 s, approachRate: -0.635829 m/s, LOS rate: -0.082631 deg/s, posRepo size: 4
2020-12-13T22:52:48.951Z,1607899968.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.719986 m,
      bearing: 328.033359 deg,
      approachRate: -0.635829 m/s,
      LOS rate: -0.082631 deg/s,
      cmd update: -0.247892 deg/s,
      cmd heading: 330.799157 deg,
      new cmd heading: 330.872293 deg.

2020-12-13T22:52:51.370Z,1607899971.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:52.135Z,1607899972.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:52.561Z,1607899972.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:53.373Z,1607899973.373 [Micromodem](INFO): Nmea in: $SNTTA,0.164499,,,,225253.31*44

2020-12-13T22:52:53.975Z,1607899973.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.479980 m, bearing: 327.475715 deg, deltaT: 4.831369 s, approachRate: -0.670619 m/s, LOS rate: -0.115422 deg/s, posRepo size: 4
2020-12-13T22:52:53.977Z,1607899973.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.479980 m,
      bearing: 327.475715 deg,
      approachRate: -0.670619 m/s,
      LOS rate: -0.115422 deg/s,
      cmd update: -0.346265 deg/s,
      cmd heading: 329.604032 deg,
      new cmd heading: 329.468519 deg.

2020-12-13T22:52:56.191Z,1607899976.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:52:56.997Z,1607899976.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:52:57.389Z,1607899977.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:52:58.225Z,1607899978.225 [Micromodem](INFO): Nmea in: $SNTTA,0.162429,,,,225258.17*46

2020-12-13T22:52:58.647Z,1607899978.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.419983 m, bearing: 328.018387 deg, deltaT: 4.958050 s, approachRate: -0.617178 m/s, LOS rate: 0.109453 deg/s, posRepo size: 4
2020-12-13T22:52:58.675Z,1607899978.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.419983 m,
      bearing: 328.018387 deg,
      approachRate: -0.617178 m/s,
      LOS rate: 0.109453 deg/s,
      cmd update: 0.328358 deg/s,
      cmd heading: 327.883634 deg,
      new cmd heading: 327.797465 deg.

2020-12-13T22:52:59.018Z,1607899979.018 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:52:59.583Z,1607899979.583 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:52:59.584Z,1607899979.584 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:52:59.584Z,1607899979.584 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:52:59.882Z,1607899979.882 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:53:00.278Z,1607899980.278 [Micromodem](INFO): Nmea in: $CADRQ,225300,1,9,0,64,1*48

2020-12-13T22:53:00.278Z,1607899980.278 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:53:00.755Z,1607899980.755 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:53:01.155Z,1607899981.155 [Micromodem](INFO): Nmea in: $CADRQ,225301,1,9,0,64,2*4A

2020-12-13T22:53:01.155Z,1607899981.155 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:53:01.231Z,1607899981.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:01.577Z,1607899981.577 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:53:01.978Z,1607899981.978 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:53:01.979Z,1607899981.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:04.042Z,1607899984.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:04.388Z,1607899984.388 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:53:04.389Z,1607899984.389 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:53:04.795Z,1607899984.795 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225302.304167,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T22:53:04.796Z,1607899984.796 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,225302.304167,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T22:53:06.994Z,1607899986.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:09.718Z,1607899989.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:12.533Z,1607899992.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:13.511Z,1607899993.511 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:14.001Z,1607899994.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:14.806Z,1607899994.806 [Micromodem](INFO): Nmea in: $SNTTA,0.155415,,,,225314.69*4D

2020-12-13T22:53:14.879Z,1607899994.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.419983 m, bearing: 326.455858 deg, deltaT: 16.022093 s, approachRate: 0.000000 m/s, LOS rate: -0.097523 deg/s, posRepo size: 4
2020-12-13T22:53:14.881Z,1607899994.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.419983 m,
      bearing: 326.455858 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.097523 deg/s,
      cmd update: -0.292570 deg/s,
      cmd heading: 333.143631 deg,
      new cmd heading: 333.295630 deg.

2020-12-13T22:53:17.266Z,1607899997.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:18.111Z,1607899998.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:18.525Z,1607899998.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:19.321Z,1607899999.321 [Micromodem](INFO): Nmea in: $SNTTA,0.153483,,,,225319.29*4D

2020-12-13T22:53:19.928Z,1607899999.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.039993 m, bearing: 326.981154 deg, deltaT: 4.956697 s, approachRate: -2.699376 m/s, LOS rate: 0.105977 deg/s, posRepo size: 4
2020-12-13T22:53:19.930Z,1607899999.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.039993 m,
      bearing: 326.981154 deg,
      approachRate: -2.699376 m/s,
      LOS rate: 0.105977 deg/s,
      cmd update: 0.317931 deg/s,
      cmd heading: 331.692617 deg,
      new cmd heading: 331.530859 deg.

2020-12-13T22:53:22.151Z,1607900002.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:22.943Z,1607900002.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:23.345Z,1607900003.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:24.177Z,1607900004.177 [Micromodem](INFO): Nmea in: $SNTTA,0.151432,,,,225324.12*43

2020-12-13T22:53:24.639Z,1607900004.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.919998 m, bearing: 326.874330 deg, deltaT: 4.992781 s, approachRate: -0.624901 m/s, LOS rate: -0.021396 deg/s, posRepo size: 4
2020-12-13T22:53:24.641Z,1607900004.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.919998 m,
      bearing: 326.874330 deg,
      approachRate: -0.624901 m/s,
      LOS rate: -0.021396 deg/s,
      cmd update: -0.064187 deg/s,
      cmd heading: 333.274931 deg,
      new cmd heading: 333.365995 deg.

2020-12-13T22:53:27.018Z,1607900007.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:27.799Z,1607900007.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:28.193Z,1607900008.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:29.013Z,1607900009.013 [Micromodem](INFO): Nmea in: $SNTTA,0.149602,,,,225328.97*4A

2020-12-13T22:53:29.442Z,1607900009.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.220001 m, bearing: 327.528662 deg, deltaT: 4.668763 s, approachRate: -0.578311 m/s, LOS rate: 0.140151 deg/s, posRepo size: 4
2020-12-13T22:53:29.444Z,1607900009.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.220001 m,
      bearing: 327.528662 deg,
      approachRate: -0.578311 m/s,
      LOS rate: 0.140151 deg/s,
      cmd update: 0.420453 deg/s,
      cmd heading: 332.974228 deg,
      new cmd heading: 332.948210 deg.

2020-12-13T22:53:31.913Z,1607900011.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:32.643Z,1607900012.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:33.125Z,1607900013.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:33.926Z,1607900013.926 [Micromodem](INFO): Nmea in: $SNTTA,0.147263,,,,225333.82*49

2020-12-13T22:53:33.998Z,1607900013.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.220001 m, bearing: 326.604101 deg, deltaT: 4.539611 s, approachRate: 0.000000 m/s, LOS rate: -0.203665 deg/s, posRepo size: 4
2020-12-13T22:53:33.000Z,1607900014.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.220001 m,
      bearing: 326.604101 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.203665 deg/s,
      cmd update: -0.610996 deg/s,
      cmd heading: 334.881108 deg,
      new cmd heading: 335.059944 deg.

2020-12-13T22:53:36.366Z,1607900016.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:37.135Z,1607900017.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:37.570Z,1607900017.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:38.377Z,1607900018.377 [Micromodem](INFO): Nmea in: $SNTTA,0.145358,,,,225338.31*41

2020-12-13T22:53:38.926Z,1607900018.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.859985 m, bearing: 326.009027 deg, deltaT: 4.877906 s, approachRate: -1.303841 m/s, LOS rate: -0.121994 deg/s, posRepo size: 4
2020-12-13T22:53:38.928Z,1607900018.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.859985 m,
      bearing: 326.009027 deg,
      approachRate: -1.303841 m/s,
      LOS rate: -0.121994 deg/s,
      cmd update: -0.365981 deg/s,
      cmd heading: 331.904163 deg,
      new cmd heading: 331.610349 deg.

2020-12-13T22:53:41.195Z,1607900021.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:41.979Z,1607900021.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:42.385Z,1607900022.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:43.217Z,1607900023.217 [Micromodem](INFO): Nmea in: $SNTTA,0.143312,,,,225343.15*43

2020-12-13T22:53:43.651Z,1607900023.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.799988 m, bearing: 326.898099 deg, deltaT: 4.961412 s, approachRate: -0.616759 m/s, LOS rate: 0.179197 deg/s, posRepo size: 4
2020-12-13T22:53:43.658Z,1607900023.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.799988 m,
      bearing: 326.898099 deg,
      approachRate: -0.616759 m/s,
      LOS rate: 0.179197 deg/s,
      cmd update: 0.537592 deg/s,
      cmd heading: 330.085688 deg,
      new cmd heading: 330.000807 deg.

2020-12-13T22:53:46.050Z,1607900026.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:46.834Z,1607900026.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:47.237Z,1607900027.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:48.104Z,1607900028.104 [Micromodem](INFO): Nmea in: $SNTTA,0.141267,,,,225348.01*4C

2020-12-13T22:53:48.494Z,1607900028.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.739990 m, bearing: 325.219075 deg, deltaT: 4.713078 s, approachRate: -0.649257 m/s, LOS rate: -0.356248 deg/s, posRepo size: 4
2020-12-13T22:53:48.500Z,1607900028.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.739990 m,
      bearing: 325.219075 deg,
      approachRate: -0.649257 m/s,
      LOS rate: -0.356248 deg/s,
      cmd update: -1.068744 deg/s,
      cmd heading: 332.620622 deg,
      new cmd heading: 332.814627 deg.

2020-12-13T22:53:50.959Z,1607900030.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:51.691Z,1607900031.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:52.129Z,1607900032.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:53.014Z,1607900033.014 [Micromodem](INFO): Nmea in: $SNTTA,0.139210,,,,225352.86*47

2020-12-13T22:53:53.099Z,1607900033.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.619980 m, bearing: 325.258280 deg, deltaT: 4.461927 s, approachRate: -0.699252 m/s, LOS rate: 0.008787 deg/s, posRepo size: 4
2020-12-13T22:53:53.101Z,1607900033.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.619980 m,
      bearing: 325.258280 deg,
      approachRate: -0.699252 m/s,
      LOS rate: 0.008787 deg/s,
      cmd update: 0.026360 deg/s,
      cmd heading: 327.851830 deg,
      new cmd heading: 327.309068 deg.

2020-12-13T22:53:55.397Z,1607900035.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:53:56.163Z,1607900036.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:53:56.613Z,1607900036.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:53:57.434Z,1607900037.434 [Micromodem](INFO): Nmea in: $SNTTA,0.137373,,,,225357.34*41

2020-12-13T22:53:57.537Z,1607900037.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.619980 m, bearing: 325.626864 deg, deltaT: 4.477415 s, approachRate: 0.000000 m/s, LOS rate: 0.082321 deg/s, posRepo size: 4
2020-12-13T22:53:57.539Z,1607900037.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.619980 m,
      bearing: 325.626864 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.082321 deg/s,
      cmd update: 0.246962 deg/s,
      cmd heading: 327.969748 deg,
      new cmd heading: 327.982098 deg.

2020-12-13T22:53:59.896Z,1607900039.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:00.663Z,1607900040.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:01.053Z,1607900041.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:01.878Z,1607900041.878 [Micromodem](INFO): Nmea in: $SNTTA,0.135468,,,,225401.84*41

2020-12-13T22:54:02.318Z,1607900042.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.039978 m, bearing: 324.475021 deg, deltaT: 4.872434 s, approachRate: -1.145219 m/s, LOS rate: -0.236400 deg/s, posRepo size: 4
2020-12-13T22:54:02.320Z,1607900042.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.039978 m,
      bearing: 324.475021 deg,
      approachRate: -1.145219 m/s,
      LOS rate: -0.236400 deg/s,
      cmd update: -0.709200 deg/s,
      cmd heading: 329.173107 deg,
      new cmd heading: 329.267301 deg.

2020-12-13T22:54:04.695Z,1607900044.695 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:54:04.872Z,1607900044.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:05.231Z,1607900045.231 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:54:05.232Z,1607900045.232 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:54:05.232Z,1607900045.232 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:54:05.499Z,1607900045.499 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:54:05.503Z,1607900045.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:05.895Z,1607900045.895 [Micromodem](INFO): Nmea in: $CADRQ,225406,1,9,0,64,1*49

2020-12-13T22:54:05.896Z,1607900045.896 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225406,1,9,0,64,1*49

2020-12-13T22:54:06.305Z,1607900046.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:06.743Z,1607900046.743 [Micromodem](INFO): Nmea in: $SNTTA,0.133471,,,,225406.68*4A

2020-12-13T22:54:07.147Z,1607900047.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.039993 m, bearing: 323.822465 deg, deltaT: 4.839294 s, approachRate: -0.619922 m/s, LOS rate: -0.134845 deg/s, posRepo size: 4
2020-12-13T22:54:07.165Z,1607900047.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.039993 m,
      bearing: 323.822465 deg,
      approachRate: -0.619922 m/s,
      LOS rate: -0.134845 deg/s,
      cmd update: -0.404536 deg/s,
      cmd heading: 325.738230 deg,
      new cmd heading: 325.477799 deg.

2020-12-13T22:54:09.330Z,1607900049.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:09.939Z,1607900049.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:10.352Z,1607900050.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:11.181Z,1607900051.181 [Micromodem](INFO): Nmea in: $SNTTA,0.131648,,,,225411.11*48

2020-12-13T22:54:11.617Z,1607900051.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.339996 m, bearing: 324.902810 deg, deltaT: 4.608106 s, approachRate: -0.585923 m/s, LOS rate: 0.234444 deg/s, posRepo size: 4
2020-12-13T22:54:11.619Z,1607900051.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.339996 m,
      bearing: 324.902810 deg,
      approachRate: -0.585923 m/s,
      LOS rate: 0.234444 deg/s,
      cmd update: 0.703333 deg/s,
      cmd heading: 323.880646 deg,
      new cmd heading: 323.781433 deg.

2020-12-13T22:54:14.027Z,1607900054.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:14.795Z,1607900054.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:15.207Z,1607900055.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:16.039Z,1607900056.039 [Micromodem](INFO): Nmea in: $SNTTA,0.129647,,,,225415.97*44

2020-12-13T22:54:16.441Z,1607900056.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.279999 m, bearing: 323.747169 deg, deltaT: 4.667139 s, approachRate: -0.655647 m/s, LOS rate: -0.247612 deg/s, posRepo size: 4
2020-12-13T22:54:16.443Z,1607900056.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.279999 m,
      bearing: 323.747169 deg,
      approachRate: -0.655647 m/s,
      LOS rate: -0.247612 deg/s,
      cmd update: -0.742837 deg/s,
      cmd heading: 327.174488 deg,
      new cmd heading: 327.445838 deg.

2020-12-13T22:54:18.919Z,1607900058.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:19.655Z,1607900059.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:20.100Z,1607900060.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:20.926Z,1607900060.926 [Micromodem](INFO): Nmea in: $SNTTA,0.127564,,,,225420.83*4B

2020-12-13T22:54:20.975Z,1607900060.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.159988 m, bearing: 323.557973 deg, deltaT: 4.506179 s, approachRate: -0.692385 m/s, LOS rate: -0.041986 deg/s, posRepo size: 4
2020-12-13T22:54:20.981Z,1607900060.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.159988 m,
      bearing: 323.557973 deg,
      approachRate: -0.692385 m/s,
      LOS rate: -0.041986 deg/s,
      cmd update: -0.125958 deg/s,
      cmd heading: 323.827156 deg,
      new cmd heading: 323.519785 deg.

2020-12-13T22:54:23.407Z,1607900063.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:24.142Z,1607900064.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:24.603Z,1607900064.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:25.435Z,1607900065.435 [Micromodem](INFO): Nmea in: $SNTTA,0.125653,,,,225425.31*42

2020-12-13T22:54:25.529Z,1607900065.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.339996 m, bearing: 323.839049 deg, deltaT: 4.471725 s, approachRate: -0.630627 m/s, LOS rate: 0.062856 deg/s, posRepo size: 4
2020-12-13T22:54:25.531Z,1607900065.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.339996 m,
      bearing: 323.839049 deg,
      approachRate: -0.630627 m/s,
      LOS rate: 0.062856 deg/s,
      cmd update: 0.188569 deg/s,
      cmd heading: 323.263886 deg,
      new cmd heading: 323.201480 deg.

2020-12-13T22:54:28.218Z,1607900068.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:28.815Z,1607900068.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:29.221Z,1607900069.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:30.049Z,1607900070.049 [Micromodem](INFO): Nmea in: $SNTTA,0.123660,,,,225429.99*4A

2020-12-13T22:54:30.696Z,1607900070.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 322.781735 deg, deltaT: 5.079238 s, approachRate: -0.614264 m/s, LOS rate: -0.208164 deg/s, posRepo size: 4
2020-12-13T22:54:30.702Z,1607900070.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.220001 m,
      bearing: 322.781735 deg,
      approachRate: -0.614264 m/s,
      LOS rate: -0.208164 deg/s,
      cmd update: -0.624491 deg/s,
      cmd heading: 324.220879 deg,
      new cmd heading: 324.331737 deg.

2020-12-13T22:54:32.936Z,1607900072.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:33.723Z,1607900073.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:34.101Z,1607900074.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:34.969Z,1607900074.969 [Micromodem](INFO): Nmea in: $SNTTA,0.121677,,,,225434.90*4B

2020-12-13T22:54:35.387Z,1607900075.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 322.902193 deg, deltaT: 4.875407 s, approachRate: -0.590721 m/s, LOS rate: 0.024707 deg/s, posRepo size: 4
2020-12-13T22:54:35.389Z,1607900075.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.339996 m,
      bearing: 322.902193 deg,
      approachRate: -0.590721 m/s,
      LOS rate: 0.024707 deg/s,
      cmd update: 0.074121 deg/s,
      cmd heading: 321.173700 deg,
      new cmd heading: 320.924543 deg.

2020-12-13T22:54:36.158Z,1607900076.158 [Micromodem](INFO): Nmea in: $CAERR,225436,DATA_TIMEOUT,1*4A

2020-12-13T22:54:37.879Z,1607900077.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:38.599Z,1607900078.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:39.005Z,1607900079.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:39.838Z,1607900079.838 [Micromodem](INFO): Nmea in: $SNTTA,0.119579,,,,225439.77*49

2020-12-13T22:54:39.891Z,1607900079.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 333.591712 deg, deltaT: 4.442895 s, approachRate: 0.000000 m/s, LOS rate: 2.405981 deg/s, posRepo size: 4
2020-12-13T22:54:39.893Z,1607900079.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.339996 m,
      bearing: 333.591712 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.405981 deg/s,
      cmd update: 7.217942 deg/s,
      cmd heading: 321.502846 deg,
      new cmd heading: 321.537149 deg.

2020-12-13T22:54:42.278Z,1607900082.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:43.055Z,1607900083.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:43.569Z,1607900083.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:44.346Z,1607900084.346 [Micromodem](INFO): Nmea in: $SNTTA,0.117576,,,,225444.23*43

2020-12-13T22:54:44.409Z,1607900084.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 323.757606 deg, deltaT: 4.551015 s, approachRate: -1.357934 m/s, LOS rate: -2.160860 deg/s, posRepo size: 4
2020-12-13T22:54:44.412Z,1607900084.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 323.757606 deg,
      approachRate: -1.357934 m/s,
      LOS rate: -2.160860 deg/s,
      cmd update: -6.482580 deg/s,
      cmd heading: 354.332927 deg,
      new cmd heading: 357.444229 deg.

2020-12-13T22:54:46.814Z,1607900086.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:47.579Z,1607900087.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:47.973Z,1607900087.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:48.814Z,1607900088.814 [Micromodem](INFO): Nmea in: $SNTTA,0.115786,,,,225448.75*43

2020-12-13T22:54:48.879Z,1607900088.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 321.152462 deg, deltaT: 4.483500 s, approachRate: 0.000000 m/s, LOS rate: -0.581051 deg/s, posRepo size: 4
2020-12-13T22:54:48.882Z,1607900088.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 321.152462 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.581051 deg/s,
      cmd update: -1.743154 deg/s,
      cmd heading: 325.264965 deg,
      new cmd heading: 322.550223 deg.

2020-12-13T22:54:51.230Z,1607900091.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:52.015Z,1607900092.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:52.431Z,1607900092.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:53.262Z,1607900093.262 [Micromodem](INFO): Nmea in: $SNTTA,0.114290,,,,225453.19*40

2020-12-13T22:54:53.300Z,1607900093.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 319.524118 deg, deltaT: 4.443805 s, approachRate: 0.000000 m/s, LOS rate: -0.366430 deg/s, posRepo size: 4
2020-12-13T22:54:53.302Z,1607900093.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 319.524118 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.366430 deg/s,
      cmd update: -1.099291 deg/s,
      cmd heading: 317.518170 deg,
      new cmd heading: 316.830007 deg.

2020-12-13T22:54:55.870Z,1607900095.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:54:56.474Z,1607900096.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:54:56.869Z,1607900096.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:54:57.710Z,1607900097.710 [Micromodem](INFO): Nmea in: $SNTTA,0.112690,,,,225457.65*4D

2020-12-13T22:54:57.767Z,1607900097.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 321.921268 deg, deltaT: 4.414374 s, approachRate: 0.000000 m/s, LOS rate: 0.543033 deg/s, posRepo size: 4
2020-12-13T22:54:57.769Z,1607900097.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 321.921268 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.543033 deg/s,
      cmd update: 1.629099 deg/s,
      cmd heading: 312.671866 deg,
      new cmd heading: 312.173139 deg.

2020-12-13T22:55:00.287Z,1607900100.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:00.903Z,1607900100.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:01.320Z,1607900101.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:02.154Z,1607900102.154 [Micromodem](INFO): Nmea in: $SNTTA,0.110890,,,,225502.08*4B

2020-12-13T22:55:02.336Z,1607900102.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 321.344117 deg, deltaT: 4.482740 s, approachRate: -2.221857 m/s, LOS rate: -0.128750 deg/s, posRepo size: 4
2020-12-13T22:55:02.338Z,1607900102.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.200012 m,
      bearing: 321.344117 deg,
      approachRate: -2.221857 m/s,
      LOS rate: -0.128750 deg/s,
      cmd update: -0.386249 deg/s,
      cmd heading: 319.990065 deg,
      new cmd heading: 320.854406 deg.

2020-12-13T22:55:04.596Z,1607900104.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:05.363Z,1607900105.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:05.757Z,1607900105.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:06.617Z,1607900106.617 [Micromodem](INFO): Nmea in: $SNTTA,0.109090,,,,225506.54*46

2020-12-13T22:55:06.832Z,1607900106.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 320.408955 deg, deltaT: 4.409797 s, approachRate: 0.000000 m/s, LOS rate: -0.212065 deg/s, posRepo size: 4
2020-12-13T22:55:06.834Z,1607900106.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.200012 m,
      bearing: 320.408955 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.212065 deg/s,
      cmd update: -0.636194 deg/s,
      cmd heading: 318.286630 deg,
      new cmd heading: 318.048493 deg.

2020-12-13T22:55:08.840Z,1607900108.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:09.407Z,1607900109.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:09.809Z,1607900109.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:10.680Z,1607900110.680 [Micromodem](INFO): Nmea in: $SNTTA,0.107480,,,,225510.58*46

2020-12-13T22:55:10.682Z,1607900110.682 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:55:10.767Z,1607900110.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.160004 m, bearing: 320.881331 deg, deltaT: 4.019855 s, approachRate: -1.253779 m/s, LOS rate: 0.117511 deg/s, posRepo size: 4
2020-12-13T22:55:10.774Z,1607900110.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.160004 m,
      bearing: 320.881331 deg,
      approachRate: -1.253779 m/s,
      LOS rate: 0.117511 deg/s,
      cmd update: 0.352532 deg/s,
      cmd heading: 315.729328 deg,
      new cmd heading: 315.391384 deg.

2020-12-13T22:55:11.177Z,1607900111.177 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:55:11.178Z,1607900111.178 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:55:11.178Z,1607900111.178 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:55:11.850Z,1607900111.850 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:55:12.250Z,1607900112.250 [Micromodem](INFO): Nmea in: $CADRQ,225512,1,9,0,64,1*4D

2020-12-13T22:55:12.250Z,1607900112.250 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:55:12.668Z,1607900112.668 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:55:12.744Z,1607900112.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:13.051Z,1607900113.051 [Micromodem](INFO): Nmea in: $CADRQ,225513,1,9,0,64,2*4F

2020-12-13T22:55:13.054Z,1607900113.054 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:55:13.447Z,1607900113.447 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:55:13.448Z,1607900113.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:13.842Z,1607900113.842 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:55:13.843Z,1607900113.843 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:55:15.527Z,1607900115.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:16.275Z,1607900116.275 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:55:16.275Z,1607900116.275 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:55:16.699Z,1607900116.699 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225514.201167,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7B

2020-12-13T22:55:16.699Z,1607900116.699 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,225514.201167,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7B

2020-12-13T22:55:18.327Z,1607900118.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:21.158Z,1607900121.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:24.014Z,1607900124.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:24.798Z,1607900124.798 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:25.202Z,1607900125.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:26.038Z,1607900126.038 [Micromodem](INFO): Nmea in: $SNTTA,0.101249,,,,225525.97*46

2020-12-13T22:55:26.214Z,1607900126.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 321.098012 deg, deltaT: 15.487193 s, approachRate: -0.604370 m/s, LOS rate: 0.013991 deg/s, posRepo size: 4
2020-12-13T22:55:26.216Z,1607900126.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.800003 m,
      bearing: 321.098012 deg,
      approachRate: -0.604370 m/s,
      LOS rate: 0.013991 deg/s,
      cmd update: 0.041973 deg/s,
      cmd heading: 321.187702 deg,
      new cmd heading: 321.362135 deg.

2020-12-13T22:55:28.242Z,1607900128.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:28.843Z,1607900128.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:29.233Z,1607900129.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:30.074Z,1607900130.074 [Micromodem](INFO): Nmea in: $SNTTA,0.099537,,,,225530.02*40

2020-12-13T22:55:30.123Z,1607900130.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.160004 m, bearing: 320.515779 deg, deltaT: 4.015215 s, approachRate: -0.657499 m/s, LOS rate: -0.145007 deg/s, posRepo size: 4
2020-12-13T22:55:30.125Z,1607900130.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.160004 m,
      bearing: 320.515779 deg,
      approachRate: -0.657499 m/s,
      LOS rate: -0.145007 deg/s,
      cmd update: -0.435020 deg/s,
      cmd heading: 321.356243 deg,
      new cmd heading: 321.372474 deg.

2020-12-13T22:55:32.696Z,1607900132.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:33.288Z,1607900133.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:33.709Z,1607900133.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:34.538Z,1607900134.538 [Micromodem](INFO): Nmea in: $SNTTA,0.097641,,,,225534.46*48

2020-12-13T22:55:34.731Z,1607900134.731 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T22:55:34.761Z,1607900134.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 321.053780 deg, deltaT: 4.405492 s, approachRate: -0.640108 m/s, LOS rate: 0.122120 deg/s, posRepo size: 4
2020-12-13T22:55:34.763Z,1607900134.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.340012 m,
      bearing: 321.053780 deg,
      approachRate: -0.640108 m/s,
      LOS rate: 0.122120 deg/s,
      cmd update: 0.366361 deg/s,
      cmd heading: 319.438130 deg,
      new cmd heading: 319.169568 deg.

2020-12-13T22:55:36.974Z,1607900136.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:37.751Z,1607900137.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:38.176Z,1607900138.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:39.002Z,1607900139.002 [Micromodem](INFO): Nmea in: $SNTTA,0.095783,,,,225538.92*40

2020-12-13T22:55:39.170Z,1607900139.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 320.034688 deg, deltaT: 4.475123 s, approachRate: -0.643559 m/s, LOS rate: -0.227724 deg/s, posRepo size: 4
2020-12-13T22:55:39.172Z,1607900139.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.460007 m,
      bearing: 320.034688 deg,
      approachRate: -0.643559 m/s,
      LOS rate: -0.227724 deg/s,
      cmd update: -0.683171 deg/s,
      cmd heading: 321.077704 deg,
      new cmd heading: 321.279439 deg.

2020-12-13T22:55:41.200Z,1607900141.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:41.835Z,1607900141.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:42.225Z,1607900142.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:43.070Z,1607900143.070 [Micromodem](INFO): Nmea in: $SNTTA,0.094077,,,,225543.01*4B

2020-12-13T22:55:43.096Z,1607900143.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 320.140474 deg, deltaT: 4.108475 s, approachRate: -0.613367 m/s, LOS rate: 0.025748 deg/s, posRepo size: 4
2020-12-13T22:55:43.098Z,1607900143.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.940002 m,
      bearing: 320.140474 deg,
      approachRate: -0.613367 m/s,
      LOS rate: 0.025748 deg/s,
      cmd update: 0.077245 deg/s,
      cmd heading: 318.273771 deg,
      new cmd heading: 318.018922 deg.

2020-12-13T22:55:45.699Z,1607900145.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:46.287Z,1607900146.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:46.706Z,1607900146.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:47.530Z,1607900147.530 [Micromodem](INFO): Nmea in: $SNTTA,0.092247,,,,225547.46*4B

2020-12-13T22:55:47.737Z,1607900147.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.179993 m, bearing: 319.621298 deg, deltaT: 4.416213 s, approachRate: -0.624972 m/s, LOS rate: -0.117561 deg/s, posRepo size: 4
2020-12-13T22:55:47.739Z,1607900147.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.179993 m,
      bearing: 319.621298 deg,
      approachRate: -0.624972 m/s,
      LOS rate: -0.117561 deg/s,
      cmd update: -0.352684 deg/s,
      cmd heading: 318.615225 deg,
      new cmd heading: 318.661067 deg.

2020-12-13T22:55:50.023Z,1607900150.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:50.775Z,1607900150.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:51.185Z,1607900151.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:52.026Z,1607900152.026 [Micromodem](INFO): Nmea in: $SNTTA,0.090379,,,,225551.95*4C

2020-12-13T22:55:52.199Z,1607900152.199 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T22:55:52.216Z,1607900152.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.540009 m, bearing: 320.878572 deg, deltaT: 4.556326 s, approachRate: -0.579411 m/s, LOS rate: 0.275940 deg/s, posRepo size: 4
2020-12-13T22:55:52.218Z,1607900152.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.540009 m,
      bearing: 320.878572 deg,
      approachRate: -0.579411 m/s,
      LOS rate: 0.275940 deg/s,
      cmd update: 0.827821 deg/s,
      cmd heading: 317.009710 deg,
      new cmd heading: 316.826272 deg.

2020-12-13T22:55:54.445Z,1607900154.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:55.222Z,1607900155.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:55.634Z,1607900155.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:55:56.485Z,1607900156.485 [Micromodem](INFO): Nmea in: $SNTTA,0.088662,,,,225556.39*4B

2020-12-13T22:55:56.544Z,1607900156.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 319.773392 deg, deltaT: 4.372022 s, approachRate: -0.617566 m/s, LOS rate: -0.252784 deg/s, posRepo size: 4
2020-12-13T22:55:56.550Z,1607900156.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.839996 m,
      bearing: 319.773392 deg,
      approachRate: -0.617566 m/s,
      LOS rate: -0.252784 deg/s,
      cmd update: -0.758353 deg/s,
      cmd heading: 320.632144 deg,
      new cmd heading: 321.023025 deg.

2020-12-13T22:55:58.698Z,1607900158.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:55:59.264Z,1607900159.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:55:59.694Z,1607900159.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:00.534Z,1607900160.534 [Micromodem](INFO): Nmea in: $SNTTA,0.086961,,,,225600.44*43

2020-12-13T22:56:00.749Z,1607900160.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.380005 m, bearing: 318.821127 deg, deltaT: 4.043441 s, approachRate: -0.608391 m/s, LOS rate: -0.235509 deg/s, posRepo size: 4
2020-12-13T22:56:00.751Z,1607900160.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.380005 m,
      bearing: 318.821127 deg,
      approachRate: -0.608391 m/s,
      LOS rate: -0.235509 deg/s,
      cmd update: -0.706526 deg/s,
      cmd heading: 317.565778 deg,
      new cmd heading: 317.085090 deg.

2020-12-13T22:56:02.621Z,1607900162.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:03.359Z,1607900163.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:03.778Z,1607900163.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:04.610Z,1607900164.610 [Micromodem](INFO): Nmea in: $SNTTA,0.085337,,,,225604.53*4B

2020-12-13T22:56:04.836Z,1607900164.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 318.467624 deg, deltaT: 4.116733 s, approachRate: -0.626711 m/s, LOS rate: -0.085870 deg/s, posRepo size: 4
2020-12-13T22:56:04.842Z,1607900164.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 318.467624 deg,
      approachRate: -0.626711 m/s,
      LOS rate: -0.085870 deg/s,
      cmd update: -0.257610 deg/s,
      cmd heading: 314.657050 deg,
      new cmd heading: 314.234846 deg.

2020-12-13T22:56:06.872Z,1607900166.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:07.465Z,1607900167.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:07.873Z,1607900167.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:08.702Z,1607900168.702 [Micromodem](INFO): Nmea in: $SNTTA,0.083649,,,,225608.64*49

2020-12-13T22:56:08.744Z,1607900168.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 318.912297 deg, deltaT: 4.054143 s, approachRate: -0.606786 m/s, LOS rate: 0.109684 deg/s, posRepo size: 4
2020-12-13T22:56:08.746Z,1607900168.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.340004 m,
      bearing: 318.912297 deg,
      approachRate: -0.606786 m/s,
      LOS rate: 0.109684 deg/s,
      cmd update: 0.329051 deg/s,
      cmd heading: 313.612672 deg,
      new cmd heading: 313.494662 deg.

2020-12-13T22:56:11.254Z,1607900171.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:11.899Z,1607900171.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:12.319Z,1607900172.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:13.142Z,1607900173.142 [Micromodem](INFO): Nmea in: $SNTTA,0.081957,,,,225613.07*44

2020-12-13T22:56:13.328Z,1607900173.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.820007 m, bearing: 318.908909 deg, deltaT: 4.642291 s, approachRate: -0.542835 m/s, LOS rate: -0.000730 deg/s, posRepo size: 4
2020-12-13T22:56:13.330Z,1607900173.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 318.908909 deg,
      approachRate: -0.542835 m/s,
      LOS rate: -0.000730 deg/s,
      cmd update: -0.002189 deg/s,
      cmd heading: 315.096973 deg,
      new cmd heading: 315.271704 deg.

2020-12-13T22:56:15.592Z,1607900175.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:16.351Z,1607900176.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:16.753Z,1607900176.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:16.773Z,1607900176.773 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:56:17.286Z,1607900177.286 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:56:17.287Z,1607900177.287 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:56:17.287Z,1607900177.287 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:56:17.610Z,1607900177.610 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:56:17.831Z,1607900177.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.120003 m, bearing: 318.426424 deg, deltaT: 4.437640 s, approachRate: -0.608433 m/s, LOS rate: -0.108725 deg/s, posRepo size: 4
2020-12-13T22:56:17.833Z,1607900177.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.120003 m,
      bearing: 318.426424 deg,
      approachRate: -0.608433 m/s,
      LOS rate: -0.108725 deg/s,
      cmd update: -0.326176 deg/s,
      cmd heading: 315.087041 deg,
      new cmd heading: 315.085953 deg.

2020-12-13T22:56:18.002Z,1607900178.002 [Micromodem](INFO): Nmea in: $CADRQ,225618,1,9,0,64,1*44

2020-12-13T22:56:18.002Z,1607900178.002 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:56:18.423Z,1607900178.423 [Micromodem](INFO): Nmea in: $SNTTA,0.080129,,,,225617.52*40

2020-12-13T22:56:18.423Z,1607900178.423 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.080129,,,,225617.52*40

2020-12-13T22:56:19.634Z,1607900179.634 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:56:19.894Z,1607900179.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:20.073Z,1607900180.073 [Micromodem](INFO): Nmea in: $CADRQ,225619,1,9,0,64,2*46

2020-12-13T22:56:20.075Z,1607900180.075 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:56:20.471Z,1607900180.471 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:56:20.472Z,1607900180.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:20.870Z,1607900180.870 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:56:20.871Z,1607900180.871 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:56:22.538Z,1607900182.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:23.306Z,1607900183.306 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:56:23.306Z,1607900183.306 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:56:23.731Z,1607900183.731 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225621.220809,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:56:23.732Z,1607900183.732 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,225621.220809,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7C

2020-12-13T22:56:25.362Z,1607900185.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:28.200Z,1607900188.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:30.783Z,1607900190.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:31.782Z,1607900191.782 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:32.181Z,1607900192.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:33.042Z,1607900193.042 [Micromodem](INFO): Nmea in: $SNTTA,0.073698,,,,225632.95*4D

2020-12-13T22:56:33.075Z,1607900193.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 318.311240 deg, deltaT: 15.448342 s, approachRate: -0.625310 m/s, LOS rate: -0.007456 deg/s, posRepo size: 4
2020-12-13T22:56:33.077Z,1607900193.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.460007 m,
      bearing: 318.311240 deg,
      approachRate: -0.625310 m/s,
      LOS rate: -0.007456 deg/s,
      cmd update: -0.022368 deg/s,
      cmd heading: 310.037566 deg,
      new cmd heading: 309.952481 deg.

2020-12-13T22:56:35.440Z,1607900195.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:36.219Z,1607900196.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:36.635Z,1607900196.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:37.467Z,1607900197.467 [Micromodem](INFO): Nmea in: $SNTTA,0.071891,,,,225637.39*4B

2020-12-13T22:56:37.535Z,1607900197.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.760002 m, bearing: 318.577945 deg, deltaT: 4.378964 s, approachRate: -0.616585 m/s, LOS rate: 0.060906 deg/s, posRepo size: 4
2020-12-13T22:56:37.541Z,1607900197.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 318.577945 deg,
      approachRate: -0.616585 m/s,
      LOS rate: 0.060906 deg/s,
      cmd update: 0.182718 deg/s,
      cmd heading: 309.939621 deg,
      new cmd heading: 309.931981 deg.

2020-12-13T22:56:39.917Z,1607900199.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:40.686Z,1607900200.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:41.069Z,1607900201.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:41.902Z,1607900201.902 [Micromodem](INFO): Nmea in: $SNTTA,0.070170,,,,225641.86*49

2020-12-13T22:56:41.947Z,1607900201.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 318.526937 deg, deltaT: 4.337949 s, approachRate: -0.608581 m/s, LOS rate: -0.011759 deg/s, posRepo size: 4
2020-12-13T22:56:41.949Z,1607900201.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.120010 m,
      bearing: 318.526937 deg,
      approachRate: -0.608581 m/s,
      LOS rate: -0.011759 deg/s,
      cmd update: -0.035276 deg/s,
      cmd heading: 310.731543 deg,
      new cmd heading: 310.808142 deg.

2020-12-13T22:56:44.331Z,1607900204.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:45.103Z,1607900205.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:45.532Z,1607900205.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:46.445Z,1607900206.445 [Micromodem](INFO): Nmea in: $SNTTA,0.068435,,,,225646.27*48

2020-12-13T22:56:46.524Z,1607900206.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.540001 m, bearing: 318.494016 deg, deltaT: 4.500249 s, approachRate: -0.573304 m/s, LOS rate: -0.007315 deg/s, posRepo size: 4
2020-12-13T22:56:46.530Z,1607900206.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.540001 m,
      bearing: 318.494016 deg,
      approachRate: -0.573304 m/s,
      LOS rate: -0.007315 deg/s,
      cmd update: -0.021946 deg/s,
      cmd heading: 310.572659 deg,
      new cmd heading: 310.555300 deg.

2020-12-13T22:56:48.898Z,1607900208.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:49.689Z,1607900209.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:50.080Z,1607900210.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:50.895Z,1607900210.895 [Micromodem](INFO): Nmea in: $SNTTA,0.066524,,,,225650.86*4B

2020-12-13T22:56:50.941Z,1607900210.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 318.349762 deg, deltaT: 4.518613 s, approachRate: -0.637363 m/s, LOS rate: -0.031924 deg/s, posRepo size: 4
2020-12-13T22:56:50.943Z,1607900210.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.660004 m,
      bearing: 318.349762 deg,
      approachRate: -0.637363 m/s,
      LOS rate: -0.031924 deg/s,
      cmd update: -0.095773 deg/s,
      cmd heading: 310.473716 deg,
      new cmd heading: 310.464924 deg.

2020-12-13T22:56:53.333Z,1607900213.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:54.103Z,1607900214.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:54.528Z,1607900214.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:55.346Z,1607900215.346 [Micromodem](INFO): Nmea in: $SNTTA,0.064926,,,,225655.27*49

2020-12-13T22:56:55.383Z,1607900215.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 317.583197 deg, deltaT: 4.378108 s, approachRate: -0.616706 m/s, LOS rate: -0.175091 deg/s, posRepo size: 4
2020-12-13T22:56:55.385Z,1607900215.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.959999 m,
      bearing: 317.583197 deg,
      approachRate: -0.616706 m/s,
      LOS rate: -0.175091 deg/s,
      cmd update: -0.525272 deg/s,
      cmd heading: 310.053425 deg,
      new cmd heading: 310.009859 deg.

2020-12-13T22:56:57.830Z,1607900217.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:56:58.583Z,1607900218.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:56:59.038Z,1607900219.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:56:59.854Z,1607900219.854 [Micromodem](INFO): Nmea in: $SNTTA,0.063022,,,,225659.75*48

2020-12-13T22:56:59.926Z,1607900219.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 318.282826 deg, deltaT: 4.526295 s, approachRate: -0.570001 m/s, LOS rate: 0.154570 deg/s, posRepo size: 4
2020-12-13T22:56:59.928Z,1607900219.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.380005 m,
      bearing: 318.282826 deg,
      approachRate: -0.570001 m/s,
      LOS rate: 0.154570 deg/s,
      cmd update: 0.463710 deg/s,
      cmd heading: 307.675813 deg,
      new cmd heading: 307.428056 deg.

2020-12-13T22:57:02.327Z,1607900222.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:03.075Z,1607900223.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:03.499Z,1607900223.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:04.312Z,1607900224.312 [Micromodem](INFO): Nmea in: $SNTTA,0.061283,,,,225704.25*4F

2020-12-13T22:57:04.377Z,1607900224.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 318.468935 deg, deltaT: 4.501617 s, approachRate: -0.586457 m/s, LOS rate: 0.041343 deg/s, posRepo size: 4
2020-12-13T22:57:04.379Z,1607900224.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 318.468935 deg,
      approachRate: -0.586457 m/s,
      LOS rate: 0.041343 deg/s,
      cmd update: 0.124028 deg/s,
      cmd heading: 309.763238 deg,
      new cmd heading: 309.958347 deg.

2020-12-13T22:57:06.779Z,1607900226.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:07.543Z,1607900227.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:07.926Z,1607900227.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:08.770Z,1607900228.770 [Micromodem](INFO): Nmea in: $SNTTA,0.059509,,,,225708.71*4C

2020-12-13T22:57:08.829Z,1607900228.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.040009 m, bearing: 317.932383 deg, deltaT: 4.393744 s, approachRate: -0.614508 m/s, LOS rate: -0.122117 deg/s, posRepo size: 4
2020-12-13T22:57:08.831Z,1607900228.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.040009 m,
      bearing: 317.932383 deg,
      approachRate: -0.614508 m/s,
      LOS rate: -0.122117 deg/s,
      cmd update: -0.366352 deg/s,
      cmd heading: 310.308159 deg,
      new cmd heading: 310.367565 deg.

2020-12-13T22:57:11.323Z,1607900231.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:11.967Z,1607900231.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:12.369Z,1607900232.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:13.238Z,1607900233.238 [Micromodem](INFO): Nmea in: $SNTTA,0.057899,,,,225713.14*4F

2020-12-13T22:57:13.275Z,1607900233.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 318.380526 deg, deltaT: 4.502261 s, approachRate: -0.479760 m/s, LOS rate: 0.099537 deg/s, posRepo size: 4
2020-12-13T22:57:13.277Z,1607900233.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.880005 m,
      bearing: 318.380526 deg,
      approachRate: -0.479760 m/s,
      LOS rate: 0.099537 deg/s,
      cmd update: 0.298612 deg/s,
      cmd heading: 308.662632 deg,
      new cmd heading: 308.503782 deg.

2020-12-13T22:57:15.815Z,1607900235.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:16.404Z,1607900236.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:16.819Z,1607900236.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:17.658Z,1607900237.658 [Micromodem](INFO): Nmea in: $SNTTA,0.055941,,,,225717.58*45

2020-12-13T22:57:17.874Z,1607900237.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 317.512791 deg, deltaT: 4.399829 s, approachRate: -0.709119 m/s, LOS rate: -0.197220 deg/s, posRepo size: 4
2020-12-13T22:57:17.875Z,1607900237.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.760002 m,
      bearing: 317.512791 deg,
      approachRate: -0.709119 m/s,
      LOS rate: -0.197220 deg/s,
      cmd update: -0.591660 deg/s,
      cmd heading: 309.979707 deg,
      new cmd heading: 310.160395 deg.

2020-12-13T22:57:19.741Z,1607900239.741 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T22:57:19.756Z,1607900239.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:20.522Z,1607900240.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:20.897Z,1607900240.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:21.760Z,1607900241.760 [Micromodem](INFO): Nmea in: $SNTTA,0.054704,,,,225721.70*44

2020-12-13T22:57:21.825Z,1607900241.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.480003 m, bearing: 317.778786 deg, deltaT: 4.072907 s, approachRate: -0.559796 m/s, LOS rate: 0.065308 deg/s, posRepo size: 4
2020-12-13T22:57:21.827Z,1607900241.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.480003 m,
      bearing: 317.778786 deg,
      approachRate: -0.559796 m/s,
      LOS rate: 0.065308 deg/s,
      cmd update: 0.195925 deg/s,
      cmd heading: 307.572103 deg,
      new cmd heading: 307.276588 deg.

2020-12-13T22:57:22.546Z,1607900242.546 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:57:23.056Z,1607900243.056 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:57:23.056Z,1607900243.056 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:57:23.057Z,1607900243.057 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:57:23.334Z,1607900243.334 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:57:23.750Z,1607900243.750 [Micromodem](INFO): Nmea in: $CADRQ,225724,1,9,0,64,1*4A

2020-12-13T22:57:23.750Z,1607900243.750 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:57:23.896Z,1607900243.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:24.134Z,1607900244.134 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:57:24.615Z,1607900244.615 [Micromodem](INFO): Nmea in: $CADRQ,225724,1,9,0,64,2*49

2020-12-13T22:57:24.616Z,1607900244.616 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T22:57:25.015Z,1607900245.015 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T22:57:25.015Z,1607900245.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:25.420Z,1607900245.420 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T22:57:25.420Z,1607900245.420 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T22:57:26.716Z,1607900246.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:27.854Z,1607900247.854 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T22:57:27.854Z,1607900247.854 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T22:57:28.260Z,1607900248.260 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225725.761979,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T22:57:28.260Z,1607900248.260 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,225725.761979,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T22:57:29.236Z,1607900249.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:32.090Z,1607900252.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:34.913Z,1607900254.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:36.074Z,1607900256.074 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:36.483Z,1607900256.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:37.322Z,1607900257.322 [Micromodem](INFO): Nmea in: $SNTTA,0.048248,,,,225737.25*43

2020-12-13T22:57:37.530Z,1607900257.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 317.353702 deg, deltaT: 15.614340 s, approachRate: -0.595607 m/s, LOS rate: -0.027224 deg/s, posRepo size: 4
2020-12-13T22:57:37.532Z,1607900257.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.180000 m,
      bearing: 317.353702 deg,
      approachRate: -0.595607 m/s,
      LOS rate: -0.027224 deg/s,
      cmd update: -0.081672 deg/s,
      cmd heading: 310.632068 deg,
      new cmd heading: 310.747812 deg.

2020-12-13T22:57:39.446Z,1607900259.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:40.183Z,1607900260.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:40.577Z,1607900260.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:41.415Z,1607900261.415 [Micromodem](INFO): Nmea in: $SNTTA,0.046671,,,,225741.36*40

2020-12-13T22:57:41.480Z,1607900261.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.780006 m, bearing: 316.879523 deg, deltaT: 4.072810 s, approachRate: -0.589272 m/s, LOS rate: -0.116426 deg/s, posRepo size: 4
2020-12-13T22:57:41.488Z,1607900261.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.780006 m,
      bearing: 316.879523 deg,
      approachRate: -0.589272 m/s,
      LOS rate: -0.116426 deg/s,
      cmd update: -0.349277 deg/s,
      cmd heading: 310.299439 deg,
      new cmd heading: 310.261280 deg.

2020-12-13T22:57:43.999Z,1607900263.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:44.611Z,1607900264.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:45.029Z,1607900265.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:45.863Z,1607900265.863 [Micromodem](INFO): Nmea in: $SNTTA,0.044868,,,,225745.78*4A

2020-12-13T22:57:45.921Z,1607900265.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.080002 m, bearing: 317.301957 deg, deltaT: 4.432232 s, approachRate: -0.609175 m/s, LOS rate: 0.095309 deg/s, posRepo size: 4
2020-12-13T22:57:45.923Z,1607900265.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.080002 m,
      bearing: 317.301957 deg,
      approachRate: -0.609175 m/s,
      LOS rate: 0.095309 deg/s,
      cmd update: 0.285928 deg/s,
      cmd heading: 308.751349 deg,
      new cmd heading: 308.585064 deg.

2020-12-13T22:57:48.467Z,1607900268.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:49.159Z,1607900269.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:49.569Z,1607900269.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:50.415Z,1607900270.415 [Micromodem](INFO): Nmea in: $SNTTA,0.043334,,,,225750.33*44

2020-12-13T22:57:50.624Z,1607900270.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.739998 m, bearing: 318.436478 deg, deltaT: 4.607123 s, approachRate: -0.507910 m/s, LOS rate: 0.246254 deg/s, posRepo size: 4
2020-12-13T22:57:50.631Z,1607900270.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.739998 m,
      bearing: 318.436478 deg,
      approachRate: -0.507910 m/s,
      LOS rate: 0.246254 deg/s,
      cmd update: 0.738762 deg/s,
      cmd heading: 310.067505 deg,
      new cmd heading: 310.232427 deg.

2020-12-13T22:57:52.906Z,1607900272.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:53.657Z,1607900273.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:54.065Z,1607900274.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:54.970Z,1607900274.970 [Micromodem](INFO): Nmea in: $SNTTA,0.041338,,,,225754.83*45

2020-12-13T22:57:54.994Z,1607900274.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.800007 m, bearing: 316.274614 deg, deltaT: 4.644960 s, approachRate: -0.632942 m/s, LOS rate: -0.465421 deg/s, posRepo size: 4
2020-12-13T22:57:54.996Z,1607900274.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.800007 m,
      bearing: 316.274614 deg,
      approachRate: -0.632942 m/s,
      LOS rate: -0.465421 deg/s,
      cmd update: -1.396264 deg/s,
      cmd heading: 313.501913 deg,
      new cmd heading: 313.722091 deg.

2020-12-13T22:57:57.410Z,1607900277.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:57:58.179Z,1607900278.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:57:58.585Z,1607900278.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:57:59.435Z,1607900279.435 [Micromodem](INFO): Nmea in: $SNTTA,0.039542,,,0.056179,225759.35*53

2020-12-13T22:57:59.475Z,1607900279.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 317.695294 deg, deltaT: 4.319678 s, approachRate: -0.611159 m/s, LOS rate: 0.328885 deg/s, posRepo size: 4
2020-12-13T22:57:59.478Z,1607900279.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 317.695294 deg,
      approachRate: -0.611159 m/s,
      LOS rate: 0.328885 deg/s,
      cmd update: 0.986656 deg/s,
      cmd heading: 307.470339 deg,
      new cmd heading: 306.828956 deg.

2020-12-13T22:58:01.870Z,1607900281.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:02.623Z,1607900282.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:03.029Z,1607900283.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:03.866Z,1607900283.866 [Micromodem](INFO): Nmea in: $SNTTA,0.037822,,,,225803.80*4A

2020-12-13T22:58:03.911Z,1607900283.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 316.159485 deg, deltaT: 4.430301 s, approachRate: -0.595895 m/s, LOS rate: -0.346660 deg/s, posRepo size: 4
2020-12-13T22:58:03.913Z,1607900283.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.520000 m,
      bearing: 316.159485 deg,
      approachRate: -0.595895 m/s,
      LOS rate: -0.346660 deg/s,
      cmd update: -1.039981 deg/s,
      cmd heading: 311.841543 deg,
      new cmd heading: 312.299727 deg.

2020-12-13T22:58:06.271Z,1607900286.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:07.071Z,1607900287.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:07.494Z,1607900287.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:08.410Z,1607900288.410 [Micromodem](INFO): Nmea in: $SNTTA,0.036085,,,,225808.24*4B

2020-12-13T22:58:08.455Z,1607900288.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 317.288242 deg, deltaT: 4.565537 s, approachRate: -0.578245 m/s, LOS rate: 0.247234 deg/s, posRepo size: 4
2020-12-13T22:58:08.461Z,1607900288.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.880001 m,
      bearing: 317.288242 deg,
      approachRate: -0.578245 m/s,
      LOS rate: 0.247234 deg/s,
      cmd update: 0.741703 deg/s,
      cmd heading: 307.097786 deg,
      new cmd heading: 306.632746 deg.

2020-12-13T22:58:10.891Z,1607900290.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:11.611Z,1607900291.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:12.032Z,1607900292.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:12.866Z,1607900292.866 [Micromodem](INFO): Nmea in: $SNTTA,0.034172,,,,225812.78*42

2020-12-13T22:58:12.901Z,1607900292.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 316.064764 deg, deltaT: 4.454023 s, approachRate: -0.633137 m/s, LOS rate: -0.274691 deg/s, posRepo size: 4
2020-12-13T22:58:12.903Z,1607900292.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 316.064764 deg,
      approachRate: -0.633137 m/s,
      LOS rate: -0.274691 deg/s,
      cmd update: -0.824072 deg/s,
      cmd heading: 310.404222 deg,
      new cmd heading: 310.726593 deg.

2020-12-13T22:58:15.299Z,1607900295.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:16.055Z,1607900296.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:16.523Z,1607900296.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:17.322Z,1607900297.322 [Micromodem](INFO): Nmea in: $SNTTA,0.032433,,,,225817.23*4F

2020-12-13T22:58:17.387Z,1607900297.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.480000 m, bearing: 316.622380 deg, deltaT: 4.466007 s, approachRate: -0.577696 m/s, LOS rate: 0.124858 deg/s, posRepo size: 4
2020-12-13T22:58:17.389Z,1607900297.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.480000 m,
      bearing: 316.622380 deg,
      approachRate: -0.577696 m/s,
      LOS rate: 0.124858 deg/s,
      cmd update: 0.374574 deg/s,
      cmd heading: 306.723726 deg,
      new cmd heading: 306.348898 deg.

2020-12-13T22:58:19.795Z,1607900299.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:20.567Z,1607900300.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:20.945Z,1607900300.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:21.764Z,1607900301.764 [Micromodem](INFO): Nmea in: $SNTTA,0.030589,,,,225821.74*4A

2020-12-13T22:58:21.856Z,1607900301.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.719997 m, bearing: 316.896353 deg, deltaT: 4.456091 s, approachRate: -0.619377 m/s, LOS rate: 0.061483 deg/s, posRepo size: 4
2020-12-13T22:58:21.864Z,1607900301.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.719997 m,
      bearing: 316.896353 deg,
      approachRate: -0.619377 m/s,
      LOS rate: 0.061483 deg/s,
      cmd update: 0.184448 deg/s,
      cmd heading: 308.392861 deg,
      new cmd heading: 308.565604 deg.

2020-12-13T22:58:24.190Z,1607900304.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:24.987Z,1607900304.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:25.395Z,1607900305.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:26.230Z,1607900306.230 [Micromodem](INFO): Nmea in: $SNTTA,0.028819,,0.091789,,225826.16*54

2020-12-13T22:58:26.264Z,1607900306.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 316.960119 deg, deltaT: 4.451175 s, approachRate: -0.593101 m/s, LOS rate: 0.014326 deg/s, posRepo size: 4
2020-12-13T22:58:26.266Z,1607900306.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 316.960119 deg,
      approachRate: -0.593101 m/s,
      LOS rate: 0.014326 deg/s,
      cmd update: 0.042977 deg/s,
      cmd heading: 309.213876 deg,
      new cmd heading: 309.292209 deg.

2020-12-13T22:58:28.218Z,1607900308.218 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:58:28.763Z,1607900308.763 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:58:28.763Z,1607900308.763 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:58:28.764Z,1607900308.764 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:58:28.981Z,1607900308.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:29.147Z,1607900309.147 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:58:29.563Z,1607900309.563 [Micromodem](INFO): Nmea in: $CADRQ,225829,1,9,0,64,1*48

2020-12-13T22:58:29.563Z,1607900309.563 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T22:58:29.951Z,1607900309.951 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T22:58:29.951Z,1607900309.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:30.362Z,1607900310.362 [Micromodem](INFO): Nmea in: $CADRQ,225830,1,9,0,64,2*43

2020-12-13T22:58:30.362Z,1607900310.362 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225830,1,9,0,64,2*43

2020-12-13T22:58:30.762Z,1607900310.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:31.186Z,1607900311.186 [Micromodem](INFO): Nmea in: $SNTTA,0.026837,,,,225831.12*44

2020-12-13T22:58:31.220Z,1607900311.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.799999 m, bearing: 315.896850 deg, deltaT: 4.986662 s, approachRate: -0.457220 m/s, LOS rate: -0.213223 deg/s, posRepo size: 4
2020-12-13T22:58:31.222Z,1607900311.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.799999 m,
      bearing: 315.896850 deg,
      approachRate: -0.457220 m/s,
      LOS rate: -0.213223 deg/s,
      cmd update: -0.639668 deg/s,
      cmd heading: 309.428180 deg,
      new cmd heading: 309.445109 deg.

2020-12-13T22:58:33.466Z,1607900313.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:34.089Z,1607900314.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:34.530Z,1607900314.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:35.334Z,1607900315.334 [Micromodem](INFO): Nmea in: $SNTTA,0.025139,,,,225835.26*43

2020-12-13T22:58:35.551Z,1607900315.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 316.434140 deg, deltaT: 4.121156 s, approachRate: -0.786188 m/s, LOS rate: 0.130374 deg/s, posRepo size: 4
2020-12-13T22:58:35.551Z,1607900315.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.56 m.
2020-12-13T22:58:35.553Z,1607900315.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.559998 m,
      bearing: 316.434140 deg,
      approachRate: -0.786188 m/s,
      LOS rate: 0.130374 deg/s,
      cmd update: 0.391121 deg/s,
      cmd heading: 306.791863 deg,
      new cmd heading: 306.405844 deg.

2020-12-13T22:58:35.787Z,1607900315.787 [PowerOnly](INFO): Powering up loadControl
2020-12-13T22:58:37.831Z,1607900317.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:38.590Z,1607900318.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:38.969Z,1607900318.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:39.780Z,1607900319.780 [Micromodem](INFO): Nmea in: $SNTTA,0.023322,,,,225839.76*44

2020-12-13T22:58:39.986Z,1607900319.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 313.573274 deg, deltaT: 4.492201 s, approachRate: -0.614398 m/s, LOS rate: -0.636852 deg/s, posRepo size: 4
2020-12-13T22:58:39.987Z,1607900319.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.80 m.
2020-12-13T22:58:40.005Z,1607900320.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.799999 m,
      bearing: 313.573274 deg,
      approachRate: -0.614398 m/s,
      LOS rate: -0.636852 deg/s,
      cmd update: -1.910555 deg/s,
      cmd heading: 308.546480 deg,
      new cmd heading: 308.762753 deg.

2020-12-13T22:58:42.070Z,1607900322.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:42.631Z,1607900322.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:43.041Z,1607900323.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:43.882Z,1607900323.882 [Micromodem](INFO): Nmea in: $SNTTA,0.022033,,,,225843.80*42

2020-12-13T22:58:43.936Z,1607900323.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.820000 m, bearing: 310.827101 deg, deltaT: 4.036225 s, approachRate: -0.490557 m/s, LOS rate: -0.680382 deg/s, posRepo size: 4
2020-12-13T22:58:43.936Z,1607900323.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.82 m.
2020-12-13T22:58:43.942Z,1607900323.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 310.827101 deg,
      approachRate: -0.490557 m/s,
      LOS rate: -0.680382 deg/s,
      cmd update: -2.041145 deg/s,
      cmd heading: 300.823787 deg,
      new cmd heading: 299.944261 deg.

2020-12-13T22:58:46.035Z,1607900326.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:46.684Z,1607900326.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:47.081Z,1607900327.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:47.922Z,1607900327.922 [Micromodem](INFO): Nmea in: $SNTTA,0.020880,,,,225847.86*42

2020-12-13T22:58:48.088Z,1607900328.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 309.710338 deg, deltaT: 4.100385 s, approachRate: -0.424350 m/s, LOS rate: -0.272356 deg/s, posRepo size: 4
2020-12-13T22:58:48.089Z,1607900328.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.08 m.
2020-12-13T22:58:48.091Z,1607900328.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.080000 m,
      bearing: 309.710338 deg,
      approachRate: -0.424350 m/s,
      LOS rate: -0.272356 deg/s,
      cmd update: -0.817067 deg/s,
      cmd heading: 292.462440 deg,
      new cmd heading: 291.408252 deg.

2020-12-13T22:58:50.351Z,1607900330.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:51.119Z,1607900331.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:51.544Z,1607900331.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:52.366Z,1607900332.366 [Micromodem](INFO): Nmea in: $SNTTA,0.019675,,,,225852.29*4D

2020-12-13T22:58:52.587Z,1607900332.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 309.840084 deg, deltaT: 4.398106 s, approachRate: -0.395625 m/s, LOS rate: 0.029500 deg/s, posRepo size: 4
2020-12-13T22:58:52.587Z,1607900332.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.34 m.
2020-12-13T22:58:52.588Z,1607900332.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.34 m.
2020-12-13T22:58:52.588Z,1607900332.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T22:58:52.590Z,1607900332.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.340000 m,
      bearing: 309.840084 deg,
      approachRate: -0.395625 m/s,
      LOS rate: 0.029500 deg/s,
      cmd update: 0.088501 deg/s,
      cmd heading: 288.865681 deg,
      new cmd heading: 288.364912 deg.

2020-12-13T22:58:54.628Z,1607900334.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:55.219Z,1607900335.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:55.625Z,1607900335.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:58:56.466Z,1607900336.466 [Micromodem](INFO): Nmea in: $SNTTA,0.018590,,,,225856.39*41

2020-12-13T22:58:56.542Z,1607900336.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.659998 m, bearing: 315.434310 deg, deltaT: 4.057753 s, approachRate: -0.414023 m/s, LOS rate: 1.378651 deg/s, posRepo size: 4
2020-12-13T22:58:56.544Z,1607900336.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.659998 m,
      bearing: 315.434310 deg,
      approachRate: -0.414023 m/s,
      LOS rate: 1.378651 deg/s,
      cmd update: 4.135953 deg/s,
      cmd heading: 289.224819 deg,
      new cmd heading: 289.269993 deg.

2020-12-13T22:58:58.551Z,1607900338.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:58:59.255Z,1607900339.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:58:59.686Z,1607900339.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:00.067Z,1607900340.067 [Micromodem](INFO): Nmea in: $CAERR,225900,DATA_TIMEOUT,2*41

2020-12-13T22:59:00.496Z,1607900340.496 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T22:59:00.577Z,1607900340.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 317.009187 deg, deltaT: 4.099151 s, approachRate: -0.395204 m/s, LOS rate: 0.384196 deg/s, posRepo size: 4
2020-12-13T22:59:00.579Z,1607900340.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 317.009187 deg,
      approachRate: -0.395204 m/s,
      LOS rate: 0.384196 deg/s,
      cmd update: 1.152588 deg/s,
      cmd heading: 306.178687 deg,
      new cmd heading: 307.973732 deg.

2020-12-13T22:59:01.741Z,1607900341.741 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T22:59:02.099Z,1607900342.099 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,225900.837712,3,0,200,4000,14500,1,1,9,1,2,1,3,64*7F

2020-12-13T22:59:02.514Z,1607900342.514 [Micromodem](INFO): Nmea in: $SNTTA,0.017523,,,,225900.43*49

2020-12-13T22:59:02.944Z,1607900342.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:03.719Z,1607900343.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:04.109Z,1607900344.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:04.937Z,1607900344.937 [Micromodem](INFO): Nmea in: $SNTTA,0.016392,,,,225904.89*46

2020-12-13T22:59:04.986Z,1607900344.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 316.739996 deg, deltaT: 4.436915 s, approachRate: -0.378642 m/s, LOS rate: -0.060671 deg/s, posRepo size: 4
2020-12-13T22:59:04.989Z,1607900344.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.359999 m,
      bearing: 316.739996 deg,
      approachRate: -0.378642 m/s,
      LOS rate: -0.060671 deg/s,
      cmd update: -0.182013 deg/s,
      cmd heading: 311.292581 deg,
      new cmd heading: 311.775141 deg.

2020-12-13T22:59:07.554Z,1607900347.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:08.143Z,1607900348.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:08.571Z,1607900348.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:09.394Z,1607900349.394 [Micromodem](INFO): Nmea in: $SNTTA,0.015152,,,,225909.32*46

2020-12-13T22:59:09.414Z,1607900349.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 315.615692 deg, deltaT: 4.431214 s, approachRate: -0.419750 m/s, LOS rate: -0.253724 deg/s, posRepo size: 4
2020-12-13T22:59:09.416Z,1607900349.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 315.615692 deg,
      approachRate: -0.419750 m/s,
      LOS rate: -0.253724 deg/s,
      cmd update: -0.761171 deg/s,
      cmd heading: 310.486035 deg,
      new cmd heading: 310.410802 deg.

2020-12-13T22:59:11.967Z,1607900351.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:12.591Z,1607900352.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:12.993Z,1607900352.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:13.842Z,1607900353.842 [Micromodem](INFO): Nmea in: $SNTTA,0.014871,,,,225913.76*44

2020-12-13T22:59:14.054Z,1607900354.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 316.836165 deg, deltaT: 4.461616 s, approachRate: -0.080688 m/s, LOS rate: 0.273550 deg/s, posRepo size: 4
2020-12-13T22:59:14.056Z,1607900354.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.140001 m,
      bearing: 316.836165 deg,
      approachRate: -0.080688 m/s,
      LOS rate: 0.273550 deg/s,
      cmd update: 0.820649 deg/s,
      cmd heading: 307.093108 deg,
      new cmd heading: 306.641595 deg.

2020-12-13T22:59:16.348Z,1607900356.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:16.743Z,1607900356.743 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-13T22:59:17.139Z,1607900357.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:17.569Z,1607900357.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:18.402Z,1607900358.402 [Micromodem](INFO): Nmea in: $SNTTA,0.012681,,,,225918.31*4B

2020-12-13T22:59:18.462Z,1607900358.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 314.176216 deg, deltaT: 4.695063 s, approachRate: -0.702866 m/s, LOS rate: -0.566542 deg/s, posRepo size: 4
2020-12-13T22:59:18.464Z,1607900358.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 314.176216 deg,
      approachRate: -0.702866 m/s,
      LOS rate: -0.566542 deg/s,
      cmd update: -1.699625 deg/s,
      cmd heading: 310.946069 deg,
      new cmd heading: 311.201118 deg.

2020-12-13T22:59:20.818Z,1607900360.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:21.583Z,1607900361.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:21.981Z,1607900361.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:22.822Z,1607900362.822 [Micromodem](INFO): Nmea in: $SNTTA,0.011404,,,,225922.76*4D

2020-12-13T22:59:22.874Z,1607900362.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.919998 m, bearing: 314.895244 deg, deltaT: 4.256635 s, approachRate: -0.451061 m/s, LOS rate: 0.168919 deg/s, posRepo size: 4
2020-12-13T22:59:22.875Z,1607900362.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.919998 m,
      bearing: 314.895244 deg,
      approachRate: -0.451061 m/s,
      LOS rate: 0.168919 deg/s,
      cmd update: 0.506758 deg/s,
      cmd heading: 303.709159 deg,
      new cmd heading: 302.920886 deg.

2020-12-13T22:59:25.263Z,1607900365.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:26.051Z,1607900366.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:26.461Z,1607900366.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:27.302Z,1607900367.302 [Micromodem](INFO): Nmea in: $SNTTA,0.010191,,,,225927.22*41

2020-12-13T22:59:27.324Z,1607900367.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 312.730456 deg, deltaT: 4.477890 s, approachRate: -0.415374 m/s, LOS rate: -0.483439 deg/s, posRepo size: 4
2020-12-13T22:59:27.342Z,1607900367.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.059998 m,
      bearing: 312.730456 deg,
      approachRate: -0.415374 m/s,
      LOS rate: -0.483439 deg/s,
      cmd update: -1.450318 deg/s,
      cmd heading: 305.979800 deg,
      new cmd heading: 306.199647 deg.

2020-12-13T22:59:29.804Z,1607900369.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:30.522Z,1607900370.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:30.929Z,1607900370.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:31.774Z,1607900371.774 [Micromodem](INFO): Nmea in: $SNTTA,0.008886,,0.016205,,225931.70*59

2020-12-13T22:59:31.832Z,1607900371.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.080002 m, bearing: 312.776629 deg, deltaT: 4.470024 s, approachRate: -0.442950 m/s, LOS rate: 0.010329 deg/s, posRepo size: 4
2020-12-13T22:59:31.838Z,1607900371.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 312.776629 deg,
      approachRate: -0.442950 m/s,
      LOS rate: 0.010329 deg/s,
      cmd update: 0.030988 deg/s,
      cmd heading: 299.502888 deg,
      new cmd heading: 298.812600 deg.

2020-12-13T22:59:34.155Z,1607900374.155 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T22:59:34.219Z,1607900374.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:34.760Z,1607900374.760 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T22:59:34.761Z,1607900374.761 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T22:59:34.761Z,1607900374.761 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T22:59:35.023Z,1607900375.023 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T22:59:35.024Z,1607900375.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:35.425Z,1607900375.425 [Micromodem](INFO): Nmea in: $CADRQ,225935,1,9,0,64,1*44

2020-12-13T22:59:35.426Z,1607900375.426 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225935,1,9,0,64,1*44

2020-12-13T22:59:35.834Z,1607900375.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:36.273Z,1607900376.273 [Micromodem](INFO): Nmea in: $SNTTA,0.007754,,,,225936.20*4A

2020-12-13T22:59:36.292Z,1607900376.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 311.644893 deg, deltaT: 4.535463 s, approachRate: -0.370414 m/s, LOS rate: -0.249530 deg/s, posRepo size: 4
2020-12-13T22:59:36.294Z,1607900376.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 311.644893 deg,
      approachRate: -0.370414 m/s,
      LOS rate: -0.249530 deg/s,
      cmd update: -0.748591 deg/s,
      cmd heading: 299.643436 deg,
      new cmd heading: 299.655837 deg.

2020-12-13T22:59:38.744Z,1607900378.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:39.476Z,1607900379.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:40.054Z,1607900380.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:40.854Z,1607900380.854 [Micromodem](INFO): Nmea in: $SNTTA,0.006515,,,,225940.65*4C

2020-12-13T22:59:40.922Z,1607900380.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 312.229886 deg, deltaT: 4.626979 s, approachRate: -0.401990 m/s, LOS rate: 0.126431 deg/s, posRepo size: 4
2020-12-13T22:59:40.923Z,1607900380.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 312.229886 deg,
      approachRate: -0.401990 m/s,
      LOS rate: 0.126431 deg/s,
      cmd update: 0.379292 deg/s,
      cmd heading: 296.197148 deg,
      new cmd heading: 295.878360 deg.

2020-12-13T22:59:43.317Z,1607900383.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:44.087Z,1607900384.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:44.519Z,1607900384.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:45.338Z,1607900385.338 [Micromodem](INFO): Nmea in: $SNTTA,0.005334,,,,225945.26*48

2020-12-13T22:59:45.372Z,1607900385.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.800001 m, bearing: 314.047645 deg, deltaT: 4.425526 s, approachRate: -0.393173 m/s, LOS rate: 0.410744 deg/s, posRepo size: 4
2020-12-13T22:59:45.374Z,1607900385.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 314.047645 deg,
      approachRate: -0.393173 m/s,
      LOS rate: 0.410744 deg/s,
      cmd update: 1.232233 deg/s,
      cmd heading: 297.886048 deg,
      new cmd heading: 298.046831 deg.

2020-12-13T22:59:47.778Z,1607900387.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:48.563Z,1607900388.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:48.957Z,1607900388.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:49.782Z,1607900389.782 [Micromodem](INFO): Nmea in: $SNTTA,0.004281,,,,225949.73*4A

2020-12-13T22:59:49.853Z,1607900389.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.179999 m, bearing: 315.002123 deg, deltaT: 4.439649 s, approachRate: -0.364894 m/s, LOS rate: 0.214990 deg/s, posRepo size: 4
2020-12-13T22:59:49.855Z,1607900389.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.179999 m,
      bearing: 315.002123 deg,
      approachRate: -0.364894 m/s,
      LOS rate: 0.214990 deg/s,
      cmd update: 0.644969 deg/s,
      cmd heading: 303.356766 deg,
      new cmd heading: 303.929377 deg.

2020-12-13T22:59:50.327Z,1607900390.327 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T22:49:49.0Z
2020-12-13T22:59:50.327Z,1607900390.327 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T22:59:50.327Z,1607900390.327 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:59:50.327Z,1607900390.327 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T22:59:50.327Z,1607900390.327 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:59:50.327Z,1607900390.327 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T22:59:50.614Z,1607900390.614 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T22:59:50.614Z,1607900390.614 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T22:59:50.614Z,1607900390.614 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T22:59:50.614Z,1607900390.614 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T22:59:50.614Z,1607900390.614 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T22:59:51.891Z,1607900391.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:52.654Z,1607900392.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:53.057Z,1607900393.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:53.910Z,1607900393.910 [Micromodem](INFO): Nmea in: $SNTTA,0.003200,,,,225953.83*40

2020-12-13T22:59:53.966Z,1607900393.966 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T22:59:53.966Z,1607900393.966 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T22:59:53.966Z,1607900393.966 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T22:59:53.966Z,1607900393.966 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:59:53.967Z,1607900393.967 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T22:59:53.967Z,1607900393.967 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2020-12-13T22:59:53.967Z,1607900393.967 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T22:59:53.967Z,1607900393.967 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T22:59:53.967Z,1607900393.967 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T22:59:53.974Z,1607900393.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 313.574750 deg, deltaT: 4.151524 s, approachRate: -0.404670 m/s, LOS rate: -0.343819 deg/s, posRepo size: 4
2020-12-13T22:59:53.976Z,1607900393.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 313.574750 deg,
      approachRate: -0.404670 m/s,
      LOS rate: -0.343819 deg/s,
      cmd update: -1.031457 deg/s,
      cmd heading: 306.031791 deg,
      new cmd heading: 306.311865 deg.

2020-12-13T22:59:54.346Z,1607900394.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T225954: (41.552319, -70.708603)
2020-12-13T22:59:54.346Z,1607900394.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T22:59:54.346Z,1607900394.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T22:59:54.346Z,1607900394.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:59:54.346Z,1607900394.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T22:59:54.346Z,1607900394.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T22:59:54.347Z,1607900394.347 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T22:59:54.347Z,1607900394.347 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T22:59:54.347Z,1607900394.347 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T22:59:54.719Z,1607900394.719 [UniversalFixResidualReporter](INFO): Fix residual: 11.1 %DT, over the last 821.9 m. Residual distance 91.6 m at bearing 52.6 degrees. Fix at (41.5493, -70.7074) with 0.0 m made good.
2020-12-13T22:59:56.299Z,1607900396.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T22:59:57.095Z,1607900397.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T22:59:57.526Z,1607900397.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T22:59:58.330Z,1607900398.330 [Micromodem](INFO): Nmea in: $SNTTA,0.002420,,,,225958.27*40

2020-12-13T22:59:58.397Z,1607900398.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.419998 m, bearing: 320.882205 deg, deltaT: 4.402912 s, approachRate: -0.245293 m/s, LOS rate: 1.659687 deg/s, posRepo size: 4
2020-12-13T22:59:58.399Z,1607900398.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 320.882205 deg,
      approachRate: -0.245293 m/s,
      LOS rate: 1.659687 deg/s,
      cmd update: 4.979061 deg/s,
      cmd heading: 301.490443 deg,
      new cmd heading: 301.025691 deg.

2020-12-13T23:00:00.800Z,1607900400.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:01.555Z,1607900401.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:01.937Z,1607900401.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:02.773Z,1607900402.773 [Micromodem](INFO): Nmea in: $SNTTA,0.002022,,0.005815,,230002.73*52

2020-12-13T23:00:02.808Z,1607900402.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.059998 m, bearing: 317.356270 deg, deltaT: 4.426243 s, approachRate: -0.081333 m/s, LOS rate: -0.796598 deg/s, posRepo size: 4
2020-12-13T23:00:02.810Z,1607900402.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 317.356270 deg,
      approachRate: -0.081333 m/s,
      LOS rate: -0.796598 deg/s,
      cmd update: -2.389793 deg/s,
      cmd heading: 323.548274 deg,
      new cmd heading: 325.735272 deg.

2020-12-13T23:00:04.878Z,1607900404.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:05.189Z,1607900405.189 [Micromodem](INFO): Nmea in: $CAERR,230005,DATA_TIMEOUT,1*4A

2020-12-13T23:00:05.580Z,1607900405.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:05.986Z,1607900405.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:06.822Z,1607900406.822 [Micromodem](INFO): Nmea in: $SNTTA,0.002086,,,,230006.75*49

2020-12-13T23:00:06.884Z,1607900406.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.000000 m, bearing: 308.348863 deg, deltaT: 4.064295 s, approachRate: -0.014762 m/s, LOS rate: -2.216229 deg/s, posRepo size: 4
2020-12-13T23:00:06.886Z,1607900406.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 308.348863 deg,
      approachRate: -0.014762 m/s,
      LOS rate: -2.216229 deg/s,
      cmd update: -6.648686 deg/s,
      cmd heading: 313.863235 deg,
      new cmd heading: 312.803844 deg.

2020-12-13T23:00:09.235Z,1607900409.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:10.031Z,1607900410.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:10.426Z,1607900410.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:10.618Z,1607900410.618 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:00:11.286Z,1607900411.286 [Micromodem](INFO): Nmea in: $SNTTA,0.002024,,,,230011.20*47

2020-12-13T23:00:11.311Z,1607900411.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.880000 m, bearing: 288.117651 deg, deltaT: 4.448382 s, approachRate: -0.026976 m/s, LOS rate: -4.547993 deg/s, posRepo size: 4
2020-12-13T23:00:11.333Z,1607900411.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.880000 m,
      bearing: 288.117651 deg,
      approachRate: -0.026976 m/s,
      LOS rate: -4.547993 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 284.208631 deg,
      new cmd heading: 281.350314 deg.

2020-12-13T23:00:13.393Z,1607900413.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:14.123Z,1607900414.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:14.561Z,1607900414.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:15.378Z,1607900415.378 [Micromodem](INFO): Nmea in: $SNTTA,0.002069,,,,230015.29*43

2020-12-13T23:00:15.404Z,1607900415.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.000000 m, bearing: 270.734765 deg, deltaT: 4.110788 s, approachRate: 0.029192 m/s, LOS rate: -4.228602 deg/s, posRepo size: 4
2020-12-13T23:00:15.429Z,1607900415.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2020-12-13T23:00:15.432Z,1607900415.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 270.734765 deg,
      approachRate: 0.029192 m/s,
      LOS rate: -4.228602 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 234.927486 deg,
      new cmd heading: 229.945362 deg.

2020-12-13T23:00:17.834Z,1607900417.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:18.575Z,1607900418.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:18.977Z,1607900418.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:19.826Z,1607900419.826 [Micromodem](INFO): Nmea in: $SNTTA,0.002058,,,,230019.75*44

2020-12-13T23:00:19.883Z,1607900419.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.940000 m, bearing: 258.692978 deg, deltaT: 4.411413 s, approachRate: -0.013601 m/s, LOS rate: -2.729689 deg/s, posRepo size: 4
2020-12-13T23:00:19.890Z,1607900419.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 258.692978 deg,
      approachRate: -0.013601 m/s,
      LOS rate: -2.729689 deg/s,
      cmd update: -8.189068 deg/s,
      cmd heading: 181.964704 deg,
      new cmd heading: 176.183212 deg.

2020-12-13T23:00:22.242Z,1607900422.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:23.024Z,1607900423.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:23.449Z,1607900423.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:24.359Z,1607900424.359 [Micromodem](INFO): Nmea in: $SNTTA,0.002124,,,,230024.20*40

2020-12-13T23:00:24.380Z,1607900424.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.119999 m, bearing: 259.698108 deg, deltaT: 4.607196 s, approachRate: 0.039069 m/s, LOS rate: 0.218165 deg/s, posRepo size: 4
2020-12-13T23:00:24.382Z,1607900424.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.119999 m,
      bearing: 259.698108 deg,
      approachRate: 0.039069 m/s,
      LOS rate: 0.218165 deg/s,
      cmd update: 0.654496 deg/s,
      cmd heading: 144.305604 deg,
      new cmd heading: 141.197722 deg.

2020-12-13T23:00:26.842Z,1607900426.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:27.591Z,1607900427.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:28.011Z,1607900428.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:28.858Z,1607900428.858 [Micromodem](INFO): Nmea in: $SNTTA,0.002080,,,,230028.76*40

2020-12-13T23:00:28.913Z,1607900428.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.000000 m, bearing: 259.204777 deg, deltaT: 4.444524 s, approachRate: -0.026999 m/s, LOS rate: -0.110997 deg/s, posRepo size: 4
2020-12-13T23:00:28.915Z,1607900428.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 259.204777 deg,
      approachRate: -0.026999 m/s,
      LOS rate: -0.110997 deg/s,
      cmd update: -0.332992 deg/s,
      cmd heading: 147.218702 deg,
      new cmd heading: 147.520821 deg.

2020-12-13T23:00:31.280Z,1607900431.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:32.047Z,1607900432.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:32.597Z,1607900432.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:33.427Z,1607900433.427 [Micromodem](INFO): Nmea in: $SNTTA,0.002194,,,,230033.22*4F

2020-12-13T23:00:33.490Z,1607900433.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 260.388203 deg, deltaT: 4.593071 s, approachRate: 0.039189 m/s, LOS rate: 0.257655 deg/s, posRepo size: 4
2020-12-13T23:00:33.515Z,1607900433.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 260.388203 deg,
      approachRate: 0.039189 m/s,
      LOS rate: 0.257655 deg/s,
      cmd update: 0.772964 deg/s,
      cmd heading: 145.688101 deg,
      new cmd heading: 145.542394 deg.

2020-12-13T23:00:35.881Z,1607900435.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:36.638Z,1607900436.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:37.052Z,1607900437.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:37.882Z,1607900437.882 [Micromodem](INFO): Nmea in: $SNTTA,0.002258,,,,230037.81*41

2020-12-13T23:00:37.953Z,1607900437.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 257.124821 deg, deltaT: 4.494677 s, approachRate: 0.000000 m/s, LOS rate: -0.726055 deg/s, posRepo size: 4
2020-12-13T23:00:37.955Z,1607900437.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 257.124821 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.726055 deg/s,
      cmd update: -2.178165 deg/s,
      cmd heading: 149.159635 deg,
      new cmd heading: 149.476751 deg.

2020-12-13T23:00:39.874Z,1607900439.874 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:00:40.402Z,1607900440.402 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:00:40.403Z,1607900440.403 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:00:40.403Z,1607900440.403 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:00:40.474Z,1607900440.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:40.767Z,1607900440.767 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:00:41.163Z,1607900441.163 [Micromodem](INFO): Nmea in: $CADRQ,230041,1,9,0,64,1*4A

2020-12-13T23:00:41.163Z,1607900441.163 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:00:41.573Z,1607900441.573 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:00:41.574Z,1607900441.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:42.044Z,1607900442.044 [Micromodem](INFO): Nmea in: $CADRQ,230042,1,9,0,64,2*4A

2020-12-13T23:00:42.044Z,1607900442.044 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,230042,1,9,0,64,2*4A

2020-12-13T23:00:42.429Z,1607900442.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:42.886Z,1607900442.886 [Micromodem](INFO): Nmea in: $SNTTA,0.002103,,,,230042.75*45

2020-12-13T23:00:42.927Z,1607900442.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 256.104035 deg, deltaT: 5.152012 s, approachRate: 0.000000 m/s, LOS rate: -0.198133 deg/s, posRepo size: 4
2020-12-13T23:00:42.933Z,1607900442.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 256.104035 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.198133 deg/s,
      cmd update: -0.594400 deg/s,
      cmd heading: 137.937691 deg,
      new cmd heading: 137.424391 deg.

2020-12-13T23:00:45.312Z,1607900445.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:46.099Z,1607900446.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:46.530Z,1607900446.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:47.354Z,1607900447.354 [Micromodem](INFO): Nmea in: $SNTTA,0.002088,,,,230047.27*45

2020-12-13T23:00:47.379Z,1607900447.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.119999 m, bearing: 255.800994 deg, deltaT: 4.250418 s, approachRate: -0.014116 m/s, LOS rate: -0.071297 deg/s, posRepo size: 4
2020-12-13T23:00:47.409Z,1607900447.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.119999 m,
      bearing: 255.800994 deg,
      approachRate: -0.014116 m/s,
      LOS rate: -0.071297 deg/s,
      cmd update: -0.213891 deg/s,
      cmd heading: 135.408954 deg,
      new cmd heading: 135.151090 deg.

2020-12-13T23:00:49.774Z,1607900449.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:50.574Z,1607900450.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:50.977Z,1607900450.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:51.850Z,1607900451.850 [Micromodem](INFO): Nmea in: $SNTTA,0.002105,,,,230051.75*41

2020-12-13T23:00:51.908Z,1607900451.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.119999 m, bearing: 255.561309 deg, deltaT: 4.523104 s, approachRate: 0.000000 m/s, LOS rate: -0.052991 deg/s, posRepo size: 4
2020-12-13T23:00:51.910Z,1607900451.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.119999 m,
      bearing: 255.561309 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.052991 deg/s,
      cmd update: -0.158974 deg/s,
      cmd heading: 134.442676 deg,
      new cmd heading: 134.348236 deg.

2020-12-13T23:00:54.259Z,1607900454.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:55.043Z,1607900455.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:55.519Z,1607900455.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:00:56.326Z,1607900456.326 [Micromodem](INFO): Nmea in: $SNTTA,0.002110,,0.013677,,230056.21*59

2020-12-13T23:00:56.383Z,1607900456.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.059998 m, bearing: 256.290964 deg, deltaT: 4.463272 s, approachRate: -0.013443 m/s, LOS rate: 0.163480 deg/s, posRepo size: 4
2020-12-13T23:00:56.386Z,1607900456.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 256.290964 deg,
      approachRate: -0.013443 m/s,
      LOS rate: 0.163480 deg/s,
      cmd update: 0.490440 deg/s,
      cmd heading: 133.732236 deg,
      new cmd heading: 133.660422 deg.

2020-12-13T23:00:58.805Z,1607900458.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:00:59.562Z,1607900459.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:00:59.949Z,1607900459.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:00.786Z,1607900460.786 [Micromodem](INFO): Nmea in: $SNTTA,0.002109,,,,230100.74*49

2020-12-13T23:01:00.843Z,1607900460.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.119999 m, bearing: 260.337578 deg, deltaT: 4.442138 s, approachRate: 0.013507 m/s, LOS rate: 0.910961 deg/s, posRepo size: 4
2020-12-13T23:01:00.845Z,1607900460.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.119999 m,
      bearing: 260.337578 deg,
      approachRate: 0.013507 m/s,
      LOS rate: 0.910961 deg/s,
      cmd update: 2.732883 deg/s,
      cmd heading: 135.910645 deg,
      new cmd heading: 136.140771 deg.

2020-12-13T23:01:02.929Z,1607900462.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:03.599Z,1607900463.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:04.045Z,1607900464.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:04.866Z,1607900464.866 [Micromodem](INFO): Nmea in: $SNTTA,0.002117,,,,230104.77*41

2020-12-13T23:01:04.933Z,1607900464.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.962130 deg, deltaT: 4.094414 s, approachRate: 0.029308 m/s, LOS rate: 0.152538 deg/s, posRepo size: 4
2020-12-13T23:01:04.935Z,1607900464.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.962130 deg,
      approachRate: 0.029308 m/s,
      LOS rate: 0.152538 deg/s,
      cmd update: 0.457613 deg/s,
      cmd heading: 147.089728 deg,
      new cmd heading: 148.370133 deg.

2020-12-13T23:01:07.298Z,1607900467.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:08.079Z,1607900468.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:08.585Z,1607900468.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:09.366Z,1607900469.366 [Micromodem](INFO): Nmea in: $SNTTA,0.002111,,,,230109.25*4D

2020-12-13T23:01:09.434Z,1607900469.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 260.226219 deg, deltaT: 4.507594 s, approachRate: -0.013311 m/s, LOS rate: -0.163260 deg/s, posRepo size: 4
2020-12-13T23:01:09.441Z,1607900469.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 260.226219 deg,
      approachRate: -0.013311 m/s,
      LOS rate: -0.163260 deg/s,
      cmd update: -0.489781 deg/s,
      cmd heading: 149.154395 deg,
      new cmd heading: 149.363611 deg.

2020-12-13T23:01:11.386Z,1607900471.386 [Micromodem](INFO): Nmea in: $CAERR,230112,DATA_TIMEOUT,2*4E

2020-12-13T23:01:11.787Z,1607900471.787 [Micromodem](INFO): Nmea in: $CATXP,64*70

2020-12-13T23:01:11.823Z,1607900471.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:12.587Z,1607900472.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:13.395Z,1607900473.395 [Micromodem](INFO): Nmea in: $CATXF,64*66

2020-12-13T23:01:13.395Z,1607900473.395 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2020-12-13T23:01:13.811Z,1607900473.811 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230112.374365,3,0,200,4000,14500,1,1,9,1,2,1,3,64*78

2020-12-13T23:01:13.811Z,1607900473.811 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230112.374365,3,0,200,4000,14500,1,1,9,1,2,1,3,64*78

2020-12-13T23:01:14.815Z,1607900474.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:17.460Z,1607900477.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:20.282Z,1607900480.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:22.787Z,1607900482.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:23.911Z,1607900483.911 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:24.305Z,1607900484.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:25.134Z,1607900485.134 [Micromodem](INFO): Nmea in: $SNTTA,0.002146,,,,230125.08*4E

2020-12-13T23:01:25.175Z,1607900485.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 263.023290 deg, deltaT: 15.798693 s, approachRate: 0.000000 m/s, LOS rate: 0.177045 deg/s, posRepo size: 4
2020-12-13T23:01:25.177Z,1607900485.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 263.023290 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.177045 deg/s,
      cmd update: 0.531134 deg/s,
      cmd heading: 141.416475 deg,
      new cmd heading: 141.220309 deg.

2020-12-13T23:01:27.792Z,1607900487.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:28.363Z,1607900488.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:28.769Z,1607900488.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:29.598Z,1607900489.598 [Micromodem](INFO): Nmea in: $SNTTA,0.002156,,0.019482,,230129.54*52

2020-12-13T23:01:29.827Z,1607900489.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.294575 deg, deltaT: 4.425548 s, approachRate: 0.013558 m/s, LOS rate: -0.616582 deg/s, posRepo size: 4
2020-12-13T23:01:29.846Z,1607900489.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.294575 deg,
      approachRate: 0.013558 m/s,
      LOS rate: -0.616582 deg/s,
      cmd update: -1.849747 deg/s,
      cmd heading: 143.766955 deg,
      new cmd heading: 144.100255 deg.

2020-12-13T23:01:31.705Z,1607900491.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:32.471Z,1607900492.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:32.865Z,1607900492.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:33.702Z,1607900493.702 [Micromodem](INFO): Nmea in: $SNTTA,0.002143,,,,230133.64*46

2020-12-13T23:01:33.758Z,1607900493.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 261.661897 deg, deltaT: 4.094609 s, approachRate: 0.000000 m/s, LOS rate: 0.333932 deg/s, posRepo size: 4
2020-12-13T23:01:33.760Z,1607900493.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 261.661897 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.333932 deg/s,
      cmd update: 1.001797 deg/s,
      cmd heading: 136.192945 deg,
      new cmd heading: 135.336717 deg.

2020-12-13T23:01:36.266Z,1607900496.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:36.899Z,1607900496.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:37.317Z,1607900497.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:38.146Z,1607900498.146 [Micromodem](INFO): Nmea in: $SNTTA,0.002138,,,,230138.07*44

2020-12-13T23:01:38.180Z,1607900498.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.709621 deg, deltaT: 4.477880 s, approachRate: -0.013399 m/s, LOS rate: 0.233978 deg/s, posRepo size: 4
2020-12-13T23:01:38.186Z,1607900498.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.709621 deg,
      approachRate: -0.013399 m/s,
      LOS rate: 0.233978 deg/s,
      cmd update: 0.701933 deg/s,
      cmd heading: 140.678856 deg,
      new cmd heading: 141.087021 deg.

2020-12-13T23:01:40.787Z,1607900500.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:41.355Z,1607900501.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:41.774Z,1607900501.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:42.614Z,1607900502.614 [Micromodem](INFO): Nmea in: $SNTTA,0.002314,,0.029525,,230142.53*53

2020-12-13T23:01:42.830Z,1607900502.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 266.352844 deg, deltaT: 4.439526 s, approachRate: 0.027030 m/s, LOS rate: 0.820633 deg/s, posRepo size: 4
2020-12-13T23:01:42.832Z,1607900502.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 266.352844 deg,
      approachRate: 0.027030 m/s,
      LOS rate: 0.820633 deg/s,
      cmd update: 2.461900 deg/s,
      cmd heading: 143.795102 deg,
      new cmd heading: 144.228507 deg.

2020-12-13T23:01:45.045Z,1607900505.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:45.419Z,1607900505.419 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:01:45.823Z,1607900505.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:46.226Z,1607900506.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:01:46.378Z,1607900506.378 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:01:46.378Z,1607900506.378 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:01:46.378Z,1607900506.378 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:01:46.693Z,1607900506.693 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:01:47.150Z,1607900507.150 [Micromodem](INFO): Nmea in: $CADRQ,230147,1,9,0,64,1*4D

2020-12-13T23:01:47.150Z,1607900507.150 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:01:47.256Z,1607900507.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 265.678567 deg, deltaT: 4.696975 s, approachRate: -0.025549 m/s, LOS rate: -0.143555 deg/s, posRepo size: 4
2020-12-13T23:01:47.270Z,1607900507.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 265.678567 deg,
      approachRate: -0.025549 m/s,
      LOS rate: -0.143555 deg/s,
      cmd update: -0.430666 deg/s,
      cmd heading: 155.358532 deg,
      new cmd heading: 156.213247 deg.

2020-12-13T23:01:47.574Z,1607900507.574 [Micromodem](INFO): Nmea in: $SNTTA,0.002149,,0.005911,,230147.00*5F

2020-12-13T23:01:47.574Z,1607900507.574 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002149,,0.005911,,230147.00*5F

2020-12-13T23:01:48.769Z,1607900508.769 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:01:49.175Z,1607900509.175 [Micromodem](INFO): Nmea in: $CADRQ,230148,1,9,0,64,2*41

2020-12-13T23:01:49.175Z,1607900509.175 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:01:49.571Z,1607900509.571 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:01:49.613Z,1607900509.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:49.978Z,1607900509.978 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:01:50.376Z,1607900510.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:01:52.395Z,1607900512.395 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:01:52.395Z,1607900512.395 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:01:52.448Z,1607900512.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:52.801Z,1607900512.801 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230150.317865,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T23:01:52.801Z,1607900512.801 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230150.317865,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T23:01:54.834Z,1607900514.834 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:01:55.432Z,1607900515.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:01:55.586Z,1607900515.586 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:01:55.586Z,1607900515.586 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:01:55.586Z,1607900515.586 [DDM](ERROR): Hardware Fault
2020-12-13T23:01:55.745Z,1607900515.745 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:01:55.992Z,1607900515.992 [DDM](INFO): Powering down
2020-12-13T23:01:56.395Z,1607900516.395 [DDM](FAULT): LCB fault:  Software Overcurrent.
2020-12-13T23:01:56.949Z,1607900516.949 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:01:56.949Z,1607900516.949 [DDM] No Fault, FailCount= 1
2020-12-13T23:01:58.046Z,1607900518.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:00.921Z,1607900520.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:01.242Z,1607900521.242 [DDM](INFO): Powering up
2020-12-13T23:02:01.243Z,1607900521.243 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:02:01.684Z,1607900521.684 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:02.161Z,1607900522.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:02.998Z,1607900522.998 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,230202.85*49

2020-12-13T23:02:03.063Z,1607900523.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 262.322677 deg, deltaT: 15.687104 s, approachRate: 0.003825 m/s, LOS rate: -0.213927 deg/s, posRepo size: 4
2020-12-13T23:02:03.066Z,1607900523.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 262.322677 deg,
      approachRate: 0.003825 m/s,
      LOS rate: -0.213927 deg/s,
      cmd update: -0.641780 deg/s,
      cmd heading: 148.602612 deg,
      new cmd heading: 148.401417 deg.

2020-12-13T23:02:05.459Z,1607900525.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:06.200Z,1607900526.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:06.601Z,1607900526.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:07.442Z,1607900527.442 [Micromodem](INFO): Nmea in: $SNTTA,0.002147,,,,230207.37*40

2020-12-13T23:02:07.505Z,1607900527.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.372045 deg, deltaT: 4.468569 s, approachRate: -0.013427 m/s, LOS rate: 0.011048 deg/s, posRepo size: 4
2020-12-13T23:02:07.521Z,1607900527.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.372045 deg,
      approachRate: -0.013427 m/s,
      LOS rate: 0.011048 deg/s,
      cmd update: 0.033144 deg/s,
      cmd heading: 145.734834 deg,
      new cmd heading: 145.467662 deg.

2020-12-13T23:02:09.895Z,1607900529.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:10.671Z,1607900530.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:11.049Z,1607900531.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:11.882Z,1607900531.882 [Micromodem](INFO): Nmea in: $SNTTA,0.002160,,0.039541,,230211.84*5E

2020-12-13T23:02:11.950Z,1607900531.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 259.400831 deg, deltaT: 4.412269 s, approachRate: 0.000000 m/s, LOS rate: -0.673398 deg/s, posRepo size: 4
2020-12-13T23:02:11.952Z,1607900531.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 259.400831 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.673398 deg/s,
      cmd update: -2.020195 deg/s,
      cmd heading: 145.881076 deg,
      new cmd heading: 145.896762 deg.

2020-12-13T23:02:14.522Z,1607900534.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:15.092Z,1607900535.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:15.527Z,1607900535.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:16.329Z,1607900536.329 [Micromodem](INFO): Nmea in: $SNTTA,0.002131,,0.016119,,230216.26*51

2020-12-13T23:02:16.348Z,1607900536.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 258.824117 deg, deltaT: 4.463364 s, approachRate: 0.000000 m/s, LOS rate: -0.129211 deg/s, posRepo size: 4
2020-12-13T23:02:16.350Z,1607900536.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 258.824117 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.129211 deg/s,
      cmd update: -0.387632 deg/s,
      cmd heading: 136.872217 deg,
      new cmd heading: 136.040880 deg.

2020-12-13T23:02:16.698Z,1607900536.698 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:02:18.936Z,1607900538.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:19.571Z,1607900539.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:19.978Z,1607900539.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:20.032Z,1607900540.032 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:02:20.814Z,1607900540.814 [Micromodem](INFO): Nmea in: $SNTTA,0.002154,,,,230220.74*40

2020-12-13T23:02:20.990Z,1607900540.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 258.477581 deg, deltaT: 4.472682 s, approachRate: 0.026830 m/s, LOS rate: -0.077478 deg/s, posRepo size: 4
2020-12-13T23:02:20.992Z,1607900540.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 258.477581 deg,
      approachRate: 0.026830 m/s,
      LOS rate: -0.077478 deg/s,
      cmd update: -0.232435 deg/s,
      cmd heading: 135.137793 deg,
      new cmd heading: 134.913471 deg.

2020-12-13T23:02:23.216Z,1607900543.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:24.007Z,1607900544.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:24.407Z,1607900544.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:25.250Z,1607900545.250 [Micromodem](INFO): Nmea in: $SNTTA,0.002151,,,0.007045,230225.18*52

2020-12-13T23:02:25.434Z,1607900545.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 260.561280 deg, deltaT: 4.468056 s, approachRate: -0.026858 m/s, LOS rate: 0.466355 deg/s, posRepo size: 4
2020-12-13T23:02:25.442Z,1607900545.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 260.561280 deg,
      approachRate: -0.026858 m/s,
      LOS rate: 0.466355 deg/s,
      cmd update: 1.399064 deg/s,
      cmd heading: 134.099665 deg,
      new cmd heading: 133.970473 deg.

2020-12-13T23:02:27.410Z,1607900547.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:28.064Z,1607900548.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:28.525Z,1607900548.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:28.564Z,1607900548.564 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:02:29.318Z,1607900549.318 [Micromodem](INFO): Nmea in: $SNTTA,0.002302,,,,230229.24*4D

2020-12-13T23:02:29.334Z,1607900549.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.360000 m, bearing: 262.701233 deg, deltaT: 4.039244 s, approachRate: 0.044563 m/s, LOS rate: 0.529790 deg/s, posRepo size: 4
2020-12-13T23:02:29.336Z,1607900549.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 262.701233 deg,
      approachRate: 0.044563 m/s,
      LOS rate: 0.529790 deg/s,
      cmd update: 1.589371 deg/s,
      cmd heading: 139.750758 deg,
      new cmd heading: 140.334892 deg.

2020-12-13T23:02:31.369Z,1607900551.369 [DDM](ERROR): Could not parse latch state
2020-12-13T23:02:31.448Z,1607900551.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:32.165Z,1607900552.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:32.573Z,1607900552.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:33.407Z,1607900553.407 [Micromodem](INFO): Nmea in: $SNTTA,0.002143,,,0.014542,230233.34*58

2020-12-13T23:02:33.457Z,1607900553.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 270.216217 deg, deltaT: 4.104976 s, approachRate: -0.043850 m/s, LOS rate: 1.830701 deg/s, posRepo size: 4
2020-12-13T23:02:33.460Z,1607900553.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 270.216217 deg,
      approachRate: -0.043850 m/s,
      LOS rate: 1.830701 deg/s,
      cmd update: 5.492103 deg/s,
      cmd heading: 146.281233 deg,
      new cmd heading: 146.965705 deg.

2020-12-13T23:02:34.617Z,1607900554.617 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:02:35.846Z,1607900555.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:36.605Z,1607900556.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:37.025Z,1607900557.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:37.862Z,1607900557.862 [Micromodem](INFO): Nmea in: $SNTTA,0.002135,,,,230237.78*4D

2020-12-13T23:02:37.927Z,1607900557.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 266.636515 deg, deltaT: 4.427975 s, approachRate: 0.000000 m/s, LOS rate: -0.808429 deg/s, posRepo size: 4
2020-12-13T23:02:37.930Z,1607900557.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 266.636515 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.808429 deg/s,
      cmd update: -2.425286 deg/s,
      cmd heading: 170.579232 deg,
      new cmd heading: 173.205523 deg.

2020-12-13T23:02:38.679Z,1607900558.679 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:02:40.394Z,1607900560.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:41.043Z,1607900561.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:41.461Z,1607900561.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:42.291Z,1607900562.291 [Micromodem](INFO): Nmea in: $SNTTA,0.002177,,0.005995,,230242.21*5B

2020-12-13T23:02:42.306Z,1607900562.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.059890 deg, deltaT: 4.454625 s, approachRate: 0.013469 m/s, LOS rate: -1.476359 deg/s, posRepo size: 4
2020-12-13T23:02:42.308Z,1607900562.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.059890 deg,
      approachRate: 0.013469 m/s,
      LOS rate: -1.476359 deg/s,
      cmd update: -4.429077 deg/s,
      cmd heading: 159.771584 deg,
      new cmd heading: 158.801261 deg.

2020-12-13T23:02:44.876Z,1607900564.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:45.499Z,1607900565.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:45.895Z,1607900565.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:46.746Z,1607900566.746 [Micromodem](INFO): Nmea in: $SNTTA,0.002132,,0.017518,,230246.67*56

2020-12-13T23:02:46.929Z,1607900566.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 264.214421 deg, deltaT: 4.445480 s, approachRate: 0.000000 m/s, LOS rate: 0.934552 deg/s, posRepo size: 4
2020-12-13T23:02:46.931Z,1607900566.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 264.214421 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.934552 deg/s,
      cmd update: 2.803655 deg/s,
      cmd heading: 140.145854 deg,
      new cmd heading: 137.524248 deg.

2020-12-13T23:02:47.070Z,1607900567.070 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:02:47.071Z,1607900567.071 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:02:47.071Z,1607900567.071 [DDM](ERROR): Hardware Fault
2020-12-13T23:02:47.226Z,1607900567.226 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:02:47.479Z,1607900567.479 [DDM](INFO): Powering down
2020-12-13T23:02:48.476Z,1607900568.476 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:02:48.477Z,1607900568.477 [DDM] No Fault, FailCount= 1
2020-12-13T23:02:49.110Z,1607900569.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:49.901Z,1607900569.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:50.313Z,1607900570.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:02:51.137Z,1607900571.137 [Micromodem](INFO): Nmea in: $SNTTA,0.002142,,,,230251.07*45

2020-12-13T23:02:51.297Z,1607900571.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 264.324277 deg, deltaT: 4.437585 s, approachRate: 0.000000 m/s, LOS rate: 0.024756 deg/s, posRepo size: 4
2020-12-13T23:02:51.299Z,1607900571.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 264.324277 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.024756 deg/s,
      cmd update: 0.074268 deg/s,
      cmd heading: 152.623134 deg,
      new cmd heading: 154.052684 deg.

2020-12-13T23:02:51.582Z,1607900571.582 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:02:52.086Z,1607900572.086 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:02:52.087Z,1607900572.087 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:02:52.087Z,1607900572.087 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:02:52.382Z,1607900572.382 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:02:52.756Z,1607900572.756 [DDM](INFO): Powering up
2020-12-13T23:02:52.756Z,1607900572.756 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:02:52.794Z,1607900572.794 [Micromodem](INFO): Nmea in: $CADRQ,230253,1,9,0,64,1*4B

2020-12-13T23:02:52.794Z,1607900572.794 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:02:53.177Z,1607900573.177 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:02:53.342Z,1607900573.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:53.594Z,1607900573.594 [Micromodem](INFO): Nmea in: $CADRQ,230253,1,9,0,64,2*48

2020-12-13T23:02:53.597Z,1607900573.597 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:02:53.614Z,1607900573.614 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:02:53.971Z,1607900573.971 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:02:53.972Z,1607900573.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:02:54.375Z,1607900574.375 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:02:54.375Z,1607900574.375 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T23:02:56.017Z,1607900576.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:02:56.817Z,1607900576.817 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:02:56.817Z,1607900576.817 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:02:57.204Z,1607900577.204 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230254.745519,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T23:02:57.204Z,1607900577.204 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230254.745519,3,0,200,4000,14500,1,1,9,1,2,2,3,70*74

2020-12-13T23:02:58.917Z,1607900578.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:01.753Z,1607900581.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:03.730Z,1607900583.730 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T23:03:04.262Z,1607900584.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:05.303Z,1607900585.303 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:05.705Z,1607900585.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:06.560Z,1607900586.560 [Micromodem](INFO): Nmea in: $SNTTA,0.002140,,,,230306.48*4F

2020-12-13T23:03:06.585Z,1607900586.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 261.550920 deg, deltaT: 15.477116 s, approachRate: -0.003877 m/s, LOS rate: -0.179191 deg/s, posRepo size: 4
2020-12-13T23:03:06.587Z,1607900586.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 261.550920 deg,
      approachRate: -0.003877 m/s,
      LOS rate: -0.179191 deg/s,
      cmd update: -0.537572 deg/s,
      cmd heading: 153.772884 deg,
      new cmd heading: 153.796392 deg.

2020-12-13T23:03:08.570Z,1607900588.570 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:03:08.991Z,1607900588.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:09.775Z,1607900589.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:09.868Z,1607900589.868 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T23:03:10.181Z,1607900590.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:11.030Z,1607900591.030 [Micromodem](INFO): Nmea in: $SNTTA,0.002164,0.024688,,,230310.95*50

2020-12-13T23:03:11.063Z,1607900591.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 263.743547 deg, deltaT: 4.549723 s, approachRate: 0.013188 m/s, LOS rate: 0.481925 deg/s, posRepo size: 4
2020-12-13T23:03:11.065Z,1607900591.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 263.743547 deg,
      approachRate: 0.013188 m/s,
      LOS rate: 0.481925 deg/s,
      cmd update: 1.445776 deg/s,
      cmd heading: 151.327192 deg,
      new cmd heading: 151.195355 deg.

2020-12-13T23:03:13.573Z,1607900593.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:14.303Z,1607900594.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:14.744Z,1607900594.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:15.562Z,1607900595.562 [Micromodem](INFO): Nmea in: $SNTTA,0.002142,,,,230315.48*4F

2020-12-13T23:03:15.596Z,1607900595.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 263.970392 deg, deltaT: 4.312719 s, approachRate: 0.000000 m/s, LOS rate: 0.052599 deg/s, posRepo size: 4
2020-12-13T23:03:15.599Z,1607900595.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 263.970392 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.052599 deg/s,
      cmd update: 0.157797 deg/s,
      cmd heading: 157.562756 deg,
      new cmd heading: 158.236213 deg.

2020-12-13T23:03:17.989Z,1607900597.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:18.758Z,1607900598.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:19.165Z,1607900599.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:20.038Z,1607900600.038 [Micromodem](INFO): Nmea in: $SNTTA,0.002146,,0.017864,,230319.93*53

2020-12-13T23:03:20.080Z,1607900600.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 264.444134 deg, deltaT: 4.590320 s, approachRate: 0.013071 m/s, LOS rate: 0.103205 deg/s, posRepo size: 4
2020-12-13T23:03:20.082Z,1607900600.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 264.444134 deg,
      approachRate: 0.013071 m/s,
      LOS rate: 0.103205 deg/s,
      cmd update: 0.309614 deg/s,
      cmd heading: 158.286458 deg,
      new cmd heading: 158.343761 deg.

2020-12-13T23:03:22.518Z,1607900602.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:23.267Z,1607900603.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:23.769Z,1607900603.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:24.590Z,1607900604.590 [Micromodem](INFO): Nmea in: $SNTTA,0.002181,,,,230324.44*4E

2020-12-13T23:03:24.709Z,1607900604.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 263.082303 deg, deltaT: 4.461485 s, approachRate: -0.013449 m/s, LOS rate: -0.305242 deg/s, posRepo size: 4
2020-12-13T23:03:24.711Z,1607900604.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 263.082303 deg,
      approachRate: -0.013449 m/s,
      LOS rate: -0.305242 deg/s,
      cmd update: -0.915725 deg/s,
      cmd heading: 159.669050 deg,
      new cmd heading: 159.830796 deg.

2020-12-13T23:03:26.705Z,1607900606.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:27.406Z,1607900607.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:27.803Z,1607900607.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:28.678Z,1607900608.678 [Micromodem](INFO): Nmea in: $SNTTA,0.002137,,,,230328.58*42

2020-12-13T23:03:28.761Z,1607900608.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 262.968184 deg, deltaT: 4.040469 s, approachRate: 0.000000 m/s, LOS rate: -0.028244 deg/s, posRepo size: 4
2020-12-13T23:03:28.763Z,1607900608.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 262.968184 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.028244 deg/s,
      cmd update: -0.084732 deg/s,
      cmd heading: 155.969108 deg,
      new cmd heading: 155.480286 deg.

2020-12-13T23:03:31.091Z,1607900611.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:31.851Z,1607900611.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:32.293Z,1607900612.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:33.118Z,1607900613.118 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,230333.02*45

2020-12-13T23:03:33.174Z,1607900613.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 261.569799 deg, deltaT: 4.565622 s, approachRate: -0.013142 m/s, LOS rate: -0.306286 deg/s, posRepo size: 4
2020-12-13T23:03:33.176Z,1607900613.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 261.569799 deg,
      approachRate: -0.013142 m/s,
      LOS rate: -0.306286 deg/s,
      cmd update: -0.918858 deg/s,
      cmd heading: 155.583273 deg,
      new cmd heading: 155.549630 deg.

2020-12-13T23:03:35.600Z,1607900615.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:36.345Z,1607900616.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:36.736Z,1607900616.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:37.602Z,1607900617.602 [Micromodem](INFO): Nmea in: $SNTTA,0.004660,,,,230337.52*45

2020-12-13T23:03:37.696Z,1607900617.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.805309 deg, deltaT: 4.418889 s, approachRate: 0.013578 m/s, LOS rate: -0.173005 deg/s, posRepo size: 4
2020-12-13T23:03:37.703Z,1607900617.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.805309 deg,
      approachRate: 0.013578 m/s,
      LOS rate: -0.173005 deg/s,
      cmd update: -0.519015 deg/s,
      cmd heading: 151.511967 deg,
      new cmd heading: 151.062763 deg.

2020-12-13T23:03:38.727Z,1607900618.727 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:03:38.727Z,1607900618.727 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:03:38.727Z,1607900618.727 [DDM](ERROR): Hardware Fault
2020-12-13T23:03:38.973Z,1607900618.973 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:03:39.131Z,1607900619.131 [DDM](INFO): Powering down
2020-12-13T23:03:39.969Z,1607900619.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:40.083Z,1607900620.083 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:03:40.083Z,1607900620.083 [DDM] No Fault, FailCount= 1
2020-12-13T23:03:40.754Z,1607900620.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:41.157Z,1607900621.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:41.998Z,1607900621.998 [Micromodem](INFO): Nmea in: $SNTTA,0.002318,,,,230341.92*44

2020-12-13T23:03:42.059Z,1607900622.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 265.015247 deg, deltaT: 4.383939 s, approachRate: 0.013686 m/s, LOS rate: 0.960309 deg/s, posRepo size: 4
2020-12-13T23:03:42.061Z,1607900622.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 265.015247 deg,
      approachRate: 0.013686 m/s,
      LOS rate: 0.960309 deg/s,
      cmd update: 2.880928 deg/s,
      cmd heading: 149.236591 deg,
      new cmd heading: 148.993952 deg.

2020-12-13T23:03:44.138Z,1607900624.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:44.524Z,1607900624.524 [DDM](INFO): Powering up
2020-12-13T23:03:44.524Z,1607900624.524 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:03:44.955Z,1607900624.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:45.355Z,1607900625.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:46.234Z,1607900626.234 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,230346.13*47

2020-12-13T23:03:46.262Z,1607900626.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 269.209256 deg, deltaT: 4.246543 s, approachRate: -0.014129 m/s, LOS rate: 0.987629 deg/s, posRepo size: 4
2020-12-13T23:03:46.265Z,1607900626.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 269.209256 deg,
      approachRate: -0.014129 m/s,
      LOS rate: 0.987629 deg/s,
      cmd update: 2.962887 deg/s,
      cmd heading: 161.435427 deg,
      new cmd heading: 162.693902 deg.

2020-12-13T23:03:48.688Z,1607900628.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:49.394Z,1607900629.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:49.804Z,1607900629.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:50.628Z,1607900630.628 [Micromodem](INFO): Nmea in: $SNTTA,0.002144,,0.027961,,230350.56*52

2020-12-13T23:03:50.706Z,1607900630.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.078484 deg, deltaT: 4.423143 s, approachRate: -0.013565 m/s, LOS rate: -1.612150 deg/s, posRepo size: 4
2020-12-13T23:03:50.707Z,1607900630.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.078484 deg,
      approachRate: -0.013565 m/s,
      LOS rate: -1.612150 deg/s,
      cmd update: -4.836451 deg/s,
      cmd heading: 174.576457 deg,
      new cmd heading: 175.893173 deg.

2020-12-13T23:03:53.067Z,1607900633.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:53.839Z,1607900633.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:54.249Z,1607900634.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:55.074Z,1607900635.074 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,,230355.01*41

2020-12-13T23:03:55.111Z,1607900635.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 260.265916 deg, deltaT: 4.467026 s, approachRate: 0.026864 m/s, LOS rate: -0.405766 deg/s, posRepo size: 4
2020-12-13T23:03:55.113Z,1607900635.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 260.265916 deg,
      approachRate: 0.026864 m/s,
      LOS rate: -0.405766 deg/s,
      cmd update: -1.217299 deg/s,
      cmd heading: 152.971458 deg,
      new cmd heading: 151.118478 deg.

2020-12-13T23:03:57.491Z,1607900637.491 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:03:57.716Z,1607900637.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:03:58.012Z,1607900638.012 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:03:58.013Z,1607900638.013 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:03:58.013Z,1607900638.013 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:03:58.281Z,1607900638.281 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:03:58.282Z,1607900638.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:03:58.695Z,1607900638.695 [Micromodem](INFO): Nmea in: $CADRQ,230359,1,9,0,64,1*40

2020-12-13T23:03:58.695Z,1607900638.695 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,230359,1,9,0,64,1*40

2020-12-13T23:03:59.110Z,1607900639.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:03:59.538Z,1607900639.538 [Micromodem](INFO): Nmea in: $SNTTA,0.002306,,,,230359.45*48

2020-12-13T23:03:59.563Z,1607900639.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 261.291291 deg, deltaT: 4.419114 s, approachRate: 0.054309 m/s, LOS rate: 0.232032 deg/s, posRepo size: 4
2020-12-13T23:03:59.565Z,1607900639.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 261.291291 deg,
      approachRate: 0.054309 m/s,
      LOS rate: 0.232032 deg/s,
      cmd update: 0.696096 deg/s,
      cmd heading: 147.592699 deg,
      new cmd heading: 147.086016 deg.

2020-12-13T23:04:00.299Z,1607900640.299 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:04:02.150Z,1607900642.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:02.767Z,1607900642.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:03.209Z,1607900643.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:04.030Z,1607900644.030 [Micromodem](INFO): Nmea in: $SNTTA,0.002158,,,0.040965,230403.94*55

2020-12-13T23:04:04.204Z,1607900644.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 260.769765 deg, deltaT: 4.563834 s, approachRate: -0.078881 m/s, LOS rate: -0.114274 deg/s, posRepo size: 4
2020-12-13T23:04:04.206Z,1607900644.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 260.769765 deg,
      approachRate: -0.078881 m/s,
      LOS rate: -0.114274 deg/s,
      cmd update: -0.342821 deg/s,
      cmd heading: 150.762578 deg,
      new cmd heading: 151.113103 deg.

2020-12-13T23:04:06.452Z,1607900646.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:07.239Z,1607900647.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:07.653Z,1607900647.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:08.517Z,1607900648.517 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,230408.41*4D

2020-12-13T23:04:08.778Z,1607900648.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 258.476870 deg, deltaT: 4.393280 s, approachRate: 0.013657 m/s, LOS rate: -0.521909 deg/s, posRepo size: 4
2020-12-13T23:04:08.780Z,1607900648.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 258.476870 deg,
      approachRate: 0.013657 m/s,
      LOS rate: -0.521909 deg/s,
      cmd update: -1.565728 deg/s,
      cmd heading: 149.252911 deg,
      new cmd heading: 149.023443 deg.

2020-12-13T23:04:10.782Z,1607900650.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:11.371Z,1607900651.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:11.781Z,1607900651.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:12.622Z,1607900652.622 [Micromodem](INFO): Nmea in: $SNTTA,0.002140,,,,230412.54*40

2020-12-13T23:04:12.695Z,1607900652.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 256.881202 deg, deltaT: 4.136278 s, approachRate: 0.000000 m/s, LOS rate: -0.385774 deg/s, posRepo size: 4
2020-12-13T23:04:12.701Z,1607900652.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 256.881202 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.385774 deg/s,
      cmd update: -1.157322 deg/s,
      cmd heading: 142.790604 deg,
      new cmd heading: 142.064953 deg.

2020-12-13T23:04:15.185Z,1607900655.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:15.815Z,1607900655.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:16.305Z,1607900656.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:17.066Z,1607900657.066 [Micromodem](INFO): Nmea in: $SNTTA,0.002165,,,,230416.99*42

2020-12-13T23:04:17.229Z,1607900657.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 258.230574 deg, deltaT: 4.453477 s, approachRate: 0.000000 m/s, LOS rate: 0.302993 deg/s, posRepo size: 4
2020-12-13T23:04:17.231Z,1607900657.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 258.230574 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.302993 deg/s,
      cmd update: 0.908979 deg/s,
      cmd heading: 137.626220 deg,
      new cmd heading: 137.006805 deg.

2020-12-13T23:04:19.469Z,1607900659.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:20.263Z,1607900660.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:20.683Z,1607900660.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:21.517Z,1607900661.517 [Micromodem](INFO): Nmea in: $SNTTA,0.002144,,,,230421.43*42

2020-12-13T23:04:21.755Z,1607900661.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.715014 deg, deltaT: 4.399299 s, approachRate: 0.000000 m/s, LOS rate: 0.564736 deg/s, posRepo size: 4
2020-12-13T23:04:21.762Z,1607900661.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.715014 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.564736 deg/s,
      cmd update: 1.694207 deg/s,
      cmd heading: 141.625294 deg,
      new cmd heading: 142.226153 deg.

2020-12-13T23:04:23.800Z,1607900663.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:24.375Z,1607900664.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:24.785Z,1607900664.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:25.618Z,1607900665.618 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,0.005895,,230425.55*5F

2020-12-13T23:04:25.691Z,1607900665.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 258.922609 deg, deltaT: 4.109566 s, approachRate: 0.000000 m/s, LOS rate: -0.436154 deg/s, posRepo size: 4
2020-12-13T23:04:25.697Z,1607900665.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 258.922609 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.436154 deg/s,
      cmd update: -1.308463 deg/s,
      cmd heading: 148.579048 deg,
      new cmd heading: 149.414886 deg.

2020-12-13T23:04:27.677Z,1607900667.677 [DDM](ERROR): Could not parse latch state
2020-12-13T23:04:27.744Z,1607900667.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:28.100Z,1607900668.100 [Micromodem](INFO): Nmea in: $CAERR,230429,DATA_TIMEOUT,1*40

2020-12-13T23:04:28.467Z,1607900668.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:28.861Z,1607900668.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:29.698Z,1607900669.698 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,,,,230429.64*4D

2020-12-13T23:04:29.750Z,1607900669.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 257.419530 deg, deltaT: 4.126027 s, approachRate: 0.000000 m/s, LOS rate: -0.364292 deg/s, posRepo size: 4
2020-12-13T23:04:29.753Z,1607900669.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 257.419530 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.364292 deg/s,
      cmd update: -1.092876 deg/s,
      cmd heading: 143.173624 deg,
      new cmd heading: 142.621769 deg.

2020-12-13T23:04:30.443Z,1607900670.443 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:04:30.443Z,1607900670.443 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:04:30.443Z,1607900670.443 [DDM](ERROR): Hardware Fault
2020-12-13T23:04:30.666Z,1607900670.666 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:04:30.844Z,1607900670.844 [DDM](INFO): Powering down
2020-12-13T23:04:31.849Z,1607900671.849 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:04:31.849Z,1607900671.849 [DDM] No Fault, FailCount= 1
2020-12-13T23:04:32.079Z,1607900672.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:32.878Z,1607900672.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:33.271Z,1607900673.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:34.102Z,1607900674.102 [Micromodem](INFO): Nmea in: $SNTTA,0.002167,,,,230434.05*45

2020-12-13T23:04:34.151Z,1607900674.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 261.313858 deg, deltaT: 4.414510 s, approachRate: 0.000000 m/s, LOS rate: 0.882165 deg/s, posRepo size: 4
2020-12-13T23:04:34.154Z,1607900674.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 261.313858 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.882165 deg/s,
      cmd update: 2.646496 deg/s,
      cmd heading: 138.349226 deg,
      new cmd heading: 137.903608 deg.

2020-12-13T23:04:36.156Z,1607900676.156 [DDM](INFO): Powering up
2020-12-13T23:04:36.156Z,1607900676.156 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:04:36.800Z,1607900676.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:37.369Z,1607900677.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:37.775Z,1607900677.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:38.632Z,1607900678.632 [Micromodem](INFO): Nmea in: $SNTTA,0.002138,,,,230438.54*47

2020-12-13T23:04:38.703Z,1607900678.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.255331 deg, deltaT: 4.476549 s, approachRate: -0.013403 m/s, LOS rate: 0.210312 deg/s, posRepo size: 4
2020-12-13T23:04:38.709Z,1607900678.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.255331 deg,
      approachRate: -0.013403 m/s,
      LOS rate: 0.210312 deg/s,
      cmd update: 0.630937 deg/s,
      cmd heading: 150.186141 deg,
      new cmd heading: 151.476112 deg.

2020-12-13T23:04:41.200Z,1607900681.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:41.815Z,1607900681.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:42.219Z,1607900682.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:43.050Z,1607900683.050 [Micromodem](INFO): Nmea in: $SNTTA,0.002151,,,,230442.99*44

2020-12-13T23:04:43.244Z,1607900683.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 259.268927 deg, deltaT: 4.500351 s, approachRate: 0.000000 m/s, LOS rate: -0.663594 deg/s, posRepo size: 4
2020-12-13T23:04:43.246Z,1607900683.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 259.268927 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.663594 deg/s,
      cmd update: -1.990781 deg/s,
      cmd heading: 153.025585 deg,
      new cmd heading: 153.358605 deg.

2020-12-13T23:04:45.488Z,1607900685.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:46.259Z,1607900686.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:46.691Z,1607900686.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:47.518Z,1607900687.518 [Micromodem](INFO): Nmea in: $SNTTA,0.002149,,,,230447.43*4F

2020-12-13T23:04:47.737Z,1607900687.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 261.616572 deg, deltaT: 4.394206 s, approachRate: 0.000000 m/s, LOS rate: 0.534259 deg/s, posRepo size: 4
2020-12-13T23:04:47.739Z,1607900687.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 261.616572 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.534259 deg/s,
      cmd update: 1.602778 deg/s,
      cmd heading: 144.269643 deg,
      new cmd heading: 143.030275 deg.

2020-12-13T23:04:49.766Z,1607900689.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:50.323Z,1607900690.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:50.723Z,1607900690.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:51.563Z,1607900691.563 [Micromodem](INFO): Nmea in: $SNTTA,0.002162,,,,230451.50*43

2020-12-13T23:04:51.612Z,1607900691.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 261.183948 deg, deltaT: 4.032496 s, approachRate: 0.014879 m/s, LOS rate: -0.107284 deg/s, posRepo size: 4
2020-12-13T23:04:51.614Z,1607900691.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 261.183948 deg,
      approachRate: 0.014879 m/s,
      LOS rate: -0.107284 deg/s,
      cmd update: -0.321853 deg/s,
      cmd heading: 150.732806 deg,
      new cmd heading: 151.477949 deg.

2020-12-13T23:04:51.931Z,1607900691.931 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:04:53.694Z,1607900693.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:54.407Z,1607900694.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:54.494Z,1607900694.494 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T23:04:54.495Z,1607900694.495 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:04:54.495Z,1607900694.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T23:04:54.496Z,1607900694.496 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:04:54.496Z,1607900694.496 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T23:04:54.503Z,1607900694.503 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.240000 m 
2020-12-13T23:04:54.503Z,1607900694.503 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T23:04:54.504Z,1607900694.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T23:04:54.504Z,1607900694.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T23:04:54.806Z,1607900694.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:04:54.864Z,1607900694.864 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T230454: (41.552319, -70.708603)
2020-12-13T23:04:54.864Z,1607900694.864 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T23:04:54.864Z,1607900694.864 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T23:04:54.864Z,1607900694.864 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:04:54.864Z,1607900694.864 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T23:04:54.865Z,1607900694.865 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:04:54.865Z,1607900694.865 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T23:04:54.865Z,1607900694.865 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T23:04:54.865Z,1607900694.865 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:04:55.645Z,1607900695.645 [Micromodem](INFO): Nmea in: $SNTTA,0.002154,,,,230455.58*4A

2020-12-13T23:04:55.751Z,1607900695.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 261.266675 deg, deltaT: 4.119736 s, approachRate: 0.000000 m/s, LOS rate: 0.020081 deg/s, posRepo size: 4
2020-12-13T23:04:55.754Z,1607900695.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 261.266675 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.020081 deg/s,
      cmd update: 0.060242 deg/s,
      cmd heading: 149.406926 deg,
      new cmd heading: 149.251400 deg.

2020-12-13T23:04:58.055Z,1607900698.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:04:58.835Z,1607900698.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:04:59.241Z,1607900699.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:00.098Z,1607900700.098 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,,,,230500.01*44

2020-12-13T23:05:00.129Z,1607900700.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 258.905888 deg, deltaT: 4.454442 s, approachRate: 0.000000 m/s, LOS rate: -0.529985 deg/s, posRepo size: 4
2020-12-13T23:05:00.131Z,1607900700.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 258.905888 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.529985 deg/s,
      cmd update: -1.589954 deg/s,
      cmd heading: 149.675286 deg,
      new cmd heading: 149.699832 deg.

2020-12-13T23:05:02.695Z,1607900702.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:03.288Z,1607900703.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:03.718Z,1607900703.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:03.733Z,1607900703.733 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:05:04.242Z,1607900704.242 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:05:04.243Z,1607900704.243 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:05:04.243Z,1607900704.243 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:05:04.546Z,1607900704.546 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:05:04.570Z,1607900704.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.639281 deg, deltaT: 4.579055 s, approachRate: 0.000000 m/s, LOS rate: 0.378548 deg/s, posRepo size: 4
2020-12-13T23:05:04.572Z,1607900704.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.639281 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.378548 deg/s,
      cmd update: 1.135644 deg/s,
      cmd heading: 142.394970 deg,
      new cmd heading: 141.966374 deg.

2020-12-13T23:05:04.914Z,1607900704.914 [Micromodem](INFO): Nmea in: $CADRQ,230505,1,9,0,64,1*4F

2020-12-13T23:05:04.914Z,1607900704.914 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:05:05.320Z,1607900705.320 [Micromodem](INFO): Nmea in: $SNTTA,0.002156,,0.057057,,230504.46*5C

2020-12-13T23:05:05.321Z,1607900705.321 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002156,,0.057057,,230504.46*5C

2020-12-13T23:05:06.542Z,1607900706.542 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:05:06.915Z,1607900706.915 [Micromodem](INFO): Nmea in: $CADRQ,230506,1,9,0,64,2*4F

2020-12-13T23:05:06.915Z,1607900706.915 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:05:07.126Z,1607900707.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:07.327Z,1607900707.327 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:05:07.727Z,1607900707.727 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:05:07.728Z,1607900707.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:09.805Z,1607900709.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:10.143Z,1607900710.143 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:05:10.143Z,1607900710.143 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:05:10.572Z,1607900710.572 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230508.058104,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T23:05:10.572Z,1607900710.572 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230508.058104,3,0,200,4000,14500,1,1,9,1,2,2,3,70*79

2020-12-13T23:05:12.608Z,1607900712.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:15.879Z,1607900715.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:18.501Z,1607900718.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:18.862Z,1607900718.862 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:19.276Z,1607900719.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:20.106Z,1607900720.106 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,,230520.03*47

2020-12-13T23:05:20.123Z,1607900720.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.530353 deg, deltaT: 15.559819 s, approachRate: 0.000000 m/s, LOS rate: -0.007001 deg/s, posRepo size: 4
2020-12-13T23:05:20.127Z,1607900720.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.530353 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.007001 deg/s,
      cmd update: -0.021002 deg/s,
      cmd heading: 160.065430 deg,
      new cmd heading: 160.361357 deg.

2020-12-13T23:05:22.055Z,1607900722.055 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:05:22.055Z,1607900722.055 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:05:22.055Z,1607900722.055 [DDM](ERROR): Hardware Fault
2020-12-13T23:05:22.238Z,1607900722.238 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:05:22.458Z,1607900722.458 [DDM](INFO): Powering down
2020-12-13T23:05:22.565Z,1607900722.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:22.865Z,1607900722.865 [DDM](FAULT): LCB fault:  Software Overcurrent.
2020-12-13T23:05:23.269Z,1607900723.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:23.498Z,1607900723.498 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:05:23.498Z,1607900723.498 [DDM] No Fault, FailCount= 1
2020-12-13T23:05:23.693Z,1607900723.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:24.518Z,1607900724.518 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,,,230524.44*41

2020-12-13T23:05:24.568Z,1607900724.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 260.540407 deg, deltaT: 4.248134 s, approachRate: 0.000000 m/s, LOS rate: 0.002367 deg/s, posRepo size: 4
2020-12-13T23:05:24.570Z,1607900724.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 260.540407 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.002367 deg/s,
      cmd update: 0.007100 deg/s,
      cmd heading: 159.976211 deg,
      new cmd heading: 159.966558 deg.

2020-12-13T23:05:26.970Z,1607900726.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:27.713Z,1607900727.713 [DDM](INFO): Powering up
2020-12-13T23:05:27.713Z,1607900727.713 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:05:27.735Z,1607900727.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:28.121Z,1607900728.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:28.958Z,1607900728.958 [Micromodem](INFO): Nmea in: $SNTTA,0.002149,,,,230528.91*48

2020-12-13T23:05:28.996Z,1607900728.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 263.374307 deg, deltaT: 4.468732 s, approachRate: 0.013427 m/s, LOS rate: 0.634162 deg/s, posRepo size: 4
2020-12-13T23:05:28.998Z,1607900728.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 263.374307 deg,
      approachRate: 0.013427 m/s,
      LOS rate: 0.634162 deg/s,
      cmd update: 1.902486 deg/s,
      cmd heading: 160.007939 deg,
      new cmd heading: 160.010917 deg.

2020-12-13T23:05:31.385Z,1607900731.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:32.189Z,1607900732.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:32.563Z,1607900732.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:33.396Z,1607900733.396 [Micromodem](INFO): Nmea in: $SNTTA,0.002142,,,,230533.39*4B

2020-12-13T23:05:33.448Z,1607900733.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.796583 deg, deltaT: 4.413396 s, approachRate: -0.027190 m/s, LOS rate: -0.130903 deg/s, posRepo size: 4
2020-12-13T23:05:33.454Z,1607900733.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.796583 deg,
      approachRate: -0.027190 m/s,
      LOS rate: -0.130903 deg/s,
      cmd update: -0.392708 deg/s,
      cmd heading: 168.403309 deg,
      new cmd heading: 169.274861 deg.

2020-12-13T23:05:35.873Z,1607900735.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:36.607Z,1607900736.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:37.008Z,1607900737.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:37.842Z,1607900737.842 [Micromodem](INFO): Nmea in: $SNTTA,0.002139,,,,230537.78*46

2020-12-13T23:05:37.903Z,1607900737.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.896795 deg, deltaT: 4.450438 s, approachRate: 0.000000 m/s, LOS rate: 0.022517 deg/s, posRepo size: 4
2020-12-13T23:05:37.910Z,1607900737.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.896795 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.022517 deg/s,
      cmd update: 0.067552 deg/s,
      cmd heading: 166.655520 deg,
      new cmd heading: 166.473692 deg.

2020-12-13T23:05:40.341Z,1607900740.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:41.046Z,1607900741.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:41.457Z,1607900741.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:42.279Z,1607900742.279 [Micromodem](INFO): Nmea in: $SNTTA,0.002162,,,,230542.22*45

2020-12-13T23:05:42.349Z,1607900742.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.355390 deg, deltaT: 4.479307 s, approachRate: 0.013395 m/s, LOS rate: 0.548878 deg/s, posRepo size: 4
2020-12-13T23:05:42.351Z,1607900742.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.355390 deg,
      approachRate: 0.013395 m/s,
      LOS rate: 0.548878 deg/s,
      cmd update: 1.646635 deg/s,
      cmd heading: 166.957864 deg,
      new cmd heading: 166.987077 deg.

2020-12-13T23:05:43.468Z,1607900743.468 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:05:43.928Z,1607900743.928 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:05:44.774Z,1607900744.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:45.543Z,1607900745.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:46.029Z,1607900746.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:46.850Z,1607900746.850 [Micromodem](INFO): Nmea in: $SNTTA,0.002168,,,,230546.71*4D

2020-12-13T23:05:46.923Z,1607900746.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.500245 deg, deltaT: 4.530345 s, approachRate: 0.000000 m/s, LOS rate: 0.031974 deg/s, posRepo size: 4
2020-12-13T23:05:46.925Z,1607900746.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.500245 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.031974 deg/s,
      cmd update: 0.095923 deg/s,
      cmd heading: 174.424325 deg,
      new cmd heading: 175.202919 deg.

2020-12-13T23:05:48.990Z,1607900748.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:49.741Z,1607900749.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:50.137Z,1607900750.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:50.995Z,1607900750.995 [Micromodem](INFO): Nmea in: $SNTTA,0.002176,,,,230550.91*4B

2020-12-13T23:05:51.019Z,1607900751.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.009853 deg, deltaT: 4.150739 s, approachRate: 0.000000 m/s, LOS rate: 0.363696 deg/s, posRepo size: 4
2020-12-13T23:05:51.021Z,1607900751.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.009853 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.363696 deg/s,
      cmd update: 1.091089 deg/s,
      cmd heading: 174.822473 deg,
      new cmd heading: 174.862591 deg.

2020-12-13T23:05:53.104Z,1607900753.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:53.827Z,1607900753.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:54.064Z,1607900754.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:05:54.345Z,1607900754.345 [DDM](ERROR): Could not parse latch state
2020-12-13T23:05:54.357Z,1607900754.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:55.094Z,1607900755.094 [Micromodem](INFO): Nmea in: $SNTTA,0.002146,,,,230555.00*45

2020-12-13T23:05:55.152Z,1607900755.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 263.171341 deg, deltaT: 4.127851 s, approachRate: -0.014536 m/s, LOS rate: -0.929906 deg/s, posRepo size: 4
2020-12-13T23:05:55.154Z,1607900755.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 263.171341 deg,
      approachRate: -0.014536 m/s,
      LOS rate: -0.929906 deg/s,
      cmd update: -2.789717 deg/s,
      cmd heading: 179.326311 deg,
      new cmd heading: 179.787981 deg.

2020-12-13T23:05:57.550Z,1607900757.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:05:58.305Z,1607900758.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:05:58.950Z,1607900758.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:05:58.975Z,1607900758.975 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:05:59.287Z,1607900759.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.057949 deg, deltaT: 4.279507 s, approachRate: 0.014020 m/s, LOS rate: 0.440847 deg/s, posRepo size: 4
2020-12-13T23:05:59.289Z,1607900759.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.057949 deg,
      approachRate: 0.014020 m/s,
      LOS rate: 0.440847 deg/s,
      cmd update: 1.322541 deg/s,
      cmd heading: 167.398913 deg,
      new cmd heading: 166.610438 deg.

2020-12-13T23:05:59.677Z,1607900759.677 [Micromodem](INFO): Nmea in: $SNTTA,0.002137,,,,230559.48*43

2020-12-13T23:06:01.756Z,1607900761.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:02.510Z,1607900762.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:02.924Z,1607900762.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:03.774Z,1607900763.774 [Micromodem](INFO): Nmea in: ,0.019711,,230603.68*55

2020-12-13T23:06:03.774Z,1607900763.774 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,0.019711,,230603.68*55
 expected 0
2020-12-13T23:06:03.798Z,1607900763.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 268.230900 deg, deltaT: 4.301395 s, approachRate: 0.000000 m/s, LOS rate: 0.737656 deg/s, posRepo size: 4
2020-12-13T23:06:03.800Z,1607900763.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 268.230900 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.737656 deg/s,
      cmd update: 2.212969 deg/s,
      cmd heading: 173.092746 deg,
      new cmd heading: 173.737977 deg.

2020-12-13T23:06:06.170Z,1607900766.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:06.943Z,1607900766.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:07.381Z,1607900767.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:08.202Z,1607900768.202 [Micromodem](INFO): Nmea in: $SNTTA,0.002320,,,,230608.11*4C

2020-12-13T23:06:08.260Z,1607900768.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 271.981575 deg, deltaT: 4.503517 s, approachRate: 0.066614 m/s, LOS rate: 0.832832 deg/s, posRepo size: 4
2020-12-13T23:06:08.262Z,1607900768.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 271.981575 deg,
      approachRate: 0.066614 m/s,
      LOS rate: 0.832832 deg/s,
      cmd update: 2.498497 deg/s,
      cmd heading: 183.059306 deg,
      new cmd heading: 184.047488 deg.

2020-12-13T23:06:09.037Z,1607900769.037 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-13T23:06:09.037Z,1607900769.037 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-13T23:06:09.037Z,1607900769.037 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-13T23:06:09.188Z,1607900769.188 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-13T23:06:09.406Z,1607900769.406 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:06:09.477Z,1607900769.477 [RDI_Pathfinder](INFO): Powering down
2020-12-13T23:06:09.954Z,1607900769.954 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:06:09.955Z,1607900769.955 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:06:09.955Z,1607900769.955 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:06:10.219Z,1607900770.219 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:06:10.341Z,1607900770.341 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-13T23:06:10.341Z,1607900770.341 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-13T23:06:10.611Z,1607900770.611 [Micromodem](INFO): Nmea in: $CADRQ,230611,1,9,0,64,1*49

2020-12-13T23:06:10.611Z,1607900770.611 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:06:10.747Z,1607900770.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:11.023Z,1607900771.023 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:06:11.440Z,1607900771.440 [Micromodem](INFO): Nmea in: $CADRQ,230611,1,9,0,64,2*4A

2020-12-13T23:06:11.441Z,1607900771.441 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:06:11.839Z,1607900771.839 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:06:11.840Z,1607900771.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:12.234Z,1607900772.234 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:06:12.235Z,1607900772.235 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T23:06:13.474Z,1607900773.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:13.817Z,1607900773.817 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:06:13.817Z,1607900773.817 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:06:13.817Z,1607900773.817 [DDM](ERROR): Hardware Fault
2020-12-13T23:06:13.976Z,1607900773.976 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:06:14.210Z,1607900774.210 [DDM](INFO): Powering down
2020-12-13T23:06:14.625Z,1607900774.625 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:06:14.626Z,1607900774.626 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:06:15.026Z,1607900775.026 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230612.587762,3,0,200,4000,14500,1,1,9,1,2,2,3,70*70

2020-12-13T23:06:15.027Z,1607900775.027 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230612.587762,3,0,200,4000,14500,1,1,9,1,2,2,3,70*70

2020-12-13T23:06:15.145Z,1607900775.145 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:06:15.145Z,1607900775.145 [DDM] No Fault, FailCount= 1
2020-12-13T23:06:16.268Z,1607900776.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:19.098Z,1607900779.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:19.462Z,1607900779.462 [DDM](INFO): Powering up
2020-12-13T23:06:19.462Z,1607900779.462 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:06:21.910Z,1607900781.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:23.118Z,1607900783.118 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:23.540Z,1607900783.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:24.346Z,1607900784.346 [Micromodem](INFO): Nmea in: $SNTTA,0.002310,,,,230624.29*4A

2020-12-13T23:06:24.364Z,1607900784.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 274.810640 deg, deltaT: 16.266524 s, approachRate: 0.000000 m/s, LOS rate: 0.173919 deg/s, posRepo size: 4
2020-12-13T23:06:24.366Z,1607900784.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 274.810640 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.173919 deg/s,
      cmd update: 0.521758 deg/s,
      cmd heading: 223.701193 deg,
      new cmd heading: 224.410414 deg.

2020-12-13T23:06:26.779Z,1607900786.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:27.551Z,1607900787.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:27.951Z,1607900787.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:28.782Z,1607900788.782 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,,,230628.72*4B

2020-12-13T23:06:28.788Z,1607900788.788 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:06:28.834Z,1607900788.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 268.940065 deg, deltaT: 4.310397 s, approachRate: -0.069599 m/s, LOS rate: -1.361957 deg/s, posRepo size: 4
2020-12-13T23:06:28.836Z,1607900788.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 268.940065 deg,
      approachRate: -0.069599 m/s,
      LOS rate: -1.361957 deg/s,
      cmd update: -4.085871 deg/s,
      cmd heading: 225.941887 deg,
      new cmd heading: 226.181593 deg.

2020-12-13T23:06:31.221Z,1607900791.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:31.990Z,1607900791.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:32.410Z,1607900792.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:33.237Z,1607900793.237 [Micromodem](INFO): Nmea in: $SNTTA,0.002166,,0.029741,,230633.16*54

2020-12-13T23:06:33.256Z,1607900793.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.910455 deg, deltaT: 4.449351 s, approachRate: 0.000000 m/s, LOS rate: -0.231407 deg/s, posRepo size: 4
2020-12-13T23:06:33.258Z,1607900793.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.910455 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.231407 deg/s,
      cmd update: -0.694220 deg/s,
      cmd heading: 207.697334 deg,
      new cmd heading: 205.996227 deg.

2020-12-13T23:06:35.235Z,1607900795.235 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:06:35.382Z,1607900795.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:36.079Z,1607900796.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:36.525Z,1607900796.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:37.330Z,1607900797.330 [Micromodem](INFO): Nmea in: $SNTTA,0.002180,,,,230637.25*4F

2020-12-13T23:06:37.355Z,1607900797.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 269.560273 deg, deltaT: 4.288313 s, approachRate: 0.000000 m/s, LOS rate: 0.384724 deg/s, posRepo size: 4
2020-12-13T23:06:37.373Z,1607900797.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 269.560273 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.384724 deg/s,
      cmd update: 1.154173 deg/s,
      cmd heading: 204.720312 deg,
      new cmd heading: 204.562468 deg.

2020-12-13T23:06:39.791Z,1607900799.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:40.570Z,1607900800.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:40.939Z,1607900800.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:41.752Z,1607900801.752 [Micromodem](INFO): Nmea in: $SNTTA,0.002152,,,,230641.74*45

2020-12-13T23:06:41.833Z,1607900801.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 271.122091 deg, deltaT: 4.237969 s, approachRate: 0.000000 m/s, LOS rate: 0.368530 deg/s, posRepo size: 4
2020-12-13T23:06:41.835Z,1607900801.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 271.122091 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.368530 deg/s,
      cmd update: 1.105590 deg/s,
      cmd heading: 209.588336 deg,
      new cmd heading: 210.146411 deg.

2020-12-13T23:06:44.183Z,1607900804.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:44.968Z,1607900804.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:45.377Z,1607900805.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:46.243Z,1607900806.243 [Micromodem](INFO): Nmea in: $SNTTA,0.002168,,,,230646.14*4D

2020-12-13T23:06:46.258Z,1607900806.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 267.125393 deg, deltaT: 4.485974 s, approachRate: -0.013375 m/s, LOS rate: -0.890932 deg/s, posRepo size: 4
2020-12-13T23:06:46.260Z,1607900806.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 267.125393 deg,
      approachRate: -0.013375 m/s,
      LOS rate: -0.890932 deg/s,
      cmd update: -2.672797 deg/s,
      cmd heading: 214.570300 deg,
      new cmd heading: 215.018456 deg.

2020-12-13T23:06:48.748Z,1607900808.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:49.480Z,1607900809.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:49.877Z,1607900809.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:50.709Z,1607900810.709 [Micromodem](INFO): Nmea in: $SNTTA,0.002147,,0.035703,,230650.66*5E

2020-12-13T23:06:50.743Z,1607900810.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 271.682194 deg, deltaT: 4.451958 s, approachRate: 0.000000 m/s, LOS rate: 1.023550 deg/s, posRepo size: 4
2020-12-13T23:06:50.745Z,1607900810.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 271.682194 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.023550 deg/s,
      cmd update: 3.070650 deg/s,
      cmd heading: 202.671070 deg,
      new cmd heading: 201.497576 deg.

2020-12-13T23:06:52.845Z,1607900812.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:53.616Z,1607900813.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:53.994Z,1607900813.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:54.829Z,1607900814.829 [Micromodem](INFO): Nmea in: $SNTTA,0.002160,,0.033354,,230654.79*51

2020-12-13T23:06:54.863Z,1607900814.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 272.641262 deg, deltaT: 4.139948 s, approachRate: 0.014493 m/s, LOS rate: 0.231662 deg/s, posRepo size: 4
2020-12-13T23:06:54.887Z,1607900814.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 272.641262 deg,
      approachRate: 0.014493 m/s,
      LOS rate: 0.231662 deg/s,
      cmd update: 0.694985 deg/s,
      cmd heading: 215.367626 deg,
      new cmd heading: 216.672219 deg.

2020-12-13T23:06:57.276Z,1607900817.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:06:58.027Z,1607900818.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:06:58.508Z,1607900818.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:06:59.314Z,1607900819.314 [Micromodem](INFO): Nmea in: $SNTTA,0.002154,,,,230659.20*4B

2020-12-13T23:06:59.376Z,1607900819.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 273.048587 deg, deltaT: 4.494636 s, approachRate: 0.000000 m/s, LOS rate: 0.090625 deg/s, posRepo size: 4
2020-12-13T23:06:59.378Z,1607900819.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 273.048587 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.090625 deg/s,
      cmd update: 0.271874 deg/s,
      cmd heading: 218.494914 deg,
      new cmd heading: 218.798907 deg.

2020-12-13T23:07:01.775Z,1607900821.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:02.559Z,1607900822.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:03.053Z,1607900823.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:03.874Z,1607900823.874 [Micromodem](INFO): Nmea in: $SNTTA,0.002186,,,,230703.73*4C

2020-12-13T23:07:03.940Z,1607900823.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.294858 deg, deltaT: 4.598752 s, approachRate: -0.013047 m/s, LOS rate: -1.033700 deg/s, posRepo size: 4
2020-12-13T23:07:03.942Z,1607900823.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.294858 deg,
      approachRate: -0.013047 m/s,
      LOS rate: -1.033700 deg/s,
      cmd update: -3.101100 deg/s,
      cmd heading: 219.743668 deg,
      new cmd heading: 219.854620 deg.

2020-12-13T23:07:05.443Z,1607900825.443 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:07:05.443Z,1607900825.443 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:07:05.443Z,1607900825.443 [DDM](ERROR): Hardware Fault
2020-12-13T23:07:05.665Z,1607900825.665 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:07:05.842Z,1607900825.842 [DDM](INFO): Powering down
2020-12-13T23:07:06.275Z,1607900826.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:06.840Z,1607900826.840 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:07:06.840Z,1607900826.840 [DDM] No Fault, FailCount= 1
2020-12-13T23:07:07.056Z,1607900827.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:07.464Z,1607900827.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:08.286Z,1607900828.286 [Micromodem](INFO): Nmea in: $SNTTA,0.002139,,,,230708.23*46

2020-12-13T23:07:08.326Z,1607900828.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 266.664410 deg, deltaT: 4.390141 s, approachRate: 0.000000 m/s, LOS rate: -0.371389 deg/s, posRepo size: 4
2020-12-13T23:07:08.328Z,1607900828.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 266.664410 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.371389 deg/s,
      cmd update: -1.114166 deg/s,
      cmd heading: 206.111894 deg,
      new cmd heading: 204.875334 deg.

2020-12-13T23:07:10.744Z,1607900830.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:11.093Z,1607900831.093 [DDM](INFO): Powering up
2020-12-13T23:07:11.093Z,1607900831.093 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:07:11.541Z,1607900831.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:11.913Z,1607900831.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:12.762Z,1607900832.762 [Micromodem](INFO): Nmea in: $SNTTA,0.002135,,,,230712.71*46

2020-12-13T23:07:12.817Z,1607900832.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 266.894286 deg, deltaT: 4.461337 s, approachRate: 0.000000 m/s, LOS rate: 0.051526 deg/s, posRepo size: 4
2020-12-13T23:07:12.819Z,1607900832.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 266.894286 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.051526 deg/s,
      cmd update: 0.154579 deg/s,
      cmd heading: 201.141388 deg,
      new cmd heading: 200.664283 deg.

2020-12-13T23:07:15.143Z,1607900835.143 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:07:15.178Z,1607900835.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:15.684Z,1607900835.684 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:07:15.684Z,1607900835.684 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:07:15.685Z,1607900835.685 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:07:16.078Z,1607900836.078 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:07:16.079Z,1607900836.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:16.487Z,1607900836.487 [Micromodem](INFO): Nmea in: $CADRQ,230716,1,9,0,64,1*4F

2020-12-13T23:07:16.488Z,1607900836.488 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,230716,1,9,0,64,1*4F

2020-12-13T23:07:16.898Z,1607900836.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:17.306Z,1607900837.306 [Micromodem](INFO): Nmea in: $SNTTA,0.002152,,,,230717.25*43

2020-12-13T23:07:17.354Z,1607900837.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 258.721774 deg, deltaT: 4.599429 s, approachRate: 0.013045 m/s, LOS rate: -1.776854 deg/s, posRepo size: 4
2020-12-13T23:07:17.356Z,1607900837.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 258.721774 deg,
      approachRate: 0.013045 m/s,
      LOS rate: -1.776854 deg/s,
      cmd update: -5.330561 deg/s,
      cmd heading: 201.852385 deg,
      new cmd heading: 201.908876 deg.

2020-12-13T23:07:19.769Z,1607900839.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:20.559Z,1607900840.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:20.924Z,1607900840.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:21.778Z,1607900841.778 [Micromodem](INFO): Nmea in: $SNTTA,0.002142,,,,230721.73*44

2020-12-13T23:07:21.841Z,1607900841.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 263.579678 deg, deltaT: 4.352973 s, approachRate: 0.000000 m/s, LOS rate: 1.115997 deg/s, posRepo size: 4
2020-12-13T23:07:21.843Z,1607900841.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 263.579678 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.115997 deg/s,
      cmd update: 3.347990 deg/s,
      cmd heading: 178.648755 deg,
      new cmd heading: 176.069269 deg.

2020-12-13T23:07:24.321Z,1607900844.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:24.963Z,1607900844.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:25.381Z,1607900845.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:26.200Z,1607900846.200 [Micromodem](INFO): Nmea in: $SNTTA,0.002149,,,,230726.13*4E

2020-12-13T23:07:26.220Z,1607900846.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 261.429479 deg, deltaT: 4.476958 s, approachRate: 0.000000 m/s, LOS rate: -0.480281 deg/s, posRepo size: 4
2020-12-13T23:07:26.222Z,1607900846.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 261.429479 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.480281 deg/s,
      cmd update: -1.440843 deg/s,
      cmd heading: 193.636824 deg,
      new cmd heading: 194.983921 deg.

2020-12-13T23:07:26.582Z,1607900846.582 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:07:28.386Z,1607900848.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:29.035Z,1607900849.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:29.438Z,1607900849.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:30.270Z,1607900850.270 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,0.039784,,,230730.21*58

2020-12-13T23:07:30.450Z,1607900850.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 257.760575 deg, deltaT: 4.081888 s, approachRate: -0.014699 m/s, LOS rate: -0.898825 deg/s, posRepo size: 4
2020-12-13T23:07:30.452Z,1607900850.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 257.760575 deg,
      approachRate: -0.014699 m/s,
      LOS rate: -0.898825 deg/s,
      cmd update: -2.696476 deg/s,
      cmd heading: 187.755146 deg,
      new cmd heading: 186.963227 deg.

2020-12-13T23:07:32.683Z,1607900852.683 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:07:32.724Z,1607900852.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:33.506Z,1607900853.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:33.873Z,1607900853.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:34.718Z,1607900854.718 [Micromodem](INFO): Nmea in: $SNTTA,0.002131,,,,230734.68*4E

2020-12-13T23:07:34.870Z,1607900854.870 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:07:34.898Z,1607900854.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 264.112787 deg, deltaT: 4.415965 s, approachRate: 0.000000 m/s, LOS rate: 1.438465 deg/s, posRepo size: 4
2020-12-13T23:07:34.900Z,1607900854.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 264.112787 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.438465 deg/s,
      cmd update: 4.315396 deg/s,
      cmd heading: 175.847572 deg,
      new cmd heading: 174.279566 deg.

2020-12-13T23:07:36.915Z,1607900856.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:37.543Z,1607900857.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:37.921Z,1607900857.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:38.834Z,1607900858.834 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,230738.71*4E

2020-12-13T23:07:38.839Z,1607900858.839 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:07:38.861Z,1607900858.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 261.810631 deg, deltaT: 4.049957 s, approachRate: 0.000000 m/s, LOS rate: -0.568440 deg/s, posRepo size: 4
2020-12-13T23:07:38.863Z,1607900858.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 261.810631 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.568440 deg/s,
      cmd update: -1.705319 deg/s,
      cmd heading: 193.237433 deg,
      new cmd heading: 195.462399 deg.

2020-12-13T23:07:41.306Z,1607900861.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:41.959Z,1607900861.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:42.361Z,1607900862.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:43.206Z,1607900863.206 [Micromodem](INFO): Nmea in: $SNTTA,0.002154,,0.023416,,230743.13*5D

2020-12-13T23:07:43.371Z,1607900863.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 262.441058 deg, deltaT: 4.486189 s, approachRate: 0.013374 m/s, LOS rate: 0.140526 deg/s, posRepo size: 4
2020-12-13T23:07:43.373Z,1607900863.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 262.441058 deg,
      approachRate: 0.013374 m/s,
      LOS rate: 0.140526 deg/s,
      cmd update: 0.421578 deg/s,
      cmd heading: 185.559388 deg,
      new cmd heading: 184.667374 deg.

2020-12-13T23:07:45.682Z,1607900865.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:46.012Z,1607900866.012 [Micromodem](INFO): Nmea in: $CAERR,230746,DATA_TIMEOUT,1*4A

2020-12-13T23:07:46.404Z,1607900866.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:46.893Z,1607900866.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:47.654Z,1607900867.654 [Micromodem](INFO): Nmea in: $SNTTA,0.002126,,,,230747.57*40

2020-12-13T23:07:47.878Z,1607900867.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.617882 deg, deltaT: 4.391503 s, approachRate: 0.000000 m/s, LOS rate: 0.951115 deg/s, posRepo size: 4
2020-12-13T23:07:47.880Z,1607900867.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.617882 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.951115 deg/s,
      cmd update: 2.853345 deg/s,
      cmd heading: 187.412442 deg,
      new cmd heading: 187.680018 deg.

2020-12-13T23:07:49.899Z,1607900869.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:50.563Z,1607900870.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:50.899Z,1607900870.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:51.783Z,1607900871.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.222381 deg, deltaT: 4.060607 s, approachRate: 0.000000 m/s, LOS rate: 0.148869 deg/s, posRepo size: 4
2020-12-13T23:07:51.790Z,1607900871.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.222381 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.148869 deg/s,
      cmd update: 0.446607 deg/s,
      cmd heading: 198.998687 deg,
      new cmd heading: 200.366493 deg.

2020-12-13T23:07:52.106Z,1607900872.106 [Micromodem](INFO): Nmea in: $SNTTA,0.002146,,,,230751.73*47

2020-12-13T23:07:53.815Z,1607900873.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:54.547Z,1607900874.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:54.929Z,1607900874.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:07:55.758Z,1607900875.758 [Micromodem](INFO): Nmea in: $SNTTA,0.002140,,,,230755.72*44

2020-12-13T23:07:55.814Z,1607900875.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.654295 deg, deltaT: 4.079095 s, approachRate: 0.000000 m/s, LOS rate: 0.105885 deg/s, posRepo size: 4
2020-12-13T23:07:55.816Z,1607900875.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.654295 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.105885 deg/s,
      cmd update: 0.317654 deg/s,
      cmd heading: 200.820452 deg,
      new cmd heading: 201.012740 deg.

2020-12-13T23:07:56.906Z,1607900876.906 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:07:56.906Z,1607900876.906 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:07:56.906Z,1607900876.906 [DDM](ERROR): Hardware Fault
2020-12-13T23:07:57.093Z,1607900877.093 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:07:57.325Z,1607900877.325 [DDM](INFO): Powering down
2020-12-13T23:07:58.139Z,1607900878.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:07:58.249Z,1607900878.249 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:07:58.249Z,1607900878.249 [DDM] No Fault, FailCount= 1
2020-12-13T23:07:58.935Z,1607900878.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:07:59.337Z,1607900879.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:00.169Z,1607900880.169 [Micromodem](INFO): Nmea in: $SNTTA,0.002142,,,,230800.11*4C

2020-12-13T23:08:00.204Z,1607900880.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 264.406649 deg, deltaT: 4.401196 s, approachRate: 0.000000 m/s, LOS rate: -0.737901 deg/s, posRepo size: 4
2020-12-13T23:08:00.206Z,1607900880.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 264.406649 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.737901 deg/s,
      cmd update: -2.213702 deg/s,
      cmd heading: 202.218509 deg,
      new cmd heading: 202.351847 deg.

2020-12-13T23:08:02.567Z,1607900882.567 [DDM](INFO): Powering up
2020-12-13T23:08:02.568Z,1607900882.568 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:08:02.807Z,1607900882.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:03.373Z,1607900883.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:03.798Z,1607900883.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:04.602Z,1607900884.602 [Micromodem](INFO): Nmea in: $SNTTA,0.002129,,,,230804.54*44

2020-12-13T23:08:04.655Z,1607900884.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.519260 deg, deltaT: 4.437625 s, approachRate: 0.000000 m/s, LOS rate: 0.250722 deg/s, posRepo size: 4
2020-12-13T23:08:04.658Z,1607900884.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.519260 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.250722 deg/s,
      cmd update: 0.752166 deg/s,
      cmd heading: 192.403957 deg,
      new cmd heading: 191.435601 deg.

2020-12-13T23:08:07.182Z,1607900887.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:07.818Z,1607900887.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:08.229Z,1607900888.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:09.046Z,1607900889.046 [Micromodem](INFO): Nmea in: $SNTTA,0.002143,,,,230808.99*45

2020-12-13T23:08:09.206Z,1607900889.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.499890 deg, deltaT: 4.478909 s, approachRate: 0.000000 m/s, LOS rate: -0.004325 deg/s, posRepo size: 4
2020-12-13T23:08:09.208Z,1607900889.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.499890 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.004325 deg/s,
      cmd update: -0.012974 deg/s,
      cmd heading: 195.772835 deg,
      new cmd heading: 196.156045 deg.

2020-12-13T23:08:11.527Z,1607900891.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:12.262Z,1607900892.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:12.677Z,1607900892.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:13.524Z,1607900893.524 [Micromodem](INFO): Nmea in: $SNTTA,0.002144,,,,230813.43*4F

2020-12-13T23:08:13.723Z,1607900893.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 268.015230 deg, deltaT: 4.572209 s, approachRate: 0.013123 m/s, LOS rate: 0.550137 deg/s, posRepo size: 4
2020-12-13T23:08:13.729Z,1607900893.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 268.015230 deg,
      approachRate: 0.013123 m/s,
      LOS rate: 0.550137 deg/s,
      cmd update: 1.650410 deg/s,
      cmd heading: 195.714213 deg,
      new cmd heading: 195.707629 deg.

2020-12-13T23:08:15.962Z,1607900895.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:16.730Z,1607900896.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:17.238Z,1607900897.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:17.966Z,1607900897.966 [Micromodem](INFO): Nmea in: $SNTTA,0.002299,,,,230817.90*46

2020-12-13T23:08:18.013Z,1607900898.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 264.700867 deg, deltaT: 4.335082 s, approachRate: 0.000000 m/s, LOS rate: -0.764544 deg/s, posRepo size: 4
2020-12-13T23:08:18.020Z,1607900898.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 264.700867 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.764544 deg/s,
      cmd update: -2.293633 deg/s,
      cmd heading: 202.957870 deg,
      new cmd heading: 203.631739 deg.

2020-12-13T23:08:18.345Z,1607900898.345 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:08:20.182Z,1607900900.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:20.804Z,1607900900.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:21.218Z,1607900901.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:21.233Z,1607900901.233 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:08:21.775Z,1607900901.775 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:08:21.775Z,1607900901.775 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:08:21.776Z,1607900901.776 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:08:22.066Z,1607900902.066 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:08:22.226Z,1607900902.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.333353 deg, deltaT: 4.252034 s, approachRate: -0.028222 m/s, LOS rate: 0.854294 deg/s, posRepo size: 4
2020-12-13T23:08:22.228Z,1607900902.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.333353 deg,
      approachRate: -0.028222 m/s,
      LOS rate: 0.854294 deg/s,
      cmd update: 2.562881 deg/s,
      cmd heading: 193.195946 deg,
      new cmd heading: 192.357613 deg.

2020-12-13T23:08:22.446Z,1607900902.446 [Micromodem](INFO): Nmea in: $CADRQ,230822,1,9,0,64,1*47

2020-12-13T23:08:22.446Z,1607900902.446 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:08:22.842Z,1607900902.842 [Micromodem](INFO): Nmea in: $SNTTA,0.002138,,,,230821.98*43

2020-12-13T23:08:22.842Z,1607900902.842 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002138,,,,230821.98*43

2020-12-13T23:08:24.049Z,1607900904.049 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:08:24.455Z,1607900904.455 [Micromodem](INFO): Nmea in: $CADRQ,230823,1,9,0,64,2*45

2020-12-13T23:08:24.455Z,1607900904.455 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:08:24.534Z,1607900904.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:24.855Z,1607900904.855 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:08:25.251Z,1607900905.251 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:08:25.252Z,1607900905.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:27.287Z,1607900907.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:27.679Z,1607900907.679 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:08:27.679Z,1607900907.679 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:08:28.101Z,1607900908.101 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230825.600470,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T23:08:28.102Z,1607900908.102 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230825.600470,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T23:08:30.135Z,1607900910.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:33.105Z,1607900913.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:35.786Z,1607900915.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:36.658Z,1607900916.658 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:37.021Z,1607900917.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:37.835Z,1607900917.835 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,,230837.83*44

2020-12-13T23:08:37.913Z,1607900917.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 268.166887 deg, deltaT: 15.603816 s, approachRate: 0.007690 m/s, LOS rate: -0.010668 deg/s, posRepo size: 4
2020-12-13T23:08:37.915Z,1607900917.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 268.166887 deg,
      approachRate: 0.007690 m/s,
      LOS rate: -0.010668 deg/s,
      cmd update: -0.032005 deg/s,
      cmd heading: 233.172833 deg,
      new cmd heading: 234.336896 deg.

2020-12-13T23:08:40.275Z,1607900920.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:41.067Z,1607900921.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:41.494Z,1607900921.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:42.318Z,1607900922.318 [Micromodem](INFO): Nmea in: $SNTTA,0.002160,,,,230842.24*4C

2020-12-13T23:08:42.336Z,1607900922.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.819771 deg, deltaT: 4.462989 s, approachRate: -0.026888 m/s, LOS rate: 0.146289 deg/s, posRepo size: 4
2020-12-13T23:08:42.338Z,1607900922.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.819771 deg,
      approachRate: -0.026888 m/s,
      LOS rate: 0.146289 deg/s,
      cmd update: 0.438866 deg/s,
      cmd heading: 233.029950 deg,
      new cmd heading: 233.016738 deg.

2020-12-13T23:08:44.752Z,1607900924.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:45.551Z,1607900925.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:46.013Z,1607900926.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:46.830Z,1607900926.830 [Micromodem](INFO): Nmea in: $SNTTA,0.002307,,,,230846.72*48

2020-12-13T23:08:46.902Z,1607900926.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 264.958966 deg, deltaT: 4.543463 s, approachRate: 0.066029 m/s, LOS rate: -0.849749 deg/s, posRepo size: 4
2020-12-13T23:08:46.904Z,1607900926.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 264.958966 deg,
      approachRate: 0.066029 m/s,
      LOS rate: -0.849749 deg/s,
      cmd update: -2.549249 deg/s,
      cmd heading: 235.020894 deg,
      new cmd heading: 235.214857 deg.

2020-12-13T23:08:48.467Z,1607900928.467 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:08:48.467Z,1607900928.467 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:08:48.467Z,1607900928.467 [DDM](ERROR): Hardware Fault
2020-12-13T23:08:48.700Z,1607900928.700 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:08:48.862Z,1607900928.862 [DDM](INFO): Powering down
2020-12-13T23:08:48.998Z,1607900928.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:49.670Z,1607900929.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:49.936Z,1607900929.936 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:08:49.936Z,1607900929.936 [DDM] No Fault, FailCount= 1
2020-12-13T23:08:50.081Z,1607900930.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:50.902Z,1607900930.902 [Micromodem](INFO): Nmea in: $SNTTA,0.002159,,0.035197,,230850.84*58

2020-12-13T23:08:50.929Z,1607900930.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.016203 deg, deltaT: 4.094709 s, approachRate: -0.058612 m/s, LOS rate: 0.013978 deg/s, posRepo size: 4
2020-12-13T23:08:50.931Z,1607900930.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.016203 deg,
      approachRate: -0.058612 m/s,
      LOS rate: 0.013978 deg/s,
      cmd update: 0.041935 deg/s,
      cmd heading: 224.555217 deg,
      new cmd heading: 223.627991 deg.

2020-12-13T23:08:53.366Z,1607900933.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:54.110Z,1607900934.110 [DDM](INFO): Powering up
2020-12-13T23:08:54.110Z,1607900934.110 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:08:54.147Z,1607900934.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:54.559Z,1607900934.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:54.581Z,1607900934.581 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:08:55.378Z,1607900935.378 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,230855.32*4D

2020-12-13T23:08:55.447Z,1607900935.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 262.893216 deg, deltaT: 4.412068 s, approachRate: -0.013599 m/s, LOS rate: -0.481177 deg/s, posRepo size: 4
2020-12-13T23:08:55.449Z,1607900935.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 262.893216 deg,
      approachRate: -0.013599 m/s,
      LOS rate: -0.481177 deg/s,
      cmd update: -1.443532 deg/s,
      cmd heading: 224.740244 deg,
      new cmd heading: 224.759922 deg.

2020-12-13T23:08:57.903Z,1607900937.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:08:58.597Z,1607900938.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:08:59.002Z,1607900939.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:08:59.830Z,1607900939.830 [Micromodem](INFO): Nmea in: $SNTTA,0.002134,,,0.026508,230859.77*56

2020-12-13T23:08:59.890Z,1607900939.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 264.415201 deg, deltaT: 4.516741 s, approachRate: 0.013284 m/s, LOS rate: 0.336965 deg/s, posRepo size: 4
2020-12-13T23:08:59.893Z,1607900939.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 264.415201 deg,
      approachRate: 0.013284 m/s,
      LOS rate: 0.336965 deg/s,
      cmd update: 1.010896 deg/s,
      cmd heading: 218.246628 deg,
      new cmd heading: 217.648355 deg.

2020-12-13T23:09:02.258Z,1607900942.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:03.041Z,1607900943.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:03.448Z,1607900943.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:04.278Z,1607900944.278 [Micromodem](INFO): Nmea in: $SNTTA,0.002141,,,,230904.21*49

2020-12-13T23:09:04.331Z,1607900944.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.242659 deg, deltaT: 4.416252 s, approachRate: 0.000000 m/s, LOS rate: 0.413803 deg/s, posRepo size: 4
2020-12-13T23:09:04.333Z,1607900944.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.242659 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.413803 deg/s,
      cmd update: 1.241409 deg/s,
      cmd heading: 222.725505 deg,
      new cmd heading: 223.154680 deg.

2020-12-13T23:09:06.851Z,1607900946.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:07.525Z,1607900947.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:07.891Z,1607900947.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:08.720Z,1607900948.720 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,,230908.70*45

2020-12-13T23:09:08.780Z,1607900948.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 266.365575 deg, deltaT: 4.399024 s, approachRate: 0.013639 m/s, LOS rate: 0.027942 deg/s, posRepo size: 4
2020-12-13T23:09:08.782Z,1607900948.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 266.365575 deg,
      approachRate: 0.013639 m/s,
      LOS rate: 0.027942 deg/s,
      cmd update: 0.083825 deg/s,
      cmd heading: 228.191262 deg,
      new cmd heading: 228.775743 deg.

2020-12-13T23:09:11.304Z,1607900951.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:11.945Z,1607900951.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:12.346Z,1607900952.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:13.171Z,1607900953.171 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,,,,230913.12*48

2020-12-13T23:09:13.335Z,1607900953.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 262.604928 deg, deltaT: 4.519353 s, approachRate: -0.013276 m/s, LOS rate: -0.832121 deg/s, posRepo size: 4
2020-12-13T23:09:13.338Z,1607900953.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 262.604928 deg,
      approachRate: -0.013276 m/s,
      LOS rate: -0.832121 deg/s,
      cmd update: -2.496362 deg/s,
      cmd heading: 228.569767 deg,
      new cmd heading: 228.612589 deg.

2020-12-13T23:09:15.628Z,1607900955.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:16.384Z,1607900956.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:16.789Z,1607900956.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:17.630Z,1607900957.630 [Micromodem](INFO): Nmea in: $SNTTA,0.002158,,,,230917.56*43

2020-12-13T23:09:17.802Z,1607900957.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 266.210038 deg, deltaT: 4.403463 s, approachRate: 0.013626 m/s, LOS rate: 0.818699 deg/s, posRepo size: 4
2020-12-13T23:09:17.804Z,1607900957.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 266.210038 deg,
      approachRate: 0.013626 m/s,
      LOS rate: 0.818699 deg/s,
      cmd update: 2.456097 deg/s,
      cmd heading: 217.567012 deg,
      new cmd heading: 216.145624 deg.

2020-12-13T23:09:19.207Z,1607900959.207 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: à!C REMUe Rev 1.1
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H__WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
, available: 442
2020-12-13T23:09:19.208Z,1607900959.208 [DDM] Communications Fault, FailCount= 2
2020-12-13T23:09:19.208Z,1607900959.208 [DDM](ERROR): Communications Fault
2020-12-13T23:09:19.414Z,1607900959.414 [CBIT](ERROR): Communications Fault in component: DDM
2020-12-13T23:09:19.605Z,1607900959.605 [DDM](INFO): Powering down
2020-12-13T23:09:19.876Z,1607900959.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:20.436Z,1607900960.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:20.660Z,1607900960.660 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:09:20.660Z,1607900960.660 [DDM] No Fault, FailCount= 2
2020-12-13T23:09:20.841Z,1607900960.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:21.678Z,1607900961.678 [Micromodem](INFO): Nmea in: $SNTTA,0.002147,,0.017577,,230921.61*51

2020-12-13T23:09:21.740Z,1607900961.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 267.409283 deg, deltaT: 4.044199 s, approachRate: -0.029672 m/s, LOS rate: 0.296535 deg/s, posRepo size: 4
2020-12-13T23:09:21.746Z,1607900961.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 267.409283 deg,
      approachRate: -0.029672 m/s,
      LOS rate: 0.296535 deg/s,
      cmd update: 0.889604 deg/s,
      cmd heading: 227.490100 deg,
      new cmd heading: 228.638409 deg.

2020-12-13T23:09:24.230Z,1607900964.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:24.873Z,1607900964.873 [DDM](INFO): Powering up
2020-12-13T23:09:24.873Z,1607900964.873 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:09:24.895Z,1607900964.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:25.297Z,1607900965.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:26.114Z,1607900966.114 [Micromodem](INFO): Nmea in: $SNTTA,0.002162,,,,230926.06*4D

2020-12-13T23:09:26.291Z,1607900966.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 262.071299 deg, deltaT: 4.495933 s, approachRate: 0.013345 m/s, LOS rate: -1.187292 deg/s, posRepo size: 4
2020-12-13T23:09:26.293Z,1607900966.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 262.071299 deg,
      approachRate: 0.013345 m/s,
      LOS rate: -1.187292 deg/s,
      cmd update: -3.561875 deg/s,
      cmd heading: 231.475498 deg,
      new cmd heading: 231.954918 deg.

2020-12-13T23:09:26.913Z,1607900966.913 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:09:27.451Z,1607900967.451 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:09:27.451Z,1607900967.451 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:09:27.451Z,1607900967.451 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:09:27.766Z,1607900967.766 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:09:28.154Z,1607900968.154 [Micromodem](INFO): Nmea in: $CADRQ,230928,1,9,0,64,1*4C

2020-12-13T23:09:28.154Z,1607900968.154 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:09:28.279Z,1607900968.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:28.551Z,1607900968.551 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:09:28.955Z,1607900968.955 [Micromodem](INFO): Nmea in: $CADRQ,230929,1,9,0,64,2*4E

2020-12-13T23:09:28.955Z,1607900968.955 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:09:29.355Z,1607900969.355 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:09:29.355Z,1607900969.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:29.775Z,1607900969.775 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:09:29.775Z,1607900969.775 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T23:09:30.781Z,1607900970.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:32.187Z,1607900972.187 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:09:32.187Z,1607900972.187 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:09:32.586Z,1607900972.586 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,230930.100291,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T23:09:32.586Z,1607900972.586 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,230930.100291,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T23:09:33.437Z,1607900973.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:36.257Z,1607900976.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:39.226Z,1607900979.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:40.674Z,1607900980.674 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:09:40.794Z,1607900980.794 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:41.105Z,1607900981.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:41.943Z,1607900981.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.300825 deg, deltaT: 15.881200 s, approachRate: 0.000000 m/s, LOS rate: 0.266323 deg/s, posRepo size: 4
2020-12-13T23:09:41.946Z,1607900981.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.300825 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.266323 deg/s,
      cmd update: 0.798969 deg/s,
      cmd heading: 174.837605 deg,
      new cmd heading: 173.805302 deg.

2020-12-13T23:09:42.346Z,1607900982.346 [Micromodem](INFO): Nmea in: $SNTTA,0.002167,,,,230941.96*40

2020-12-13T23:09:42.743Z,1607900982.743 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:09:44.536Z,1607900984.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:45.257Z,1607900985.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:45.681Z,1607900985.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:46.520Z,1607900986.520 [Micromodem](INFO): Nmea in: $SNTTA,0.002147,,0.017778,,230946.43*5D

2020-12-13T23:09:46.568Z,1607900986.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 270.852681 deg, deltaT: 4.432611 s, approachRate: -0.013536 m/s, LOS rate: 1.026902 deg/s, posRepo size: 4
2020-12-13T23:09:46.571Z,1607900986.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 270.852681 deg,
      approachRate: -0.013536 m/s,
      LOS rate: 1.026902 deg/s,
      cmd update: 3.080706 deg/s,
      cmd heading: 178.379058 deg,
      new cmd heading: 178.764410 deg.

2020-12-13T23:09:48.639Z,1607900988.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:49.315Z,1607900989.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:49.705Z,1607900989.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:50.578Z,1607900990.578 [Micromodem](INFO): Nmea in: $SNTTA,0.002170,,,,230950.49*44

2020-12-13T23:09:50.612Z,1607900990.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 270.034398 deg, deltaT: 4.196972 s, approachRate: 0.014296 m/s, LOS rate: -0.194970 deg/s, posRepo size: 4
2020-12-13T23:09:50.614Z,1607900990.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 270.034398 deg,
      approachRate: 0.014296 m/s,
      LOS rate: -0.194970 deg/s,
      cmd update: -0.584910 deg/s,
      cmd heading: 191.309053 deg,
      new cmd heading: 192.322396 deg.

2020-12-13T23:09:50.619Z,1607900990.619 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T22:59:50.6Z
2020-12-13T23:09:50.619Z,1607900990.619 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T23:09:50.619Z,1607900990.619 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:09:50.619Z,1607900990.619 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T23:09:50.619Z,1607900990.619 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:09:50.619Z,1607900990.619 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T23:09:50.970Z,1607900990.970 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:09:50.970Z,1607900990.970 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T23:09:50.970Z,1607900990.970 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T23:09:50.970Z,1607900990.970 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:09:50.971Z,1607900990.971 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T23:09:53.150Z,1607900993.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:53.751Z,1607900993.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:54.165Z,1607900994.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:54.998Z,1607900994.998 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,,,230954.92*41

2020-12-13T23:09:55.018Z,1607900995.018 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T23:09:55.018Z,1607900995.018 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:09:55.018Z,1607900995.018 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T23:09:55.018Z,1607900995.018 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:09:55.018Z,1607900995.018 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T23:09:55.019Z,1607900995.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.240000 m 
2020-12-13T23:09:55.019Z,1607900995.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T23:09:55.019Z,1607900995.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T23:09:55.019Z,1607900995.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T23:09:55.022Z,1607900995.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 268.504572 deg, deltaT: 4.342887 s, approachRate: 0.000000 m/s, LOS rate: -0.352260 deg/s, posRepo size: 4
2020-12-13T23:09:55.024Z,1607900995.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 268.504572 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.352260 deg/s,
      cmd update: -1.056780 deg/s,
      cmd heading: 188.778355 deg,
      new cmd heading: 188.537553 deg.

2020-12-13T23:09:55.395Z,1607900995.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T230955: (41.552319, -70.708603)
2020-12-13T23:09:55.395Z,1607900995.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T23:09:55.395Z,1607900995.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T23:09:55.395Z,1607900995.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:09:55.395Z,1607900995.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T23:09:55.396Z,1607900995.396 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:09:55.396Z,1607900995.396 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T23:09:55.396Z,1607900995.396 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T23:09:55.396Z,1607900995.396 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:09:57.640Z,1607900997.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:09:58.203Z,1607900998.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:09:58.613Z,1607900998.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:09:59.474Z,1607900999.474 [Micromodem](INFO): Nmea in: $SNTTA,0.002148,,,,230959.38*40

2020-12-13T23:09:59.694Z,1607900999.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 264.696577 deg, deltaT: 4.434120 s, approachRate: 0.000000 m/s, LOS rate: -0.858794 deg/s, posRepo size: 4
2020-12-13T23:09:59.696Z,1607900999.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 264.696577 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.858794 deg/s,
      cmd update: -2.576381 deg/s,
      cmd heading: 184.075340 deg,
      new cmd heading: 183.406058 deg.

2020-12-13T23:10:01.567Z,1607901001.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:02.291Z,1607901002.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:02.697Z,1607901002.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:03.546Z,1607901003.546 [Micromodem](INFO): Nmea in: $SNTTA,0.002149,,,0.007141,231003.46*52

2020-12-13T23:10:03.623Z,1607901003.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.349380 deg, deltaT: 4.078705 s, approachRate: 0.000000 m/s, LOS rate: 0.160051 deg/s, posRepo size: 4
2020-12-13T23:10:03.630Z,1607901003.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.349380 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.160051 deg/s,
      cmd update: 0.480154 deg/s,
      cmd heading: 173.577443 deg,
      new cmd heading: 172.320498 deg.

2020-12-13T23:10:06.078Z,1607901006.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:06.735Z,1607901006.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:07.133Z,1607901007.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:07.986Z,1607901007.986 [Micromodem](INFO): Nmea in: $SNTTA,0.002159,,0.013115,,231007.91*59

2020-12-13T23:10:08.009Z,1607901008.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 264.025962 deg, deltaT: 4.469903 s, approachRate: 0.000000 m/s, LOS rate: -0.296073 deg/s, posRepo size: 4
2020-12-13T23:10:08.011Z,1607901008.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 264.025962 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.296073 deg/s,
      cmd update: -0.888219 deg/s,
      cmd heading: 175.725630 deg,
      new cmd heading: 175.917563 deg.

2020-12-13T23:10:10.607Z,1607901010.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:11.155Z,1607901011.155 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:10:11.155Z,1607901011.155 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:10:11.155Z,1607901011.155 [DDM](ERROR): Hardware Fault
2020-12-13T23:10:11.163Z,1607901011.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:11.385Z,1607901011.385 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:10:11.558Z,1607901011.558 [DDM](INFO): Powering down
2020-12-13T23:10:11.637Z,1607901011.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:12.390Z,1607901012.390 [Micromodem](INFO): Nmea in: $SNTTA,0.002140,,,,231012.33*44

2020-12-13T23:10:12.654Z,1607901012.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 269.138714 deg, deltaT: 4.404320 s, approachRate: -0.013623 m/s, LOS rate: 1.160849 deg/s, posRepo size: 4
2020-12-13T23:10:12.656Z,1607901012.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 269.138714 deg,
      approachRate: -0.013623 m/s,
      LOS rate: 1.160849 deg/s,
      cmd update: 3.482548 deg/s,
      cmd heading: 171.813636 deg,
      new cmd heading: 171.244451 deg.

2020-12-13T23:10:12.765Z,1607901012.765 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:10:12.765Z,1607901012.765 [DDM] No Fault, FailCount= 1
2020-12-13T23:10:14.844Z,1607901014.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:15.611Z,1607901015.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:16.015Z,1607901016.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:16.825Z,1607901016.825 [DDM](INFO): Powering up
2020-12-13T23:10:16.825Z,1607901016.825 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:10:16.870Z,1607901016.870 [Micromodem](INFO): Nmea in: $SNTTA,0.002308,,,,231016.78*41

2020-12-13T23:10:17.046Z,1607901017.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 268.303409 deg, deltaT: 4.463985 s, approachRate: 0.067204 m/s, LOS rate: -0.187121 deg/s, posRepo size: 4
2020-12-13T23:10:17.048Z,1607901017.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 268.303409 deg,
      approachRate: 0.067204 m/s,
      LOS rate: -0.187121 deg/s,
      cmd update: -0.561363 deg/s,
      cmd heading: 187.320573 deg,
      new cmd heading: 189.342746 deg.

2020-12-13T23:10:19.056Z,1607901019.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:19.655Z,1607901019.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:20.067Z,1607901020.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:20.882Z,1607901020.882 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,,,,231020.82*49

2020-12-13T23:10:20.934Z,1607901020.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 267.020727 deg, deltaT: 4.048967 s, approachRate: -0.044455 m/s, LOS rate: -0.316792 deg/s, posRepo size: 4
2020-12-13T23:10:20.936Z,1607901020.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 267.020727 deg,
      approachRate: -0.044455 m/s,
      LOS rate: -0.316792 deg/s,
      cmd update: -0.950377 deg/s,
      cmd heading: 185.066662 deg,
      new cmd heading: 184.812116 deg.

2020-12-13T23:10:23.061Z,1607901023.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:23.690Z,1607901023.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:24.095Z,1607901024.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:24.938Z,1607901024.938 [Micromodem](INFO): Nmea in: $SNTTA,0.002323,,,,231024.86*48

2020-12-13T23:10:25.116Z,1607901025.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 268.242538 deg, deltaT: 4.070608 s, approachRate: 0.073699 m/s, LOS rate: 0.300155 deg/s, posRepo size: 4
2020-12-13T23:10:25.118Z,1607901025.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.599999 m,
      bearing: 268.242538 deg,
      approachRate: 0.073699 m/s,
      LOS rate: 0.300155 deg/s,
      cmd update: 0.900464 deg/s,
      cmd heading: 181.174170 deg,
      new cmd heading: 180.661618 deg.

2020-12-13T23:10:27.341Z,1607901027.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:28.139Z,1607901028.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:28.545Z,1607901028.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:29.366Z,1607901029.366 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,,,,231029.31*48

2020-12-13T23:10:29.622Z,1607901029.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 268.454793 deg, deltaT: 4.411179 s, approachRate: -0.081611 m/s, LOS rate: 0.048118 deg/s, posRepo size: 4
2020-12-13T23:10:29.624Z,1607901029.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 268.454793 deg,
      approachRate: -0.081611 m/s,
      LOS rate: 0.048118 deg/s,
      cmd update: 0.144353 deg/s,
      cmd heading: 185.164314 deg,
      new cmd heading: 185.717048 deg.

2020-12-13T23:10:31.628Z,1607901031.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:32.172Z,1607901032.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:32.571Z,1607901032.571 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:10:32.703Z,1607901032.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:32.717Z,1607901032.717 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:10:33.144Z,1607901033.144 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:10:33.144Z,1607901033.144 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:10:33.145Z,1607901033.145 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:10:33.454Z,1607901033.454 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:10:33.538Z,1607901033.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 271.914749 deg, deltaT: 4.200459 s, approachRate: 0.071421 m/s, LOS rate: 0.823709 deg/s, posRepo size: 4
2020-12-13T23:10:33.540Z,1607901033.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 271.914749 deg,
      approachRate: 0.071421 m/s,
      LOS rate: 0.823709 deg/s,
      cmd update: 2.471127 deg/s,
      cmd heading: 185.770655 deg,
      new cmd heading: 185.817507 deg.

2020-12-13T23:10:33.842Z,1607901033.842 [Micromodem](INFO): Nmea in: $CADRQ,231034,1,9,0,64,1*49

2020-12-13T23:10:33.842Z,1607901033.842 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:10:34.239Z,1607901034.239 [Micromodem](INFO): Nmea in: $SNTTA,0.002317,0.019216,,,231033.34*53

2020-12-13T23:10:34.239Z,1607901034.239 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002317,0.019216,,,231033.34*53

2020-12-13T23:10:35.451Z,1607901035.451 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:10:35.839Z,1607901035.839 [Micromodem](INFO): Nmea in: $CADRQ,231035,1,9,0,64,2*4B

2020-12-13T23:10:35.839Z,1607901035.839 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:10:36.047Z,1607901036.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:36.249Z,1607901036.249 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:10:36.643Z,1607901036.643 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:10:36.643Z,1607901036.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:38.749Z,1607901038.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:39.078Z,1607901039.078 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:10:39.079Z,1607901039.079 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:10:39.483Z,1607901039.483 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,231036.981511,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T23:10:39.484Z,1607901039.484 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,231036.981511,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7D

2020-12-13T23:10:41.571Z,1607901041.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:43.586Z,1607901043.586 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T23:10:44.542Z,1607901044.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:47.239Z,1607901047.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:47.954Z,1607901047.954 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:48.362Z,1607901048.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:48.948Z,1607901048.948 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:10:49.194Z,1607901049.194 [Micromodem](INFO): Nmea in: $SNTTA,0.002159,,,,231049.13*40

2020-12-13T23:10:49.227Z,1607901049.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.474585 deg, deltaT: 15.767469 s, approachRate: -0.019026 m/s, LOS rate: -0.345025 deg/s, posRepo size: 4
2020-12-13T23:10:49.229Z,1607901049.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.474585 deg,
      approachRate: -0.019026 m/s,
      LOS rate: -0.345025 deg/s,
      cmd update: -1.035074 deg/s,
      cmd heading: 224.734018 deg,
      new cmd heading: 225.355276 deg.

2020-12-13T23:10:51.650Z,1607901051.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:52.403Z,1607901052.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:52.881Z,1607901052.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:53.662Z,1607901053.662 [Micromodem](INFO): Nmea in: $SNTTA,0.002139,,,,231053.57*4D

2020-12-13T23:10:53.696Z,1607901053.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.029497 deg, deltaT: 4.252183 s, approachRate: 0.000000 m/s, LOS rate: 0.130500 deg/s, posRepo size: 4
2020-12-13T23:10:53.698Z,1607901053.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.029497 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.130500 deg/s,
      cmd update: 0.391501 deg/s,
      cmd heading: 220.332674 deg,
      new cmd heading: 219.848150 deg.

2020-12-13T23:10:56.050Z,1607901056.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:10:56.848Z,1607901056.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:10:57.249Z,1607901057.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:10:58.090Z,1607901058.090 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,,231058.02*4D

2020-12-13T23:10:58.112Z,1607901058.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.262346 deg, deltaT: 4.478087 s, approachRate: -0.013399 m/s, LOS rate: 0.275307 deg/s, posRepo size: 4
2020-12-13T23:10:58.114Z,1607901058.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.262346 deg,
      approachRate: -0.013399 m/s,
      LOS rate: 0.275307 deg/s,
      cmd update: 0.825921 deg/s,
      cmd heading: 222.085768 deg,
      new cmd heading: 222.244843 deg.

2020-12-13T23:11:00.571Z,1607901060.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:01.287Z,1607901061.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:01.705Z,1607901061.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:02.626Z,1607901062.626 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,231102.46*44

2020-12-13T23:11:02.683Z,1607901062.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 269.273706 deg, deltaT: 4.432865 s, approachRate: 0.013535 m/s, LOS rate: 0.228150 deg/s, posRepo size: 4
2020-12-13T23:11:02.705Z,1607901062.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 269.273706 deg,
      approachRate: 0.013535 m/s,
      LOS rate: 0.228150 deg/s,
      cmd update: 0.684451 deg/s,
      cmd heading: 225.743401 deg,
      new cmd heading: 226.196658 deg.

2020-12-13T23:11:02.865Z,1607901062.865 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:11:02.865Z,1607901062.865 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:11:02.866Z,1607901062.866 [DDM](ERROR): Hardware Fault
2020-12-13T23:11:03.057Z,1607901063.057 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:11:03.266Z,1607901063.266 [DDM](INFO): Powering down
2020-12-13T23:11:04.260Z,1607901064.260 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:11:04.260Z,1607901064.260 [DDM] No Fault, FailCount= 1
2020-12-13T23:11:04.930Z,1607901064.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:05.699Z,1607901065.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:06.107Z,1607901066.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:06.926Z,1607901066.926 [Micromodem](INFO): Nmea in: $SNTTA,0.002302,,,,231106.87*4B

2020-12-13T23:11:06.963Z,1607901066.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 274.835392 deg, deltaT: 4.454332 s, approachRate: 0.053880 m/s, LOS rate: 1.248602 deg/s, posRepo size: 4
2020-12-13T23:11:06.965Z,1607901066.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 274.835392 deg,
      approachRate: 0.053880 m/s,
      LOS rate: 1.248602 deg/s,
      cmd update: 3.745805 deg/s,
      cmd heading: 228.794823 deg,
      new cmd heading: 229.048162 deg.

2020-12-13T23:11:08.748Z,1607901068.748 [DDM](INFO): Powering up
2020-12-13T23:11:08.749Z,1607901068.749 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:11:09.155Z,1607901069.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:09.955Z,1607901069.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:10.366Z,1607901070.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:11.186Z,1607901071.186 [Micromodem](INFO): Nmea in: $SNTTA,0.002169,,,,231111.12*4E

2020-12-13T23:11:11.220Z,1607901071.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 271.580015 deg, deltaT: 4.210273 s, approachRate: -0.057003 m/s, LOS rate: -0.773199 deg/s, posRepo size: 4
2020-12-13T23:11:11.222Z,1607901071.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 271.580015 deg,
      approachRate: -0.057003 m/s,
      LOS rate: -0.773199 deg/s,
      cmd update: -2.319596 deg/s,
      cmd heading: 244.553197 deg,
      new cmd heading: 246.129458 deg.

2020-12-13T23:11:13.629Z,1607901073.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:14.399Z,1607901074.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:14.826Z,1607901074.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:15.633Z,1607901075.633 [Micromodem](INFO): Nmea in: $SNTTA,0.002125,,,,231115.57*43

2020-12-13T23:11:15.667Z,1607901075.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 277.787919 deg, deltaT: 4.432014 s, approachRate: 0.013538 m/s, LOS rate: 1.400696 deg/s, posRepo size: 4
2020-12-13T23:11:15.669Z,1607901075.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 277.787919 deg,
      approachRate: 0.013538 m/s,
      LOS rate: 1.400696 deg/s,
      cmd update: 4.202088 deg/s,
      cmd heading: 234.263560 deg,
      new cmd heading: 233.262580 deg.

2020-12-13T23:11:18.101Z,1607901078.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:18.859Z,1607901078.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:19.265Z,1607901079.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:20.087Z,1607901080.087 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,,,231120.03*43

2020-12-13T23:11:20.143Z,1607901080.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 270.752879 deg, deltaT: 4.468177 s, approachRate: -0.013428 m/s, LOS rate: -1.574477 deg/s, posRepo size: 4
2020-12-13T23:11:20.149Z,1607901080.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 270.752879 deg,
      approachRate: -0.013428 m/s,
      LOS rate: -1.574477 deg/s,
      cmd update: -4.723430 deg/s,
      cmd heading: 252.972324 deg,
      new cmd heading: 254.886737 deg.

2020-12-13T23:11:22.588Z,1607901082.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:23.296Z,1607901083.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:23.773Z,1607901083.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:24.143Z,1607901084.143 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:11:24.606Z,1607901084.606 [Micromodem](INFO): Nmea in: $SNTTA,0.002127,,0.009902,,231124.47*5E

2020-12-13T23:11:24.677Z,1607901084.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 271.167936 deg, deltaT: 4.603131 s, approachRate: 0.000000 m/s, LOS rate: 0.090168 deg/s, posRepo size: 4
2020-12-13T23:11:24.679Z,1607901084.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 271.167936 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.090168 deg/s,
      cmd update: 0.270505 deg/s,
      cmd heading: 231.170935 deg,
      new cmd heading: 229.405738 deg.

2020-12-13T23:11:27.023Z,1607901087.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:27.815Z,1607901087.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:28.249Z,1607901088.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:29.078Z,1607901089.078 [Micromodem](INFO): Nmea in: $SNTTA,0.002175,,,,231128.98*4B

2020-12-13T23:11:29.132Z,1607901089.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 270.342576 deg, deltaT: 4.400525 s, approachRate: 0.000000 m/s, LOS rate: -0.187559 deg/s, posRepo size: 4
2020-12-13T23:11:29.134Z,1607901089.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 270.342576 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.187559 deg/s,
      cmd update: -0.562678 deg/s,
      cmd heading: 232.362261 deg,
      new cmd heading: 232.477098 deg.

2020-12-13T23:11:31.573Z,1607901091.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:32.287Z,1607901092.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:32.701Z,1607901092.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:33.542Z,1607901093.542 [Micromodem](INFO): Nmea in: $SNTTA,0.002157,,,,231133.46*42

2020-12-13T23:11:33.576Z,1607901093.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 272.590090 deg, deltaT: 4.402623 s, approachRate: 0.000000 m/s, LOS rate: 0.510494 deg/s, posRepo size: 4
2020-12-13T23:11:33.578Z,1607901093.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 272.590090 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.510494 deg/s,
      cmd update: 1.531483 deg/s,
      cmd heading: 229.885138 deg,
      new cmd heading: 229.622602 deg.

2020-12-13T23:11:35.604Z,1607901095.604 [DDM](ERROR): Could not parse latch state
2020-12-13T23:11:35.687Z,1607901095.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:36.331Z,1607901096.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:36.590Z,1607901096.590 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:11:36.777Z,1607901096.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:37.594Z,1607901097.594 [Micromodem](INFO): Nmea in: $SNTTA,0.002150,,,,231137.50*46

2020-12-13T23:11:37.665Z,1607901097.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 269.586146 deg, deltaT: 4.072074 s, approachRate: 0.000000 m/s, LOS rate: -0.737694 deg/s, posRepo size: 4
2020-12-13T23:11:37.667Z,1607901097.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 269.586146 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.737694 deg/s,
      cmd update: -2.213082 deg/s,
      cmd heading: 236.121498 deg,
      new cmd heading: 236.861614 deg.

2020-12-13T23:11:38.398Z,1607901098.398 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:11:38.961Z,1607901098.961 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:11:38.962Z,1607901098.962 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:11:38.962Z,1607901098.962 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:11:39.230Z,1607901099.230 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:11:39.630Z,1607901099.630 [Micromodem](INFO): Nmea in: $CADRQ,231140,1,9,0,64,1*4B

2020-12-13T23:11:39.630Z,1607901099.630 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:11:39.771Z,1607901099.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:40.028Z,1607901100.028 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:11:40.433Z,1607901100.433 [Micromodem](INFO): Nmea in: $CADRQ,231140,1,9,0,64,2*48

2020-12-13T23:11:40.433Z,1607901100.433 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:11:40.827Z,1607901100.827 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:11:40.827Z,1607901100.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:41.234Z,1607901101.234 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:11:41.235Z,1607901101.235 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T23:11:42.537Z,1607901102.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:43.647Z,1607901103.647 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:11:43.647Z,1607901103.647 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:11:44.068Z,1607901104.068 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,231141.577200,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T23:11:44.068Z,1607901104.068 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,231141.577200,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7E

2020-12-13T23:11:45.299Z,1607901105.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:48.119Z,1607901108.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:50.626Z,1607901110.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:52.130Z,1607901112.130 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:52.569Z,1607901112.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:53.382Z,1607901113.382 [Micromodem](INFO): Nmea in: $SNTTA,0.002133,,,,231153.30*47

2020-12-13T23:11:53.442Z,1607901113.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 270.023442 deg, deltaT: 15.796738 s, approachRate: 0.003798 m/s, LOS rate: 0.027683 deg/s, posRepo size: 4
2020-12-13T23:11:53.444Z,1607901113.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 270.023442 deg,
      approachRate: 0.003798 m/s,
      LOS rate: 0.027683 deg/s,
      cmd update: 0.083048 deg/s,
      cmd heading: 201.167349 deg,
      new cmd heading: 200.137571 deg.

2020-12-13T23:11:54.537Z,1607901114.537 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:11:54.537Z,1607901114.537 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:11:54.537Z,1607901114.537 [DDM](ERROR): Hardware Fault
2020-12-13T23:11:54.730Z,1607901114.730 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:11:54.926Z,1607901114.926 [DDM](INFO): Powering down
2020-12-13T23:11:55.919Z,1607901115.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:11:56.040Z,1607901116.040 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:11:56.041Z,1607901116.041 [DDM] No Fault, FailCount= 1
2020-12-13T23:11:56.546Z,1607901116.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:11:56.953Z,1607901116.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:11:57.777Z,1607901117.777 [Micromodem](INFO): Nmea in: $SNTTA,0.002162,,,,231157.72*41

2020-12-13T23:11:57.811Z,1607901117.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.951813 deg, deltaT: 4.397611 s, approachRate: -0.027288 m/s, LOS rate: -0.243684 deg/s, posRepo size: 4
2020-12-13T23:11:57.813Z,1607901117.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.951813 deg,
      approachRate: -0.027288 m/s,
      LOS rate: -0.243684 deg/s,
      cmd update: -0.731053 deg/s,
      cmd heading: 201.532779 deg,
      new cmd heading: 201.568846 deg.

2020-12-13T23:12:00.179Z,1607901120.179 [DDM](INFO): Powering up
2020-12-13T23:12:00.179Z,1607901120.179 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:12:00.364Z,1607901120.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:00.997Z,1607901120.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:01.395Z,1607901121.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:02.226Z,1607901122.226 [Micromodem](INFO): Nmea in: $SNTTA,0.002143,,,,231202.17*42

2020-12-13T23:12:02.388Z,1607901122.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 272.527936 deg, deltaT: 4.480980 s, approachRate: 0.013390 m/s, LOS rate: 0.798067 deg/s, posRepo size: 4
2020-12-13T23:12:02.390Z,1607901122.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 272.527936 deg,
      approachRate: 0.013390 m/s,
      LOS rate: 0.798067 deg/s,
      cmd update: 2.394202 deg/s,
      cmd heading: 198.256978 deg,
      new cmd heading: 197.868801 deg.

2020-12-13T23:12:04.704Z,1607901124.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:05.441Z,1607901125.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:05.857Z,1607901125.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:06.670Z,1607901126.670 [Micromodem](INFO): Nmea in: $SNTTA,0.002118,,,,231206.61*49

2020-12-13T23:12:06.881Z,1607901126.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 271.704652 deg, deltaT: 4.418912 s, approachRate: 0.000000 m/s, LOS rate: -0.186309 deg/s, posRepo size: 4
2020-12-13T23:12:06.883Z,1607901126.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 271.704652 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.186309 deg/s,
      cmd update: -0.558927 deg/s,
      cmd heading: 208.836464 deg,
      new cmd heading: 210.284127 deg.

2020-12-13T23:12:08.854Z,1607901128.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:09.495Z,1607901129.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:09.879Z,1607901129.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:10.718Z,1607901130.718 [Micromodem](INFO): Nmea in: $SNTTA,0.002156,,,,231210.67*42

2020-12-13T23:12:10.765Z,1607901130.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 265.451149 deg, deltaT: 4.020176 s, approachRate: 0.000000 m/s, LOS rate: -1.555530 deg/s, posRepo size: 4
2020-12-13T23:12:10.767Z,1607901130.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 265.451149 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.555530 deg/s,
      cmd update: -4.666589 deg/s,
      cmd heading: 206.589393 deg,
      new cmd heading: 206.327361 deg.

2020-12-13T23:12:13.294Z,1607901133.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:13.918Z,1607901133.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:14.341Z,1607901134.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:15.162Z,1607901135.162 [Micromodem](INFO): Nmea in: $SNTTA,0.002140,,,,231215.09*48

2020-12-13T23:12:15.351Z,1607901135.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.597796 deg, deltaT: 4.477933 s, approachRate: 0.000000 m/s, LOS rate: 0.479383 deg/s, posRepo size: 4
2020-12-13T23:12:15.370Z,1607901135.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.597796 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.479383 deg/s,
      cmd update: 1.438150 deg/s,
      cmd heading: 185.692674 deg,
      new cmd heading: 182.999464 deg.

2020-12-13T23:12:15.942Z,1607901135.942 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:12:17.635Z,1607901137.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:18.391Z,1607901138.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:18.802Z,1607901138.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:19.642Z,1607901139.642 [Micromodem](INFO): Nmea in: $SNTTA,0.002178,,0.131759,,231219.56*53

2020-12-13T23:12:19.817Z,1607901139.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.360000 m, bearing: 266.692003 deg, deltaT: 4.472916 s, approachRate: 0.026828 m/s, LOS rate: -0.202506 deg/s, posRepo size: 4
2020-12-13T23:12:19.819Z,1607901139.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 266.692003 deg,
      approachRate: 0.026828 m/s,
      LOS rate: -0.202506 deg/s,
      cmd update: -0.607518 deg/s,
      cmd heading: 192.125394 deg,
      new cmd heading: 192.944439 deg.

2020-12-13T23:12:21.823Z,1607901141.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:22.429Z,1607901142.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:22.857Z,1607901142.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:23.687Z,1607901143.687 [Micromodem](INFO): Nmea in: $SNTTA,0.002162,,,,231223.60*42

2020-12-13T23:12:23.721Z,1607901143.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 265.686354 deg, deltaT: 4.030858 s, approachRate: -0.014885 m/s, LOS rate: -0.249488 deg/s, posRepo size: 4
2020-12-13T23:12:23.724Z,1607901143.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 265.686354 deg,
      approachRate: -0.014885 m/s,
      LOS rate: -0.249488 deg/s,
      cmd update: -0.748463 deg/s,
      cmd heading: 189.686523 deg,
      new cmd heading: 189.407302 deg.

2020-12-13T23:12:26.230Z,1607901146.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:26.875Z,1607901146.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:27.290Z,1607901147.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:28.138Z,1607901148.138 [Micromodem](INFO): Nmea in: $SNTTA,0.002165,,,,231228.04*4C

2020-12-13T23:12:28.300Z,1607901148.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 265.549258 deg, deltaT: 4.461081 s, approachRate: 0.000000 m/s, LOS rate: -0.030731 deg/s, posRepo size: 4
2020-12-13T23:12:28.302Z,1607901148.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 265.549258 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.030731 deg/s,
      cmd update: -0.092194 deg/s,
      cmd heading: 186.335356 deg,
      new cmd heading: 185.915437 deg.

2020-12-13T23:12:30.578Z,1607901150.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:31.323Z,1607901151.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:31.726Z,1607901151.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:32.586Z,1607901152.586 [Micromodem](INFO): Nmea in: $SNTTA,0.002133,,0.021257,,231232.49*50

2020-12-13T23:12:32.758Z,1607901152.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.186897 deg, deltaT: 4.432799 s, approachRate: -0.013536 m/s, LOS rate: 0.143846 deg/s, posRepo size: 4
2020-12-13T23:12:32.760Z,1607901152.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.186897 deg,
      approachRate: -0.013536 m/s,
      LOS rate: 0.143846 deg/s,
      cmd update: 0.431537 deg/s,
      cmd heading: 185.926672 deg,
      new cmd heading: 185.872640 deg.

2020-12-13T23:12:34.752Z,1607901154.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:35.351Z,1607901155.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:35.770Z,1607901155.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:36.602Z,1607901156.602 [Micromodem](INFO): Nmea in: $SNTTA,0.002148,,0.032260,,231236.52*54

2020-12-13T23:12:36.636Z,1607901156.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 264.826105 deg, deltaT: 4.026158 s, approachRate: -0.014903 m/s, LOS rate: -0.337988 deg/s, posRepo size: 4
2020-12-13T23:12:36.638Z,1607901156.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 264.826105 deg,
      approachRate: -0.014903 m/s,
      LOS rate: -0.337988 deg/s,
      cmd update: -1.013963 deg/s,
      cmd heading: 187.662387 deg,
      new cmd heading: 187.853165 deg.

2020-12-13T23:12:39.166Z,1607901159.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:39.807Z,1607901159.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:40.205Z,1607901160.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:41.050Z,1607901161.050 [Micromodem](INFO): Nmea in: $SNTTA,0.002153,,,,231240.98*42

2020-12-13T23:12:41.221Z,1607901161.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.164057 deg, deltaT: 4.464995 s, approachRate: 0.013438 m/s, LOS rate: 0.299654 deg/s, posRepo size: 4
2020-12-13T23:12:41.223Z,1607901161.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.164057 deg,
      approachRate: 0.013438 m/s,
      LOS rate: 0.299654 deg/s,
      cmd update: 0.898961 deg/s,
      cmd heading: 183.131030 deg,
      new cmd heading: 182.565727 deg.

2020-12-13T23:12:43.481Z,1607901163.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:44.243Z,1607901164.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:44.661Z,1607901164.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:12:44.673Z,1607901164.673 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:12:45.203Z,1607901165.203 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:12:45.204Z,1607901165.204 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:12:45.204Z,1607901165.204 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:12:45.522Z,1607901165.522 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:12:45.717Z,1607901165.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.762125 deg, deltaT: 4.620472 s, approachRate: -0.012986 m/s, LOS rate: 0.562295 deg/s, posRepo size: 4
2020-12-13T23:12:45.719Z,1607901165.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.762125 deg,
      approachRate: -0.012986 m/s,
      LOS rate: 0.562295 deg/s,
      cmd update: 1.686884 deg/s,
      cmd heading: 187.274480 deg,
      new cmd heading: 187.660060 deg.

2020-12-13T23:12:45.902Z,1607901165.902 [Micromodem](INFO): Nmea in: $CADRQ,231246,1,9,0,64,1*4E

2020-12-13T23:12:45.902Z,1607901165.902 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:12:46.258Z,1607901166.258 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:12:46.258Z,1607901166.258 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:12:46.258Z,1607901166.258 [DDM](ERROR): Hardware Fault
2020-12-13T23:12:46.274Z,1607901166.274 [Micromodem](INFO): Nmea in: $SNTTA,0.002136,,0.023466,,231245.41*5B

2020-12-13T23:12:46.274Z,1607901166.274 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002136,,0.023466,,231245.41*5B

2020-12-13T23:12:46.456Z,1607901166.456 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:12:46.665Z,1607901166.665 [DDM](INFO): Powering down
2020-12-13T23:12:47.513Z,1607901167.513 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:12:47.828Z,1607901167.828 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:12:47.828Z,1607901167.828 [DDM] No Fault, FailCount= 1
2020-12-13T23:12:47.882Z,1607901167.882 [Micromodem](INFO): Nmea in: $CADRQ,231247,1,9,0,64,2*4C

2020-12-13T23:12:47.883Z,1607901167.883 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:12:47.949Z,1607901167.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:48.287Z,1607901168.287 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:12:48.696Z,1607901168.696 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:12:48.697Z,1607901168.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:12:50.754Z,1607901170.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:51.113Z,1607901171.113 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:12:51.113Z,1607901171.113 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:12:51.538Z,1607901171.538 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,231249.028326,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T23:12:51.538Z,1607901171.538 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,231249.028326,3,0,200,4000,14500,1,1,9,1,2,2,3,70*7F

2020-12-13T23:12:51.914Z,1607901171.914 [DDM](INFO): Powering up
2020-12-13T23:12:51.915Z,1607901171.915 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:12:53.596Z,1607901173.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:56.384Z,1607901176.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:59.218Z,1607901179.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:12:59.997Z,1607901179.997 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:00.423Z,1607901180.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:01.229Z,1607901181.229 [Micromodem](INFO): Nmea in: $SNTTA,0.002147,,,,231301.17*44

2020-12-13T23:13:01.248Z,1607901181.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 268.440641 deg, deltaT: 15.545656 s, approachRate: 0.003860 m/s, LOS rate: -0.020680 deg/s, posRepo size: 4
2020-12-13T23:13:01.250Z,1607901181.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 268.440641 deg,
      approachRate: 0.003860 m/s,
      LOS rate: -0.020680 deg/s,
      cmd update: -0.062040 deg/s,
      cmd heading: 213.517377 deg,
      new cmd heading: 214.223787 deg.

2020-12-13T23:13:03.685Z,1607901183.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:04.447Z,1607901184.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:04.847Z,1607901184.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:05.678Z,1607901185.678 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,,,231305.62*41

2020-12-13T23:13:05.734Z,1607901185.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 266.000761 deg, deltaT: 4.435345 s, approachRate: -0.013528 m/s, LOS rate: -0.550099 deg/s, posRepo size: 4
2020-12-13T23:13:05.737Z,1607901185.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 266.000761 deg,
      approachRate: -0.013528 m/s,
      LOS rate: -0.550099 deg/s,
      cmd update: -1.650298 deg/s,
      cmd heading: 213.242212 deg,
      new cmd heading: 213.213055 deg.

2020-12-13T23:13:07.671Z,1607901187.671 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:13:07.830Z,1607901187.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:08.615Z,1607901188.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:08.957Z,1607901188.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:09.787Z,1607901189.787 [Micromodem](INFO): Nmea in: $SNTTA,0.002165,,,,231309.78*45

2020-12-13T23:13:09.851Z,1607901189.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 268.033890 deg, deltaT: 4.109568 s, approachRate: 0.014600 m/s, LOS rate: 0.494731 deg/s, posRepo size: 4
2020-12-13T23:13:09.853Z,1607901189.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 268.033890 deg,
      approachRate: 0.014600 m/s,
      LOS rate: 0.494731 deg/s,
      cmd update: 1.484192 deg/s,
      cmd heading: 206.460133 deg,
      new cmd heading: 205.673362 deg.

2020-12-13T23:13:12.235Z,1607901192.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:12.995Z,1607901192.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:13.439Z,1607901193.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:14.270Z,1607901194.270 [Micromodem](INFO): Nmea in: $SNTTA,0.002143,,,,231314.16*45

2020-12-13T23:13:14.316Z,1607901194.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.124704 deg, deltaT: 4.495280 s, approachRate: -0.013347 m/s, LOS rate: 0.020202 deg/s, posRepo size: 4
2020-12-13T23:13:14.318Z,1607901194.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.124704 deg,
      approachRate: -0.013347 m/s,
      LOS rate: 0.020202 deg/s,
      cmd update: 0.060606 deg/s,
      cmd heading: 213.131920 deg,
      new cmd heading: 213.794884 deg.

2020-12-13T23:13:16.717Z,1607901196.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:17.500Z,1607901197.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:17.957Z,1607901197.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:18.770Z,1607901198.770 [Micromodem](INFO): Nmea in: $SNTTA,0.002165,,0.043301,,231318.68*5F

2020-12-13T23:13:18.853Z,1607901198.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 264.591720 deg, deltaT: 4.511462 s, approachRate: 0.000000 m/s, LOS rate: -0.783113 deg/s, posRepo size: 4
2020-12-13T23:13:18.855Z,1607901198.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 264.591720 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.783113 deg/s,
      cmd update: -2.349338 deg/s,
      cmd heading: 213.405319 deg,
      new cmd heading: 213.433962 deg.

2020-12-13T23:13:21.191Z,1607901201.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:21.967Z,1607901201.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:22.382Z,1607901202.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:23.227Z,1607901203.227 [Micromodem](INFO): Nmea in: $SNTTA,0.002142,,,,231323.14*42

2020-12-13T23:13:23.282Z,1607901203.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.517139 deg, deltaT: 4.479213 s, approachRate: 0.000000 m/s, LOS rate: 0.876364 deg/s, posRepo size: 4
2020-12-13T23:13:23.284Z,1607901203.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.517139 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.876364 deg/s,
      cmd update: 2.629091 deg/s,
      cmd heading: 202.881162 deg,
      new cmd heading: 201.889320 deg.

2020-12-13T23:13:25.680Z,1607901205.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:26.438Z,1607901206.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:26.817Z,1607901206.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:27.658Z,1607901207.658 [Micromodem](INFO): Nmea in: $SNTTA,0.002148,,,0.033505,231327.61*50

2020-12-13T23:13:27.716Z,1607901207.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 269.194120 deg, deltaT: 4.439795 s, approachRate: 0.013514 m/s, LOS rate: 0.152480 deg/s, posRepo size: 4
2020-12-13T23:13:27.722Z,1607901207.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 269.194120 deg,
      approachRate: 0.013514 m/s,
      LOS rate: 0.152480 deg/s,
      cmd update: 0.457441 deg/s,
      cmd heading: 214.543234 deg,
      new cmd heading: 215.647844 deg.

2020-12-13T23:13:30.096Z,1607901210.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:30.891Z,1607901210.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:31.297Z,1607901211.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:31.765Z,1607901211.765 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:13:32.138Z,1607901212.138 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,0.017949,,231332.06*5B

2020-12-13T23:13:32.184Z,1607901212.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 275.972263 deg, deltaT: 4.489274 s, approachRate: -0.013365 m/s, LOS rate: 1.509853 deg/s, posRepo size: 4
2020-12-13T23:13:32.187Z,1607901212.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 275.972263 deg,
      approachRate: -0.013365 m/s,
      LOS rate: 1.509853 deg/s,
      cmd update: 4.529559 deg/s,
      cmd heading: 216.598641 deg,
      new cmd heading: 216.779421 deg.

2020-12-13T23:13:34.610Z,1607901214.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:35.335Z,1607901215.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:35.749Z,1607901215.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:36.598Z,1607901216.598 [Micromodem](INFO): Nmea in: $SNTTA,0.002309,,,,231336.51*4A

2020-12-13T23:13:36.658Z,1607901216.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 272.330734 deg, deltaT: 4.376994 s, approachRate: 0.068540 m/s, LOS rate: -0.831970 deg/s, posRepo size: 4
2020-12-13T23:13:36.660Z,1607901216.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 272.330734 deg,
      approachRate: 0.068540 m/s,
      LOS rate: -0.831970 deg/s,
      cmd update: -2.495911 deg/s,
      cmd heading: 236.424655 deg,
      new cmd heading: 238.650761 deg.

2020-12-13T23:13:37.792Z,1607901217.792 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:13:38.131Z,1607901218.131 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:13:38.131Z,1607901218.131 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:13:38.131Z,1607901218.131 [DDM](ERROR): Hardware Fault
2020-12-13T23:13:38.292Z,1607901218.292 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:13:38.537Z,1607901218.537 [DDM](INFO): Powering down
2020-12-13T23:13:38.696Z,1607901218.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:39.342Z,1607901219.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:39.581Z,1607901219.581 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:13:39.581Z,1607901219.581 [DDM] No Fault, FailCount= 1
2020-12-13T23:13:39.767Z,1607901219.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:39.787Z,1607901219.787 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:13:40.574Z,1607901220.574 [Micromodem](INFO): Nmea in: $SNTTA,0.002155,,0.040123,,231340.51*5A

2020-12-13T23:13:40.639Z,1607901220.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 266.389071 deg, deltaT: 4.060071 s, approachRate: -0.059112 m/s, LOS rate: -1.463438 deg/s, posRepo size: 4
2020-12-13T23:13:40.641Z,1607901220.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 266.389071 deg,
      approachRate: -0.059112 m/s,
      LOS rate: -1.463438 deg/s,
      cmd update: -4.390315 deg/s,
      cmd heading: 226.303018 deg,
      new cmd heading: 225.260473 deg.

2020-12-13T23:13:43.010Z,1607901223.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:43.800Z,1607901223.800 [DDM](INFO): Powering up
2020-12-13T23:13:43.800Z,1607901223.800 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:13:43.819Z,1607901223.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:44.203Z,1607901224.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:45.042Z,1607901225.042 [Micromodem](INFO): Nmea in: $SNTTA,0.002141,,,,231344.99*45

2020-12-13T23:13:45.095Z,1607901225.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 266.862594 deg, deltaT: 4.463007 s, approachRate: -0.013444 m/s, LOS rate: 0.106100 deg/s, posRepo size: 4
2020-12-13T23:13:45.097Z,1607901225.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 266.862594 deg,
      approachRate: -0.013444 m/s,
      LOS rate: 0.106100 deg/s,
      cmd update: 0.318299 deg/s,
      cmd heading: 206.688706 deg,
      new cmd heading: 204.908051 deg.

2020-12-13T23:13:47.474Z,1607901227.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:48.242Z,1607901228.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:48.653Z,1607901228.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:13:49.495Z,1607901229.495 [Micromodem](INFO): Nmea in: $SNTTA,0.002139,,,,231349.41*42

2020-12-13T23:13:49.694Z,1607901229.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 272.275710 deg, deltaT: 4.443218 s, approachRate: 0.013504 m/s, LOS rate: 1.218287 deg/s, posRepo size: 4
2020-12-13T23:13:49.696Z,1607901229.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 272.275710 deg,
      approachRate: 0.013504 m/s,
      LOS rate: 1.218287 deg/s,
      cmd update: 3.654862 deg/s,
      cmd heading: 208.102833 deg,
      new cmd heading: 208.281670 deg.

2020-12-13T23:13:50.274Z,1607901230.274 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:13:50.812Z,1607901230.812 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:13:50.814Z,1607901230.814 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:13:50.814Z,1607901230.814 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:13:51.090Z,1607901231.090 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:13:51.526Z,1607901231.526 [Micromodem](INFO): Nmea in: $CADRQ,231351,1,9,0,64,1*49

2020-12-13T23:13:51.526Z,1607901231.526 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:13:51.795Z,1607901231.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:51.943Z,1607901231.943 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:13:52.329Z,1607901232.329 [Micromodem](INFO): Nmea in: $CADRQ,231352,1,9,0,64,2*49

2020-12-13T23:13:52.330Z,1607901232.330 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:13:52.735Z,1607901232.735 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:13:52.735Z,1607901232.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:13:53.144Z,1607901233.144 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:13:53.144Z,1607901233.144 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2020-12-13T23:13:54.412Z,1607901234.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:55.561Z,1607901235.561 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:13:55.561Z,1607901235.561 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:13:55.966Z,1607901235.966 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,231353.473961,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T23:13:55.966Z,1607901235.966 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,231353.473961,3,0,200,4000,14500,1,1,9,1,2,2,3,70*76

2020-12-13T23:13:57.245Z,1607901237.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:13:59.610Z,1607901239.610 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:13:59.777Z,1607901239.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:02.704Z,1607901242.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:04.102Z,1607901244.102 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:04.530Z,1607901244.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:05.322Z,1607901245.322 [Micromodem](INFO): Nmea in: $SNTTA,0.002146,,,,231405.27*45

2020-12-13T23:14:05.352Z,1607901245.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 268.778353 deg, deltaT: 15.776847 s, approachRate: -0.003803 m/s, LOS rate: -0.221677 deg/s, posRepo size: 4
2020-12-13T23:14:05.355Z,1607901245.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 268.778353 deg,
      approachRate: -0.003803 m/s,
      LOS rate: -0.221677 deg/s,
      cmd update: -0.665030 deg/s,
      cmd heading: 265.767202 deg,
      new cmd heading: 267.386357 deg.

2020-12-13T23:14:07.768Z,1607901247.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:08.567Z,1607901248.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:08.937Z,1607901248.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:09.752Z,1607901249.752 [Micromodem](INFO): Nmea in: $SNTTA,0.002139,,,,231409.74*47

2020-12-13T23:14:09.828Z,1607901249.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 273.140085 deg, deltaT: 4.451458 s, approachRate: 0.026958 m/s, LOS rate: 0.979843 deg/s, posRepo size: 4
2020-12-13T23:14:09.841Z,1607901249.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 273.140085 deg,
      approachRate: 0.026958 m/s,
      LOS rate: 0.979843 deg/s,
      cmd update: 2.939530 deg/s,
      cmd heading: 262.806947 deg,
      new cmd heading: 262.496212 deg.

2020-12-13T23:14:12.220Z,1607901252.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:12.971Z,1607901252.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:13.381Z,1607901253.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:14.306Z,1607901254.306 [Micromodem](INFO): Nmea in: $SNTTA,0.002165,,,,231414.14*44

2020-12-13T23:14:14.331Z,1607901254.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 267.385240 deg, deltaT: 4.473467 s, approachRate: -0.013413 m/s, LOS rate: -1.286439 deg/s, posRepo size: 4
2020-12-13T23:14:14.333Z,1607901254.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 267.385240 deg,
      approachRate: -0.013413 m/s,
      LOS rate: -1.286439 deg/s,
      cmd update: -3.859318 deg/s,
      cmd heading: 275.898139 deg,
      new cmd heading: 277.417605 deg.

2020-12-13T23:14:16.268Z,1607901256.268 [DDM](ERROR): Could not parse latch state
2020-12-13T23:14:16.683Z,1607901256.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:17.446Z,1607901257.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:17.893Z,1607901257.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:18.710Z,1607901258.710 [Micromodem](INFO): Nmea in: $SNTTA,0.002126,,,,231418.62*4E

2020-12-13T23:14:18.773Z,1607901258.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 274.349711 deg, deltaT: 4.472244 s, approachRate: 0.013416 m/s, LOS rate: 1.557265 deg/s, posRepo size: 4
2020-12-13T23:14:18.775Z,1607901258.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 274.349711 deg,
      approachRate: 0.013416 m/s,
      LOS rate: 1.557265 deg/s,
      cmd update: 4.671796 deg/s,
      cmd heading: 258.563764 deg,
      new cmd heading: 256.759842 deg.

2020-12-13T23:14:21.162Z,1607901261.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:21.925Z,1607901261.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:22.330Z,1607901262.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:23.170Z,1607901263.170 [Micromodem](INFO): Nmea in: $SNTTA,0.002156,,0.012494,,231423.10*50

2020-12-13T23:14:23.221Z,1607901263.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 271.738967 deg, deltaT: 4.499919 s, approachRate: -0.013334 m/s, LOS rate: -0.580176 deg/s, posRepo size: 4
2020-12-13T23:14:23.223Z,1607901263.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 271.738967 deg,
      approachRate: -0.013334 m/s,
      LOS rate: -0.580176 deg/s,
      cmd update: -1.740527 deg/s,
      cmd heading: 279.590301 deg,
      new cmd heading: 281.524471 deg.

2020-12-13T23:14:25.635Z,1607901265.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:26.375Z,1607901266.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:26.783Z,1607901266.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:27.622Z,1607901267.622 [Micromodem](INFO): Nmea in: $SNTTA,0.002158,,,,231427.54*4E

2020-12-13T23:14:27.689Z,1607901267.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 275.374622 deg, deltaT: 4.410081 s, approachRate: 0.000000 m/s, LOS rate: 0.824396 deg/s, posRepo size: 4
2020-12-13T23:14:27.691Z,1607901267.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 275.374622 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.824396 deg/s,
      cmd update: 2.473189 deg/s,
      cmd heading: 271.914469 deg,
      new cmd heading: 271.127615 deg.

2020-12-13T23:14:29.967Z,1607901269.967 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:14:29.967Z,1607901269.967 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:14:29.967Z,1607901269.967 [DDM](ERROR): Hardware Fault
2020-12-13T23:14:30.165Z,1607901270.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:30.241Z,1607901270.241 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:14:30.373Z,1607901270.373 [DDM](INFO): Powering down
2020-12-13T23:14:30.777Z,1607901270.777 [DDM](FAULT): LCB fault:  Software Overcurrent.
2020-12-13T23:14:30.787Z,1607901270.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:31.193Z,1607901271.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:31.340Z,1607901271.340 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:14:31.340Z,1607901271.340 [DDM] No Fault, FailCount= 1
2020-12-13T23:14:32.014Z,1607901272.014 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,,231431.96*4B

2020-12-13T23:14:32.063Z,1607901272.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 276.813306 deg, deltaT: 4.446333 s, approachRate: -0.013494 m/s, LOS rate: 0.323566 deg/s, posRepo size: 4
2020-12-13T23:14:32.069Z,1607901272.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 276.813306 deg,
      approachRate: -0.013494 m/s,
      LOS rate: 0.323566 deg/s,
      cmd update: 0.970699 deg/s,
      cmd heading: 282.901128 deg,
      new cmd heading: 283.901295 deg.

2020-12-13T23:14:34.667Z,1607901274.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:35.223Z,1607901275.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:35.622Z,1607901275.622 [DDM](INFO): Powering up
2020-12-13T23:14:35.622Z,1607901275.622 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:14:35.648Z,1607901275.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:36.468Z,1607901276.468 [Micromodem](INFO): Nmea in: $SNTTA,0.002145,,,0.031212,231436.39*54

2020-12-13T23:14:36.717Z,1607901276.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 275.341810 deg, deltaT: 4.409052 s, approachRate: 0.000000 m/s, LOS rate: -0.333744 deg/s, posRepo size: 4
2020-12-13T23:14:36.719Z,1607901276.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 275.341810 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.333744 deg/s,
      cmd update: -1.001233 deg/s,
      cmd heading: 287.184906 deg,
      new cmd heading: 287.807415 deg.

2020-12-13T23:14:38.919Z,1607901278.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:39.704Z,1607901279.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:40.105Z,1607901280.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:40.942Z,1607901280.942 [Micromodem](INFO): Nmea in: $SNTTA,0.002318,,,,231440.88*48

2020-12-13T23:14:41.108Z,1607901281.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 275.513029 deg, deltaT: 4.539270 s, approachRate: 0.066090 m/s, LOS rate: 0.037720 deg/s, posRepo size: 4
2020-12-13T23:14:41.128Z,1607901281.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 275.513029 deg,
      approachRate: 0.066090 m/s,
      LOS rate: 0.037720 deg/s,
      cmd update: 0.113159 deg/s,
      cmd heading: 282.644033 deg,
      new cmd heading: 282.142496 deg.

2020-12-13T23:14:43.364Z,1607901283.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:44.147Z,1607901284.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:44.549Z,1607901284.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:45.378Z,1607901285.378 [Micromodem](INFO): Nmea in: $SNTTA,0.002188,,,,231445.32*47

2020-12-13T23:14:45.427Z,1607901285.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.360000 m, bearing: 280.494395 deg, deltaT: 4.415041 s, approachRate: -0.027179 m/s, LOS rate: 1.128272 deg/s, posRepo size: 4
2020-12-13T23:14:45.435Z,1607901285.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 280.494395 deg,
      approachRate: -0.027179 m/s,
      LOS rate: 1.128272 deg/s,
      cmd update: 3.384816 deg/s,
      cmd heading: 283.138001 deg,
      new cmd heading: 283.189369 deg.

2020-12-13T23:14:47.644Z,1607901287.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:48.195Z,1607901288.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:48.593Z,1607901288.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:49.439Z,1607901289.439 [Micromodem](INFO): Nmea in: $SNTTA,0.002310,,,,231449.36*4C

2020-12-13T23:14:49.661Z,1607901289.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 280.577723 deg, deltaT: 4.014323 s, approachRate: 0.044839 m/s, LOS rate: 0.020758 deg/s, posRepo size: 4
2020-12-13T23:14:49.663Z,1607901289.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 280.577723 deg,
      approachRate: 0.044839 m/s,
      LOS rate: 0.020758 deg/s,
      cmd update: 0.062273 deg/s,
      cmd heading: 296.907687 deg,
      new cmd heading: 299.009031 deg.

2020-12-13T23:14:51.438Z,1607901291.438 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:14:51.642Z,1607901291.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:52.285Z,1607901292.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:52.698Z,1607901292.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:53.588Z,1607901293.588 [DDM](ERROR): Could not parse latch state
2020-12-13T23:14:53.610Z,1607901293.610 [Micromodem](INFO): Nmea in: $SNTTA,0.002151,,,,231453.46*47

2020-12-13T23:14:53.686Z,1607901293.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 280.298013 deg, deltaT: 4.060992 s, approachRate: -0.073873 m/s, LOS rate: -0.068877 deg/s, posRepo size: 4
2020-12-13T23:14:53.688Z,1607901293.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 280.298013 deg,
      approachRate: -0.073873 m/s,
      LOS rate: -0.068877 deg/s,
      cmd update: -0.206632 deg/s,
      cmd heading: 297.160579 deg,
      new cmd heading: 297.196468 deg.

2020-12-13T23:14:55.665Z,1607901295.665 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T23:14:55.665Z,1607901295.665 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:14:55.665Z,1607901295.665 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T23:14:55.665Z,1607901295.665 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:14:55.666Z,1607901295.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T23:14:55.666Z,1607901295.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.240000 m 
2020-12-13T23:14:55.666Z,1607901295.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T23:14:55.666Z,1607901295.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T23:14:55.666Z,1607901295.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T23:14:55.671Z,1607901295.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:14:55.908Z,1607901295.908 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:14:56.075Z,1607901296.075 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T231456: (41.552319, -70.708603)
2020-12-13T23:14:56.075Z,1607901296.075 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T23:14:56.075Z,1607901296.075 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T23:14:56.075Z,1607901296.075 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:14:56.076Z,1607901296.076 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T23:14:56.076Z,1607901296.076 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:14:56.076Z,1607901296.076 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T23:14:56.076Z,1607901296.076 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T23:14:56.076Z,1607901296.076 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:14:56.325Z,1607901296.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:14:56.731Z,1607901296.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:14:56.891Z,1607901296.891 [Micromodem](INFO): Outgoing frame #1, 64 bytes: BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F
2020-12-13T23:14:56.891Z,1607901296.891 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FBFB9D99E000
2020-12-13T23:14:56.892Z,1607901296.892 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2020-12-13T23:14:57.134Z,1607901297.134 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2020-12-13T23:14:57.590Z,1607901297.590 [Micromodem](INFO): Nmea in: $CADRQ,231457,1,9,0,64,1*48

2020-12-13T23:14:57.590Z,1607901297.590 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F1C0000005D00000400320000000000000000151D80030C5669C010EAB2F65A9E69252E2CD37934A6AB94C46F9EA4D2504599512C828F52DB15DCCE8F*06

2020-12-13T23:14:57.767Z,1607901297.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 283.032220 deg, deltaT: 4.085732 s, approachRate: -0.014685 m/s, LOS rate: 0.669209 deg/s, posRepo size: 4
2020-12-13T23:14:57.773Z,1607901297.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 283.032220 deg,
      approachRate: -0.014685 m/s,
      LOS rate: 0.669209 deg/s,
      cmd update: 2.007626 deg/s,
      cmd heading: 296.316334 deg,
      new cmd heading: 296.196482 deg.

2020-12-13T23:14:57.962Z,1607901297.962 [Micromodem](INFO): Nmea in: $SNTTA,0.002146,,0.012789,,231457.49*51

2020-12-13T23:14:57.963Z,1607901297.963 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002146,,0.012789,,231457.49*51

2020-12-13T23:14:59.166Z,1607901299.166 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2020-12-13T23:14:59.590Z,1607901299.590 [Micromodem](INFO): Nmea in: $CADRQ,231458,1,9,0,64,2*44

2020-12-13T23:14:59.590Z,1607901299.590 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FBFB9D99E000*79

2020-12-13T23:15:00.047Z,1607901300.047 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2020-12-13T23:15:00.082Z,1607901300.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:00.370Z,1607901300.370 [Micromodem](INFO): Nmea in: $CATXP,70*75

2020-12-13T23:15:00.795Z,1607901300.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:15:02.672Z,1607901302.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:02.856Z,1607901302.856 [Micromodem](INFO): Nmea in: $CATXF,70*63

2020-12-13T23:15:02.856Z,1607901302.856 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2020-12-13T23:15:03.255Z,1607901303.255 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,231500.733297,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T23:15:03.256Z,1607901303.256 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,231500.733297,3,0,200,4000,14500,1,1,9,1,2,2,3,70*73

2020-12-13T23:15:05.353Z,1607901305.353 [DDM](ERROR): Could not parse latch state
2020-12-13T23:15:05.379Z,1607901305.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:08.155Z,1607901308.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:11.023Z,1607901311.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:12.150Z,1607901312.150 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:15:12.579Z,1607901312.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:15:13.398Z,1607901313.398 [Micromodem](INFO): Nmea in: $SNTTA,0.002161,,,,231513.32*42

2020-12-13T23:15:13.636Z,1607901313.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 277.410100 deg, deltaT: 15.812956 s, approachRate: 0.000000 m/s, LOS rate: -0.355539 deg/s, posRepo size: 4
2020-12-13T23:15:13.655Z,1607901313.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 277.410100 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.355539 deg/s,
      cmd update: -1.066616 deg/s,
      cmd heading: 328.062754 deg,
      new cmd heading: 329.337002 deg.

2020-12-13T23:15:15.741Z,1607901315.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:16.311Z,1607901316.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:15:16.730Z,1607901316.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:15:17.574Z,1607901317.574 [Micromodem](INFO): Nmea in: $SNTTA,0.002179,,,,231517.48*42

2020-12-13T23:15:17.636Z,1607901317.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 278.691334 deg, deltaT: 4.153887 s, approachRate: 0.014444 m/s, LOS rate: 0.308442 deg/s, posRepo size: 4
2020-12-13T23:15:17.642Z,1607901317.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 278.691334 deg,
      approachRate: 0.014444 m/s,
      LOS rate: 0.308442 deg/s,
      cmd update: 0.925327 deg/s,
      cmd heading: 323.636439 deg,
      new cmd heading: 323.117915 deg.

2020-12-13T23:15:19.761Z,1607901319.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:20.355Z,1607901320.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:15:20.765Z,1607901320.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:15:21.598Z,1607901321.598 [Micromodem](INFO): Nmea in: $SNTTA,0.002156,,,,231521.52*41

2020-12-13T23:15:21.800Z,1607901321.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 276.404532 deg, deltaT: 4.062556 s, approachRate: 0.014769 m/s, LOS rate: -0.562897 deg/s, posRepo size: 4
2020-12-13T23:15:21.802Z,1607901321.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 276.404532 deg,
      approachRate: 0.014769 m/s,
      LOS rate: -0.562897 deg/s,
      cmd update: -1.688692 deg/s,
      cmd heading: 327.399378 deg,
      new cmd heading: 327.938992 deg.

2020-12-13T23:15:21.961Z,1607901321.961 [DDM](FAULT): Failed to close latch before timeout.
2020-12-13T23:15:21.961Z,1607901321.961 [DDM] Hardware Fault, FailCount= 1
2020-12-13T23:15:21.961Z,1607901321.961 [DDM](ERROR): Hardware Fault
2020-12-13T23:15:22.150Z,1607901322.150 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-13T23:15:22.354Z,1607901322.354 [DDM](INFO): Powering down
2020-12-13T23:15:23.328Z,1607901323.328 [CBIT](INFO): Clearing failed state for component DDM
2020-12-13T23:15:23.328Z,1607901323.328 [DDM] No Fault, FailCount= 1
2020-12-13T23:15:23.989Z,1607901323.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:24.795Z,1607901324.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:15:24.820Z,1607901324.820 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:15:25.187Z,1607901325.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:15:26.018Z,1607901326.018 [Micromodem](INFO): Nmea in: $SNTTA,0.002149,,,,231525.96*43

2020-12-13T23:15:26.197Z,1607901326.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.179999 m, bearing: 282.202735 deg, deltaT: 4.433393 s, approachRate: -0.027067 m/s, LOS rate: 1.307848 deg/s, posRepo size: 4
2020-12-13T23:15:26.199Z,1607901326.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 282.202735 deg,
      approachRate: -0.027067 m/s,
      LOS rate: 1.307848 deg/s,
      cmd update: 3.923543 deg/s,
      cmd heading: 319.913109 deg,
      new cmd heading: 318.988658 deg.

2020-12-13T23:15:27.606Z,1607901327.606 [DDM](INFO): Powering up
2020-12-13T23:15:27.607Z,1607901327.607 [DDM](DEBUG): Initializing DDM.
2020-12-13T23:15:28.190Z,1607901328.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:15:28.839Z,1607901328.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:15:28.907Z,1607901328.907 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:15:29.233Z,1607901329.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:15:29.289Z,1607901329.289 [lineCaptureDepth](INFO): Timed out from 2020-12-13T21:15:29.0Z
2020-12-13T23:15:29.290Z,1607901329.290 [MissionManager](INFO): lineCaptureDepth is completed.
2020-12-13T23:15:29.290Z,1607901329.290 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth] Stopped
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science] Stopped
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science:B] Stopped
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science:C] Stopped
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science:Read_Oil] Stopped
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science:OceanCurrent] Stopped
2020-12-13T23:15:29.290Z,1607901329.290 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes] Stopped
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T23:15:29.291Z,1607901329.291 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:J.] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-13T23:15:29.292Z,1607901329.292 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:G] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:H] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-13T23:15:29.293Z,1607901329.293 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-13T23:15:29.294Z,1607901329.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2020-12-13T23:15:29.295Z,1607901329.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T23:15:29.295Z,1607901329.295 [lineCaptureDepth:Lap] Stopped
2020-12-13T23:15:29.295Z,1607901329.295 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2020-12-13T23:15:29.295Z,1607901329.295 [lineCaptureDepth:Lap:B] Stopped
2020-12-13T23:15:29.295Z,1607901329.295 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2020-12-13T23:15:29.445Z,1607901329.445 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-13T23:15:29.694Z,1607901329.694 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-13T23:15:29.694Z,1607901329.694 [DefaultWithUndock] Running Loop=1
2020-12-13T23:15:29.694Z,1607901329.694 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-13T23:15:29.695Z,1607901329.695 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-13T23:15:29.695Z,1607901329.695 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-13T23:15:30.047Z,1607901330.047 [Micromodem](INFO): Nmea in: $SNTTA,0.002156,,,,231530.01*47

2020-12-13T23:15:38.561Z,1607901338.561 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:15:43.363Z,1607901343.363 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-13T23:15:59.944Z,1607901359.944 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-13T23:15:59.945Z,1607901359.945 [DefaultWithUndock:A.Wait] Stopped
2020-12-13T23:15:59.945Z,1607901359.945 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T23:15:59.945Z,1607901359.945 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-13T23:15:59.945Z,1607901359.945 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-13T23:15:59.945Z,1607901359.945 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-13T23:15:59.945Z,1607901359.945 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-13T23:15:59.946Z,1607901359.946 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-13T23:15:59.946Z,1607901359.946 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-13T23:15:59.946Z,1607901359.946 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T23:16:00.742Z,1607901360.742 [PowerOnly](INFO): Powering up loadControl
2020-12-13T23:16:02.949Z,1607901362.949 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:03.203Z,1607901363.203 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T23:16:03.599Z,1607901363.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:04.033Z,1607901364.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:04.085Z,1607901364.085 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-13T23:16:04.443Z,1607901364.443 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-12-13T23:16:04.862Z,1607901364.862 [Micromodem](INFO): Nmea in: $SNTTA,0.002548,,0.005315,,231604.77*55

2020-12-13T23:16:07.331Z,1607901367.331 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:08.127Z,1607901368.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:08.565Z,1607901368.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:09.366Z,1607901369.366 [Micromodem](INFO): Nmea in: $SNTTA,0.002820,,,,231609.30*44

2020-12-13T23:16:11.805Z,1607901371.805 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:12.575Z,1607901372.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:12.985Z,1607901372.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:13.818Z,1607901373.818 [Micromodem](INFO): Nmea in: $SNTTA,0.003074,,,,231613.74*47

2020-12-13T23:16:14.633Z,1607901374.633 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-12-13T23:16:16.227Z,1607901376.227 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:17.023Z,1607901377.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:17.421Z,1607901377.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:18.258Z,1607901378.258 [Micromodem](INFO): Nmea in: $SNTTA,0.003853,,,,231618.19*4A

2020-12-13T23:16:20.678Z,1607901380.678 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:21.460Z,1607901381.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:21.873Z,1607901381.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:22.694Z,1607901382.694 [Micromodem](INFO): Nmea in: $SNTTA,0.004386,,,,231622.64*4D

2020-12-13T23:16:25.122Z,1607901385.122 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:25.903Z,1607901385.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:26.317Z,1607901386.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:27.146Z,1607901387.146 [Micromodem](INFO): Nmea in: $SNTTA,0.005249,,,,231627.07*4E

2020-12-13T23:16:29.617Z,1607901389.617 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:30.347Z,1607901390.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:30.753Z,1607901390.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:31.607Z,1607901391.607 [Micromodem](INFO): Nmea in: $SNTTA,0.005963,,,,231631.52*4A

2020-12-13T23:16:34.014Z,1607901394.014 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:34.787Z,1607901394.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:35.205Z,1607901395.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:36.030Z,1607901396.030 [Micromodem](INFO): Nmea in: $SNTTA,0.006813,,,,231635.96*43

2020-12-13T23:16:36.042Z,1607901396.042 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T23:16:38.442Z,1607901398.442 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:39.247Z,1607901399.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:39.641Z,1607901399.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:40.486Z,1607901400.486 [Micromodem](INFO): Nmea in: $SNTTA,0.007684,,,,231640.42*49

2020-12-13T23:16:42.912Z,1607901402.912 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:43.675Z,1607901403.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:44.085Z,1607901404.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:44.918Z,1607901404.918 [Micromodem](INFO): Nmea in: $SNTTA,0.008536,,,,231644.85*43

2020-12-13T23:16:47.326Z,1607901407.326 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:48.123Z,1607901408.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:48.568Z,1607901408.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:49.366Z,1607901409.366 [Micromodem](INFO): Nmea in: $SNTTA,0.009253,,0.010391,,231649.29*59

2020-12-13T23:16:51.806Z,1607901411.806 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:52.575Z,1607901412.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:52.973Z,1607901412.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:53.802Z,1607901413.802 [Micromodem](INFO): Nmea in: $SNTTA,0.009909,,,,231653.74*4A

2020-12-13T23:16:56.226Z,1607901416.226 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 14.70 m. Transitioning DDM to standby.
2020-12-13T23:16:56.227Z,1607901416.227 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-13T23:16:57.015Z,1607901417.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:16:57.423Z,1607901417.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:16:58.258Z,1607901418.258 [Micromodem](INFO): Nmea in: $SNTTA,0.010616,,0.014752,,231658.18*59

2020-12-13T23:16:59.536Z,1607901419.536 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-13T23:16:59.886Z,1607901419.886 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T23:16:59.886Z,1607901419.886 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-13T23:16:59.888Z,1607901419.888 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-13T23:16:59.888Z,1607901419.888 [DefaultWithUndock:LeaveDock] Stopped
2020-12-13T23:16:59.888Z,1607901419.888 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-13T23:16:59.890Z,1607901419.890 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-13T23:16:59.891Z,1607901419.891 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-13T23:16:59.891Z,1607901419.891 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-13T23:16:59.891Z,1607901419.891 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-13T23:16:59.891Z,1607901419.891 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-13T23:16:59.891Z,1607901419.891 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-13T23:16:59.893Z,1607901419.893 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-13T23:16:59.895Z,1607901419.895 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-13T23:17:00.754Z,1607901420.754 [Radio_Surface](INFO): Powering up
2020-12-13T23:17:06.861Z,1607901426.861 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-13T23:17:14.802Z,1607901434.802 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:17:23.688Z,1607901443.688 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:17:32.155Z,1607901452.155 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:17:35.830Z,1607901455.830 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T23:17:36.982Z,1607901456.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:17:43.886Z,1607901463.886 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:18:12.130Z,1607901492.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:18:27.934Z,1607901507.934 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -0.87
2020-12-13T23:18:47.289Z,1607901527.289 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:19:22.435Z,1607901562.435 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:19:57.573Z,1607901597.573 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:20:02.914Z,1607901602.914 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-13T23:20:02.914Z,1607901602.914 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T23:20:02.914Z,1607901602.914 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-13T23:20:02.914Z,1607901602.914 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-13T23:20:02.915Z,1607901602.915 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-13T23:20:02.915Z,1607901602.915 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-13T23:20:02.915Z,1607901602.915 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-13T23:20:23.045Z,1607901623.045 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12863, MT Status=1, MTMSN=529
2020-12-13T23:20:23.045Z,1607901623.045 [NAL9602](INFO): Data available in MT queue
2020-12-13T23:20:23.597Z,1607901623.597 [NAL9602](INFO): Received command:configSet LineCapture.rolloutDistance 300 m persit
2020-12-13T23:20:23.796Z,1607901623.796 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutDistance 300.000000 meter persist
2020-12-13T23:20:30.868Z,1607901630.868 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232031.00,A,4133.15108,N,07042.54988,W,0.194,0.00,131220,,,A*73
2020-12-13T23:20:30.872Z,1607901630.872 [NAL9602](INFO): GPS fix at 20201213T232031: (41.552518, -70.709165)
2020-12-13T23:20:30.903Z,1607901630.903 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-13T23:20:30.903Z,1607901630.903 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-13T23:20:31.673Z,1607901631.673 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:20:32.713Z,1607901632.713 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:20:50.789Z,1607901650.789 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003244
2020-12-13T23:20:54.804Z,1607901654.804 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Courier0028.lzma
2020-12-13T23:20:56.907Z,1607901656.907 [NAL9602](INFO): SBD MO Status=2, MOMSN=12864, MT Status=2, MTMSN=0
2020-12-13T23:20:56.907Z,1607901656.907 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-13T23:21:12.878Z,1607901672.878 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0028.lzma.bak
2020-12-13T23:21:12.879Z,1607901672.879 [DataOverHttps](INFO): SBD MOMSN=65012
2020-12-13T23:21:26.940Z,1607901686.940 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20201213T195538/Courier0031.lzma
2020-12-13T23:21:27.627Z,1607901687.627 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-13T23:21:27.943Z,1607901687.943 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0031.lzma.bak
2020-12-13T23:21:27.943Z,1607901687.943 [DataOverHttps](INFO): SBD MOMSN=65014
2020-12-13T23:21:36.980Z,1607901696.980 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0034.lzma
2020-12-13T23:21:37.983Z,1607901697.983 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0034.lzma.bak
2020-12-13T23:21:37.983Z,1607901697.983 [DataOverHttps](INFO): SBD MOMSN=65016
2020-12-13T23:21:47.020Z,1607901707.020 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0037.lzma
2020-12-13T23:21:48.022Z,1607901708.022 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0037.lzma.bak
2020-12-13T23:21:48.023Z,1607901708.023 [DataOverHttps](INFO): SBD MOMSN=65018
2020-12-13T23:21:57.068Z,1607901717.068 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0040.lzma
2020-12-13T23:21:58.339Z,1607901718.339 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0040.lzma.bak
2020-12-13T23:21:58.339Z,1607901718.339 [DataOverHttps](INFO): SBD MOMSN=65020
2020-12-13T23:22:07.108Z,1607901727.108 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0043.lzma
2020-12-13T23:22:08.111Z,1607901728.111 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0043.lzma.bak
2020-12-13T23:22:08.111Z,1607901728.111 [DataOverHttps](INFO): SBD MOMSN=65022
2020-12-13T23:22:17.149Z,1607901737.149 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20201213T195538/Courier0046.lzma
2020-12-13T23:22:18.150Z,1607901738.150 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0046.lzma.bak
2020-12-13T23:22:18.151Z,1607901738.151 [DataOverHttps](INFO): SBD MOMSN=65024
2020-12-13T23:22:27.188Z,1607901747.188 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Courier0049.lzma
2020-12-13T23:22:28.191Z,1607901748.191 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0049.lzma.bak
2020-12-13T23:22:28.191Z,1607901748.191 [DataOverHttps](INFO): SBD MOMSN=65026
2020-12-13T23:22:38.232Z,1607901758.232 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0052.lzma
2020-12-13T23:22:39.235Z,1607901759.235 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0052.lzma.bak
2020-12-13T23:22:39.235Z,1607901759.235 [DataOverHttps](INFO): SBD MOMSN=65028
2020-12-13T23:22:44.831Z,1607901764.831 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:22:48.275Z,1607901768.275 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20201213T195538/Courier0055.lzma
2020-12-13T23:22:49.275Z,1607901769.275 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0055.lzma.bak
2020-12-13T23:22:49.275Z,1607901769.275 [DataOverHttps](INFO): SBD MOMSN=65030
2020-12-13T23:22:54.569Z,1607901774.569 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:22:54.574Z,1607901774.574 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T23:22:58.313Z,1607901778.313 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0058.lzma
2020-12-13T23:22:59.315Z,1607901779.315 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0058.lzma.bak
2020-12-13T23:22:59.315Z,1607901779.315 [DataOverHttps](INFO): SBD MOMSN=65032
2020-12-13T23:23:04.628Z,1607901784.628 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T23:23:08.352Z,1607901788.352 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0061.lzma
2020-12-13T23:23:09.355Z,1607901789.355 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0061.lzma.bak
2020-12-13T23:23:09.355Z,1607901789.355 [DataOverHttps](INFO): SBD MOMSN=65034
2020-12-13T23:23:14.745Z,1607901794.745 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:23:18.392Z,1607901798.392 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20201213T195538/Courier0064.lzma
2020-12-13T23:23:19.395Z,1607901799.395 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0064.lzma.bak
2020-12-13T23:23:19.395Z,1607901799.395 [DataOverHttps](INFO): SBD MOMSN=65036
2020-12-13T23:23:24.832Z,1607901804.832 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:23:24.841Z,1607901804.841 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:23:28.432Z,1607901808.432 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20201213T195538/Courier0067.lzma
2020-12-13T23:23:29.435Z,1607901809.435 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0067.lzma.bak
2020-12-13T23:23:29.435Z,1607901809.435 [DataOverHttps](INFO): SBD MOMSN=65038
2020-12-13T23:23:29.749Z,1607901809.749 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:23:34.626Z,1607901814.626 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:23:38.473Z,1607901818.473 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0070.lzma
2020-12-13T23:23:39.475Z,1607901819.475 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0070.lzma.bak
2020-12-13T23:23:39.475Z,1607901819.475 [DataOverHttps](INFO): SBD MOMSN=65041
2020-12-13T23:23:48.532Z,1607901828.532 [DataOverHttps](INFO): Sending 558 bytes from file Logs/20201213T195538/Express0029.lzma
2020-12-13T23:23:49.565Z,1607901829.565 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0029.lzma.bak
2020-12-13T23:23:49.566Z,1607901829.566 [DataOverHttps](INFO): SBD MOMSN=65043
2020-12-13T23:23:58.560Z,1607901838.560 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20201213T195538/Express0032.lzma
2020-12-13T23:23:59.567Z,1607901839.567 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0032.lzma.bak
2020-12-13T23:23:59.567Z,1607901839.567 [DataOverHttps](INFO): SBD MOMSN=65065
2020-12-13T23:24:08.600Z,1607901848.600 [DataOverHttps](INFO): Sending 117 bytes from file Logs/20201213T195538/Express0035.lzma
2020-12-13T23:24:09.602Z,1607901849.602 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0035.lzma.bak
2020-12-13T23:24:09.603Z,1607901849.603 [DataOverHttps](INFO): SBD MOMSN=65067
2020-12-13T23:24:09.775Z,1607901849.775 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:24:18.640Z,1607901858.640 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20201213T195538/Express0038.lzma
2020-12-13T23:24:19.643Z,1607901859.643 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0038.lzma.bak
2020-12-13T23:24:19.643Z,1607901859.643 [DataOverHttps](INFO): SBD MOMSN=65069
2020-12-13T23:24:28.680Z,1607901868.680 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20201213T195538/Express0041.lzma
2020-12-13T23:24:29.683Z,1607901869.683 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0041.lzma.bak
2020-12-13T23:24:29.683Z,1607901869.683 [DataOverHttps](INFO): SBD MOMSN=65071
2020-12-13T23:24:29.896Z,1607901869.896 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T23:24:38.720Z,1607901878.720 [DataOverHttps](INFO): Sending 112 bytes from file Logs/20201213T195538/Express0044.lzma
2020-12-13T23:24:39.723Z,1607901879.723 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0044.lzma.bak
2020-12-13T23:24:39.723Z,1607901879.723 [DataOverHttps](INFO): SBD MOMSN=65073
2020-12-13T23:24:48.760Z,1607901888.760 [DataOverHttps](INFO): Sending 102 bytes from file Logs/20201213T195538/Express0047.lzma
2020-12-13T23:24:49.734Z,1607901889.734 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:24:49.763Z,1607901889.763 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0047.lzma.bak
2020-12-13T23:24:49.763Z,1607901889.763 [DataOverHttps](INFO): SBD MOMSN=65075
2020-12-13T23:24:58.801Z,1607901898.801 [DataOverHttps](INFO): Sending 103 bytes from file Logs/20201213T195538/Express0050.lzma
2020-12-13T23:24:59.802Z,1607901899.802 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0050.lzma.bak
2020-12-13T23:24:59.803Z,1607901899.803 [DataOverHttps](INFO): SBD MOMSN=65077
2020-12-13T23:25:08.844Z,1607901908.844 [DataOverHttps](INFO): Sending 114 bytes from file Logs/20201213T195538/Express0053.lzma
2020-12-13T23:25:09.846Z,1607901909.846 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0053.lzma.bak
2020-12-13T23:25:09.847Z,1607901909.847 [DataOverHttps](INFO): SBD MOMSN=65079
2020-12-13T23:25:18.885Z,1607901918.885 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20201213T195538/Express0056.lzma
2020-12-13T23:25:19.887Z,1607901919.887 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0056.lzma.bak
2020-12-13T23:25:19.887Z,1607901919.887 [DataOverHttps](INFO): SBD MOMSN=65081
2020-12-13T23:25:28.924Z,1607901928.924 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20201213T195538/Express0059.lzma
2020-12-13T23:25:29.927Z,1607901929.927 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0059.lzma.bak
2020-12-13T23:25:29.927Z,1607901929.927 [DataOverHttps](INFO): SBD MOMSN=65083
2020-12-13T23:25:38.964Z,1607901938.964 [DataOverHttps](INFO): Sending 101 bytes from file Logs/20201213T195538/Express0062.lzma
2020-12-13T23:25:39.967Z,1607901939.967 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0062.lzma.bak
2020-12-13T23:25:39.967Z,1607901939.967 [DataOverHttps](INFO): SBD MOMSN=65085
2020-12-13T23:25:49.005Z,1607901949.005 [DataOverHttps](INFO): Sending 333 bytes from file Logs/20201213T195538/Express0065.lzma
2020-12-13T23:25:50.007Z,1607901950.007 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0065.lzma.bak
2020-12-13T23:25:50.007Z,1607901950.007 [DataOverHttps](INFO): SBD MOMSN=65087
2020-12-13T23:25:59.045Z,1607901959.045 [DataOverHttps](INFO): Sending 395 bytes from file Logs/20201213T195538/Express0068.lzma
2020-12-13T23:26:00.047Z,1607901960.047 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0068.lzma.bak
2020-12-13T23:26:00.047Z,1607901960.047 [DataOverHttps](INFO): SBD MOMSN=65101
2020-12-13T23:26:09.084Z,1607901969.084 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20201213T195538/Express0071.lzma
2020-12-13T23:26:10.088Z,1607901970.088 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0071.lzma.bak
2020-12-13T23:26:10.088Z,1607901970.088 [DataOverHttps](IMPORTANT): SBD MOMSN=65116, MTMSN=20201213T232610
2020-12-13T23:26:11.714Z,1607901971.714 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-13T23:26:11.715Z,1607901971.715 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-13T23:26:11.715Z,1607901971.715 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-13T23:26:14.104Z,1607901974.104 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 3 count;set lineCaptureDepth.MinAltitude 3 meter" ih3m 1 2
2020-12-13T23:26:14.146Z,1607901974.146 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 3 count;set lineCaptureDepth.MinAltitude 3 meter" ih3m 1 2.000000
2020-12-13T23:26:14.146Z,1607901974.146 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=ih3m
2020-12-13T23:26:14.147Z,1607901974.147 [CommandLine](IMPORTANT): Scheduled #5 (#1 of 2 with id='ih3m'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 3 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP
2020-12-13T23:26:15.106Z,1607901975.106 [DataOverHttps](IMPORTANT): SBD MTMSN=20201213T232615
2020-12-13T23:26:19.124Z,1607901979.124 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ih3m 2 2
2020-12-13T23:26:19.150Z,1607901979.150 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ih3m 2 2.000000
2020-12-13T23:26:19.151Z,1607901979.151 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=ih3m
2020-12-13T23:26:19.151Z,1607901979.151 [CommandLine](IMPORTANT): Scheduled #6 (#2 of 2 with id='ih3m'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2020-12-13T23:26:19.323Z,1607901979.323 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T23:26:19.323Z,1607901979.323 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T23:26:19.458Z,1607901979.458 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2020-12-13T23:26:19.460Z,1607901979.460 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2020-12-13T23:26:19.462Z,1607901979.462 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2020-12-13T23:26:19.478Z,1607901979.478 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2020-12-13T23:26:19.486Z,1607901979.486 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2020-12-13T23:26:19.488Z,1607901979.488 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2020-12-13T23:26:19.500Z,1607901979.500 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2020-12-13T23:26:19.515Z,1607901979.515 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2020-12-13T23:26:19.531Z,1607901979.531 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2020-12-13T23:26:19.546Z,1607901979.546 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2020-12-13T23:26:19.556Z,1607901979.556 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2020-12-13T23:26:19.571Z,1607901979.571 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2020-12-13T23:26:19.577Z,1607901979.577 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-13T23:26:19.834Z,1607901979.834 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2020-12-13T23:26:19.836Z,1607901979.836 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2020-12-13T23:26:19.850Z,1607901979.850 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2020-12-13T23:26:19.851Z,1607901979.851 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2020-12-13T23:26:19.856Z,1607901979.856 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2020-12-13T23:26:19.866Z,1607901979.866 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-13T23:26:19.868Z,1607901979.868 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-13T23:26:19.874Z,1607901979.874 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2020-12-13T23:26:19.876Z,1607901979.876 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2020-12-13T23:26:19.882Z,1607901979.882 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2020-12-13T23:26:19.884Z,1607901979.884 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-13T23:26:19.891Z,1607901979.891 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-13T23:26:19.893Z,1607901979.893 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2020-12-13T23:26:19.896Z,1607901979.896 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2020-12-13T23:26:19.906Z,1607901979.906 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-12-13T23:26:19.913Z,1607901979.913 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-12-13T23:26:19.915Z,1607901979.915 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-13T23:26:19.922Z,1607901979.922 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2020-12-13T23:26:19.924Z,1607901979.924 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2020-12-13T23:26:19.938Z,1607901979.938 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2020-12-13T23:26:19.940Z,1607901979.940 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2020-12-13T23:26:19.947Z,1607901979.947 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2020-12-13T23:26:19.953Z,1607901979.953 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2020-12-13T23:26:19.955Z,1607901979.955 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2020-12-13T23:26:19.967Z,1607901979.967 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2020-12-13T23:26:19.970Z,1607901979.970 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2020-12-13T23:26:19.972Z,1607901979.972 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2020-12-13T23:26:19.974Z,1607901979.974 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2020-12-13T23:26:19.981Z,1607901979.981 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2020-12-13T23:26:19.983Z,1607901979.983 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2020-12-13T23:26:19.991Z,1607901979.991 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2020-12-13T23:26:20.009Z,1607901980.009 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2020-12-13T23:26:20.012Z,1607901980.012 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2020-12-13T23:26:20.018Z,1607901980.018 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2020-12-13T23:26:20.020Z,1607901980.020 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2020-12-13T23:26:20.027Z,1607901980.027 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2020-12-13T23:26:20.034Z,1607901980.034 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2020-12-13T23:26:20.041Z,1607901980.041 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2020-12-13T23:26:20.043Z,1607901980.043 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2020-12-13T23:26:20.050Z,1607901980.050 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2020-12-13T23:26:20.052Z,1607901980.052 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2020-12-13T23:26:20.058Z,1607901980.058 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2020-12-13T23:26:20.060Z,1607901980.060 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2020-12-13T23:26:20.071Z,1607901980.071 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2020-12-13T23:26:20.099Z,1607901980.099 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T23:26:20.179Z,1607901980.179 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-13T23:26:20.238Z,1607901980.238 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T23:26:20.264Z,1607901980.264 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T23:26:20.293Z,1607901980.293 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-13T23:26:20.311Z,1607901980.311 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T23:26:20.351Z,1607901980.351 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T23:26:20.357Z,1607901980.357 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T23:26:20.359Z,1607901980.359 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T23:26:20.360Z,1607901980.360 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T23:26:20.374Z,1607901980.374 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T23:26:20.397Z,1607901980.397 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T23:26:20.414Z,1607901980.414 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-13T23:26:20.460Z,1607901980.460 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2020-12-13T23:26:20.468Z,1607901980.468 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-13T23:26:20.471Z,1607901980.471 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-13T23:26:20.473Z,1607901980.473 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2020-12-13T23:26:20.475Z,1607901980.475 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-13T23:26:20.481Z,1607901980.481 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2020-12-13T23:26:20.483Z,1607901980.483 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2020-12-13T23:26:20.489Z,1607901980.489 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-13T23:26:20.550Z,1607901980.550 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2020-12-13T23:26:20.632Z,1607901980.632 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2020-12-13T23:26:20.657Z,1607901980.657 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2020-12-13T23:26:20.676Z,1607901980.676 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2020-12-13T23:26:20.705Z,1607901980.705 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-12-13T23:26:20.856Z,1607901980.856 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2020-12-13T23:26:20.859Z,1607901980.859 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2020-12-13T23:26:20.861Z,1607901980.861 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2020-12-13T23:26:20.863Z,1607901980.863 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2020-12-13T23:26:20.866Z,1607901980.866 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-12-13T23:26:20.868Z,1607901980.868 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2020-12-13T23:26:20.870Z,1607901980.870 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2020-12-13T23:26:20.873Z,1607901980.873 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2020-12-13T23:26:20.875Z,1607901980.875 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2020-12-13T23:26:20.878Z,1607901980.878 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2020-12-13T23:26:20.880Z,1607901980.880 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2020-12-13T23:26:20.882Z,1607901980.882 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2020-12-13T23:26:20.884Z,1607901980.884 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2020-12-13T23:26:20.886Z,1607901980.886 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-12-13T23:26:20.888Z,1607901980.888 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2020-12-13T23:26:20.890Z,1607901980.890 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2020-12-13T23:26:20.893Z,1607901980.893 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2020-12-13T23:26:20.895Z,1607901980.895 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2020-12-13T23:26:20.897Z,1607901980.897 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2020-12-13T23:26:20.899Z,1607901980.899 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2020-12-13T23:26:20.901Z,1607901980.901 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2020-12-13T23:26:20.904Z,1607901980.904 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2020-12-13T23:26:20.926Z,1607901980.926 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2020-12-13T23:26:20.928Z,1607901980.928 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2020-12-13T23:26:20.939Z,1607901980.939 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2020-12-13T23:26:20.945Z,1607901980.945 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2020-12-13T23:26:20.953Z,1607901980.953 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-13T23:26:21.028Z,1607901981.028 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-13T23:26:21.042Z,1607901981.042 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-13T23:26:21.044Z,1607901981.044 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-13T23:26:21.049Z,1607901981.049 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-13T23:26:21.055Z,1607901981.055 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-13T23:26:21.073Z,1607901981.073 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-13T23:26:21.104Z,1607901981.104 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2020-12-13T23:26:21.115Z,1607901981.115 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-13T23:26:21.138Z,1607901981.138 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-12-13T23:26:21.138Z,1607901981.138 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T23:26:21.171Z,1607901981.171 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2020-12-13T23:26:21.186Z,1607901981.186 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2020-12-13T23:26:21.203Z,1607901981.203 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-12-13T23:26:21.220Z,1607901981.220 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-12-13T23:26:21.251Z,1607901981.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2020-12-13T23:26:21.267Z,1607901981.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2020-12-13T23:26:21.288Z,1607901981.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-13T23:26:21.288Z,1607901981.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T23:26:21.295Z,1607901981.295 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-12-13T23:26:21.310Z,1607901981.310 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-12-13T23:26:21.350Z,1607901981.350 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2020-12-13T23:26:21.352Z,1607901981.352 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2020-12-13T23:26:21.355Z,1607901981.355 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2020-12-13T23:26:21.357Z,1607901981.357 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-12-13T23:26:21.398Z,1607901981.398 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-12-13T23:26:21.436Z,1607901981.436 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2020-12-13T23:26:21.436Z,1607901981.436 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2020-12-13T23:26:21.456Z,1607901981.456 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2020-12-13T23:26:21.456Z,1607901981.456 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T23:26:21.554Z,1607901981.554 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureDepth">

    <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 (4) Dock: final approach using fixed heading.
    </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>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></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="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>

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

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description> 
    </Insert>

    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

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

    <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>

    <!-- Add LineCapture directives. -->

    <Insert Filename="Insert/LineCapture.xml"/>

    <Assign><Sequence/><Arg Name="LineCapture:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinAltitude"/><Arg Name="MinAltitude"/></Assign>
    
    <!-- Add SetNav directives. -->

    <Insert Filename="Insert/SetNavAcoustic.xml"/>

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

        <!-- Execute the LineCapture sequence. -->
        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Docked">
            <Sequence/>

            <Break>
                <Arg Name="Mode"/><Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked>
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">
                <Sequence/>

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2020-12-13T23:26:21.554Z,1607901981.554 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2020-12-13T23:26:31.698Z,1607901991.698 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 60.000000 minute
2020-12-13T23:26:31.699Z,1607901991.699 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2020-12-13T23:26:31.700Z,1607901991.700 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 3.000000 count
2020-12-13T23:26:31.701Z,1607901991.701 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2020-12-13T23:26:36.295Z,1607901996.295 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2020-12-13T23:26:36.296Z,1607901996.296 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2020-12-13T23:26:36.296Z,1607901996.296 [CommandLine](IMPORTANT): got command run
2020-12-13T23:26:36.298Z,1607901996.298 [CommandLine](IMPORTANT): Running 
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock] Stopped
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-13T23:26:36.379Z,1607901996.379 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-13T23:26:36.380Z,1607901996.380 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-13T23:26:36.380Z,1607901996.380 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2020-12-13T23:26:36.380Z,1607901996.380 [lineCaptureDepth] Running Loop=1
2020-12-13T23:26:36.380Z,1607901996.380 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2020-12-13T23:26:36.380Z,1607901996.380 [lineCaptureDepth:Science] Running Loop=1
2020-12-13T23:26:36.380Z,1607901996.380 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2020-12-13T23:26:36.380Z,1607901996.380 [lineCaptureDepth:Science:A] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:D] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:E] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:F] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T23:26:36.381Z,1607901996.381 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T23:26:36.383Z,1607901996.383 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2020-12-13T23:26:36.383Z,1607901996.383 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-13T23:26:36.383Z,1607901996.383 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-12-13T23:26:36.383Z,1607901996.383 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-12-13T23:26:36.383Z,1607901996.383 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2020-12-13T23:26:36.383Z,1607901996.383 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-13T23:26:36.384Z,1607901996.384 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T23:26:36.384Z,1607901996.384 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T23:26:36.385Z,1607901996.385 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2020-12-13T23:26:36.385Z,1607901996.385 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2020-12-13T23:26:36.385Z,1607901996.385 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T23:26:36.385Z,1607901996.385 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T23:26:36.386Z,1607901996.386 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2020-12-13T23:26:36.386Z,1607901996.386 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-13T23:26:36.387Z,1607901996.387 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-12-13T23:26:36.387Z,1607901996.387 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2020-12-13T23:26:36.388Z,1607901996.388 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T23:26:36.389Z,1607901996.389 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T23:26:36.390Z,1607901996.390 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:26:36.390Z,1607901996.390 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T23:26:36.390Z,1607901996.390 [lineCaptureDepth:J.] Running Loop=1
2020-12-13T23:26:36.390Z,1607901996.390 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2020-12-13T23:26:36.390Z,1607901996.390 [lineCaptureDepth:C] Running Loop=1
2020-12-13T23:26:36.391Z,1607901996.391 [lineCaptureDepth:J.] Running Loop=1
2020-12-13T23:26:36.391Z,1607901996.391 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:C] Stopped
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:D] Running Loop=1
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-13T23:26:36.392Z,1607901996.392 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T23:26:36.393Z,1607901996.393 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T23:26:36.393Z,1607901996.393 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T23:26:36.393Z,1607901996.393 [lineCaptureDepth:Science] Running Loop=1
2020-12-13T23:26:36.394Z,1607901996.394 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2020-12-13T23:26:36.394Z,1607901996.394 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2020-12-13T23:26:36.395Z,1607901996.395 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-13T23:26:36.396Z,1607901996.396 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-13T23:26:36.397Z,1607901996.397 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-13T23:26:36.398Z,1607901996.398 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-12-13T23:26:36.398Z,1607901996.398 [lineCaptureDepth:Science:F] Stopped
2020-12-13T23:26:36.398Z,1607901996.398 [lineCaptureDepth:Science:E] Stopped
2020-12-13T23:26:36.398Z,1607901996.398 [lineCaptureDepth:Science:D] Stopped
2020-12-13T23:26:36.398Z,1607901996.398 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-13T23:26:36.399Z,1607901996.399 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-12-13T23:26:36.399Z,1607901996.399 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-12-13T23:26:36.399Z,1607901996.399 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-13T23:26:36.400Z,1607901996.400 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-12-13T23:26:36.400Z,1607901996.400 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-12-13T23:26:36.400Z,1607901996.400 [lineCaptureDepth:Science:A] Stopped
2020-12-13T23:26:36.609Z,1607901996.609 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-12-13T23:26:36.774Z,1607901996.774 [lineCaptureDepth:D] Stopped
2020-12-13T23:26:36.774Z,1607901996.774 [lineCaptureDepth:E] Running Loop=1
2020-12-13T23:26:37.155Z,1607901997.155 [lineCaptureDepth:E] Stopped
2020-12-13T23:26:37.155Z,1607901997.155 [lineCaptureDepth:G] Running Loop=1
2020-12-13T23:26:37.603Z,1607901997.603 [lineCaptureDepth:G] Stopped
2020-12-13T23:26:37.603Z,1607901997.603 [lineCaptureDepth:H] Running Loop=1
2020-12-13T23:26:37.963Z,1607901997.963 [lineCaptureDepth:H] Stopped
2020-12-13T23:26:37.963Z,1607901997.963 [lineCaptureDepth:L] Running Loop=1
2020-12-13T23:26:38.374Z,1607901998.374 [lineCaptureDepth:L] Stopped
2020-12-13T23:26:38.374Z,1607901998.374 [lineCaptureDepth:M] Running Loop=1
2020-12-13T23:26:38.798Z,1607901998.798 [lineCaptureDepth:M] Stopped
2020-12-13T23:26:38.799Z,1607901998.799 [lineCaptureDepth:N] Running Loop=1
2020-12-13T23:26:39.174Z,1607901999.174 [lineCaptureDepth:N] Stopped
2020-12-13T23:26:39.175Z,1607901999.175 [lineCaptureDepth:Lap] Running Loop=1
2020-12-13T23:26:39.175Z,1607901999.175 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2020-12-13T23:26:39.175Z,1607901999.175 [lineCaptureDepth:Lap:A] Running Loop=1
2020-12-13T23:26:39.175Z,1607901999.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:26:39.566Z,1607901999.566 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-12-13T23:26:39.642Z,1607901999.642 [lineCaptureDepth:Lap:A] Stopped
2020-12-13T23:26:39.643Z,1607901999.643 [lineCaptureDepth:Lap:B] Running Loop=1
2020-12-13T23:26:39.643Z,1607901999.643 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2020-12-13T23:26:39.977Z,1607901999.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:26:40.052Z,1607902000.052 [lineCaptureDepth:LineCapture] Running Loop=1
2020-12-13T23:26:40.052Z,1607902000.052 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2020-12-13T23:26:40.052Z,1607902000.052 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-13T23:26:40.052Z,1607902000.052 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-13T23:26:40.057Z,1607902000.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T23:26:40.057Z,1607902000.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-13T23:26:40.057Z,1607902000.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T23:26:40.058Z,1607902000.058 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-13T23:26:40.058Z,1607902000.058 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T23:26:40.058Z,1607902000.058 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-13T23:26:40.058Z,1607902000.058 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-13T23:26:40.058Z,1607902000.058 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-13T23:26:40.058Z,1607902000.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T23:26:40.059Z,1607902000.059 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T23:26:40.059Z,1607902000.059 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T23:26:40.059Z,1607902000.059 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T23:26:40.059Z,1607902000.059 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-13T23:26:40.059Z,1607902000.059 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T23:26:40.059Z,1607902000.059 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T23:26:40.060Z,1607902000.060 [lineCaptureDepth:LineCapture:A] Running Loop=1
2020-12-13T23:26:40.065Z,1607902000.065 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-13T23:26:40.065Z,1607902000.065 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T23:26:40.066Z,1607902000.066 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-13T23:26:40.066Z,1607902000.066 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-13T23:26:40.066Z,1607902000.066 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-13T23:26:40.066Z,1607902000.066 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-13T23:26:40.066Z,1607902000.066 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-13T23:26:40.066Z,1607902000.066 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-13T23:26:40.067Z,1607902000.067 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-13T23:26:40.067Z,1607902000.067 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-13T23:26:40.067Z,1607902000.067 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-13T23:26:40.068Z,1607902000.068 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-13T23:26:40.077Z,1607902000.077 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-13T23:26:40.078Z,1607902000.078 [lineCaptureDepth:LineCapture:A] Stopped
2020-12-13T23:26:40.078Z,1607902000.078 [lineCaptureDepth:LineCapture:B] Running Loop=1
2020-12-13T23:26:40.373Z,1607902000.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:26:40.425Z,1607902000.425 [lineCaptureDepth:LineCapture:B] Stopped
2020-12-13T23:26:40.425Z,1607902000.425 [lineCaptureDepth:LineCapture:D] Running Loop=1
2020-12-13T23:26:40.882Z,1607902000.882 [lineCaptureDepth:LineCapture:D] Stopped
2020-12-13T23:26:40.882Z,1607902000.882 [lineCaptureDepth:LineCapture:E] Running Loop=1
2020-12-13T23:26:41.206Z,1607902001.206 [Micromodem](INFO): Nmea in: $SNTTA,0.044788,,,,232641.14*42

2020-12-13T23:26:41.243Z,1607902001.243 [lineCaptureDepth:LineCapture:E] Stopped
2020-12-13T23:26:41.243Z,1607902001.243 [lineCaptureDepth:LineCapture:F] Running Loop=1
2020-12-13T23:26:41.640Z,1607902001.640 [lineCaptureDepth:LineCapture:F] Stopped
2020-12-13T23:26:41.640Z,1607902001.640 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2020-12-13T23:26:41.640Z,1607902001.640 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-13T23:26:41.640Z,1607902001.640 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-13T23:26:41.653Z,1607902001.653 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T23:26:41.653Z,1607902001.653 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-12-13T23:26:41.653Z,1607902001.653 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T23:26:41.653Z,1607902001.653 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-12-13T23:26:41.653Z,1607902001.653 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-12-13T23:26:41.653Z,1607902001.653 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T23:26:41.654Z,1607902001.654 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T23:26:41.655Z,1607902001.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T23:26:41.656Z,1607902001.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-13T23:26:42.035Z,1607902002.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-13T23:26:42.035Z,1607902002.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T23:26:42.035Z,1607902002.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-13T23:26:42.035Z,1607902002.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T23:26:42.035Z,1607902002.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-13T23:26:42.036Z,1607902002.036 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-13T23:26:42.402Z,1607902002.402 [PowerOnly](INFO): Powering up loadControl
2020-12-13T23:26:43.610Z,1607902003.610 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-12-13T23:26:43.660Z,1607902003.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:26:43.867Z,1607902003.867 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-13T23:26:44.195Z,1607902004.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:26:44.601Z,1607902004.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:26:45.456Z,1607902005.456 [Micromodem](INFO): Nmea in: $SNTTA,0.045215,,,,232645.36*46

2020-12-13T23:26:47.889Z,1607902007.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:26:48.643Z,1607902008.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:26:49.045Z,1607902009.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:26:49.887Z,1607902009.887 [Micromodem](INFO): Nmea in: $SNTTA,0.045746,,,,232649.81*45

2020-12-13T23:26:52.293Z,1607902012.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:26:53.138Z,1607902013.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:26:53.538Z,1607902013.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:26:54.336Z,1607902014.336 [Micromodem](INFO): Nmea in: $SNTTA,0.046119,,,,232654.31*4D

2020-12-13T23:26:56.772Z,1607902016.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:26:57.567Z,1607902017.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:26:57.938Z,1607902017.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:26:58.842Z,1607902018.842 [Micromodem](INFO): Nmea in: $SNTTA,0.046697,,,0.052496,232658.74*53

2020-12-13T23:27:01.177Z,1607902021.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:01.971Z,1607902021.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:02.377Z,1607902022.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:03.222Z,1607902023.222 [Micromodem](INFO): Nmea in: $SNTTA,0.047149,,,0.050425,232703.14*55

2020-12-13T23:27:04.027Z,1607902024.027 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 70.44 m. Transitioning DDM to standby.
2020-12-13T23:27:05.713Z,1607902025.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:06.438Z,1607902026.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:06.841Z,1607902026.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:07.263Z,1607902027.263 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2020-12-13T23:27:07.646Z,1607902027.646 [Micromodem](INFO): Nmea in: $SNTTA,0.047580,,,,232707.61*4A

2020-12-13T23:27:07.697Z,1607902027.697 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2020-12-13T23:27:07.697Z,1607902027.697 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-12-13T23:27:07.697Z,1607902027.697 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2020-12-13T23:27:08.034Z,1607902028.034 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2020-12-13T23:27:08.034Z,1607902028.034 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2020-12-13T23:27:08.034Z,1607902028.034 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2020-12-13T23:27:08.471Z,1607902028.471 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2020-12-13T23:27:08.471Z,1607902028.471 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T23:27:08.471Z,1607902028.471 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-12-13T23:27:08.471Z,1607902028.471 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-13T23:27:08.471Z,1607902028.471 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-13T23:27:08.873Z,1607902028.873 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-13T23:27:08.874Z,1607902028.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-13T23:27:08.875Z,1607902028.875 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-13T23:27:08.875Z,1607902028.875 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-13T23:27:08.875Z,1607902028.875 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2020-12-13T23:27:08.876Z,1607902028.876 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T23:27:08.876Z,1607902028.876 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2020-12-13T23:27:08.876Z,1607902028.876 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 71.220001 m 
2020-12-13T23:27:08.880Z,1607902028.880 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2020-12-13T23:27:08.881Z,1607902028.881 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2020-12-13T23:27:08.882Z,1607902028.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2020-12-13T23:27:08.882Z,1607902028.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-13T23:27:08.882Z,1607902028.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2020-12-13T23:27:08.882Z,1607902028.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2020-12-13T23:27:09.240Z,1607902029.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2020-12-13T23:27:09.240Z,1607902029.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T23:27:09.240Z,1607902029.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2020-12-13T23:27:09.240Z,1607902029.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-13T23:27:09.240Z,1607902029.240 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-13T23:27:09.241Z,1607902029.241 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-13T23:27:09.242Z,1607902029.242 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-13T23:27:09.669Z,1607902029.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T23:27:09.669Z,1607902029.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-13T23:27:09.669Z,1607902029.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-13T23:27:09.669Z,1607902029.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-13T23:27:09.669Z,1607902029.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-13T23:27:09.670Z,1607902029.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-13T23:27:09.671Z,1607902029.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-13T23:27:09.671Z,1607902029.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2020-12-13T23:27:09.671Z,1607902029.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-13T23:27:09.671Z,1607902029.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2020-12-13T23:27:09.671Z,1607902029.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2020-12-13T23:27:09.671Z,1607902029.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-13T23:27:09.672Z,1607902029.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-13T23:27:09.672Z,1607902029.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-13T23:27:09.673Z,1607902029.673 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-13T23:27:09.674Z,1607902029.674 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-13T23:27:09.674Z,1607902029.674 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2020-12-13T23:27:09.674Z,1607902029.674 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-12-13T23:27:10.040Z,1607902030.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.220001 m, bearing: 214.336964 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T23:27:10.041Z,1607902030.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 214.336964deg and heading rate command to 0 deg/s.
2020-12-13T23:27:10.065Z,1607902030.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:10.945Z,1607902030.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:11.361Z,1607902031.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:12.202Z,1607902032.202 [Micromodem](INFO): Nmea in: $SNTTA,0.048053,,,,232712.11*4D

2020-12-13T23:27:12.227Z,1607902032.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 215.428756 deg, deltaT: 4.528245 s, approachRate: 0.145753 m/s, LOS rate: 0.241107 deg/s, posRepo size: 2
2020-12-13T23:27:12.228Z,1607902032.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 0.241107 deg/s. Setting heading cmd to target bearing of 215.428756deg and heading rate command to 0 deg/s.
2020-12-13T23:27:14.634Z,1607902034.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:15.406Z,1607902035.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:15.808Z,1607902035.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:16.666Z,1607902036.666 [Micromodem](INFO): Nmea in: $SNTTA,0.048332,,,,232716.57*4F

2020-12-13T23:27:16.721Z,1607902036.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 217.118067 deg, deltaT: 4.427612 s, approachRate: 0.094859 m/s, LOS rate: 0.381540 deg/s, posRepo size: 3
2020-12-13T23:27:16.723Z,1607902036.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 217.118067 deg,
      approachRate: 0.094859 m/s,
      LOS rate: 0.381540 deg/s,
      cmd update: 1.144620 deg/s,
      cmd heading: 215.428756 deg,
      new cmd heading: 215.428756 deg.

2020-12-13T23:27:18.918Z,1607902038.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:19.712Z,1607902039.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:19.795Z,1607902039.795 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:27:20.165Z,1607902040.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:20.990Z,1607902040.990 [Micromodem](INFO): Nmea in: $SNTTA,0.048116,,,0.050554,232720.88*53

2020-12-13T23:27:21.044Z,1607902041.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.939995 m, bearing: 218.217796 deg, deltaT: 4.418524 s, approachRate: -0.081477 m/s, LOS rate: 0.248891 deg/s, posRepo size: 4
2020-12-13T23:27:21.050Z,1607902041.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.939995 m,
      bearing: 218.217796 deg,
      approachRate: -0.081477 m/s,
      LOS rate: 0.248891 deg/s,
      cmd update: 0.746672 deg/s,
      cmd heading: 220.486129 deg,
      new cmd heading: 220.952269 deg.

2020-12-13T23:27:23.440Z,1607902043.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:24.199Z,1607902044.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:24.609Z,1607902044.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:25.462Z,1607902045.462 [Micromodem](INFO): Nmea in: $SNTTA,0.047261,,,,232725.37*41

2020-12-13T23:27:25.539Z,1607902045.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 217.130580 deg, deltaT: 4.377352 s, approachRate: -0.287842 m/s, LOS rate: -0.248373 deg/s, posRepo size: 4
2020-12-13T23:27:25.546Z,1607902045.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.680008 m,
      bearing: 217.130580 deg,
      approachRate: -0.287842 m/s,
      LOS rate: -0.248373 deg/s,
      cmd update: -0.745119 deg/s,
      cmd heading: 223.754670 deg,
      new cmd heading: 224.121410 deg.

2020-12-13T23:27:27.565Z,1607902047.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:28.281Z,1607902048.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:28.689Z,1607902048.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:28.713Z,1607902048.713 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:27:29.542Z,1607902049.542 [Micromodem](INFO): Nmea in: $SNTTA,0.046284,,,,232729.45*42

2020-12-13T23:27:29.657Z,1607902049.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 215.839005 deg, deltaT: 4.088279 s, approachRate: -0.352227 m/s, LOS rate: -0.315921 deg/s, posRepo size: 4
2020-12-13T23:27:29.659Z,1607902049.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 215.839005 deg,
      approachRate: -0.352227 m/s,
      LOS rate: -0.315921 deg/s,
      cmd update: -0.947764 deg/s,
      cmd heading: 220.708467 deg,
      new cmd heading: 220.298139 deg.

2020-12-13T23:27:31.873Z,1607902051.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:32.619Z,1607902052.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:33.073Z,1607902053.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:33.926Z,1607902053.926 [Micromodem](INFO): Nmea in: $SNTTA,0.044956,,,,232733.79*40

2020-12-13T23:27:33.998Z,1607902053.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.320007 m, bearing: 214.448952 deg, deltaT: 4.462007 s, approachRate: -0.430299 m/s, LOS rate: -0.311531 deg/s, posRepo size: 4
2020-12-13T23:27:33.000Z,1607902054.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.320007 m,
      bearing: 214.448952 deg,
      approachRate: -0.430299 m/s,
      LOS rate: -0.311531 deg/s,
      cmd update: -0.934592 deg/s,
      cmd heading: 216.489021 deg,
      new cmd heading: 216.068913 deg.

2020-12-13T23:27:34.747Z,1607902054.747 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:27:36.315Z,1607902056.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:37.111Z,1607902057.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:37.573Z,1607902057.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:38.367Z,1607902058.367 [Micromodem](INFO): Nmea in: $SNTTA,0.043572,,,,232738.28*42

2020-12-13T23:27:38.388Z,1607902058.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 216.644871 deg, deltaT: 4.402403 s, approachRate: -0.504270 m/s, LOS rate: 0.498800 deg/s, posRepo size: 4
2020-12-13T23:27:38.390Z,1607902058.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.100006 m,
      bearing: 216.644871 deg,
      approachRate: -0.504270 m/s,
      LOS rate: 0.498800 deg/s,
      cmd update: 1.496401 deg/s,
      cmd heading: 212.372716 deg,
      new cmd heading: 211.971409 deg.

2020-12-13T23:27:40.875Z,1607902060.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:41.619Z,1607902061.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:42.005Z,1607902062.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:42.974Z,1607902062.974 [Micromodem](INFO): Nmea in: $SNTTA,0.041999,,,,232742.79*40

2020-12-13T23:27:43.078Z,1607902063.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 215.847952 deg, deltaT: 4.656005 s, approachRate: -0.489690 m/s, LOS rate: -0.171159 deg/s, posRepo size: 4
2020-12-13T23:27:43.080Z,1607902063.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 215.847952 deg,
      approachRate: -0.489690 m/s,
      LOS rate: -0.171159 deg/s,
      cmd update: -0.513478 deg/s,
      cmd heading: 219.339860 deg,
      new cmd heading: 220.020261 deg.

2020-12-13T23:27:45.532Z,1607902065.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:46.314Z,1607902066.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:46.780Z,1607902066.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:47.602Z,1607902067.602 [Micromodem](INFO): Nmea in: $SNTTA,0.040417,,,,232747.48*4D

2020-12-13T23:27:47.711Z,1607902067.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.419998 m, bearing: 217.318410 deg, deltaT: 4.579647 s, approachRate: -0.524060 m/s, LOS rate: 0.321085 deg/s, posRepo size: 4
2020-12-13T23:27:47.721Z,1607902067.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.419998 m,
      bearing: 217.318410 deg,
      approachRate: -0.524060 m/s,
      LOS rate: 0.321085 deg/s,
      cmd update: 0.963256 deg/s,
      cmd heading: 216.988269 deg,
      new cmd heading: 216.723200 deg.

2020-12-13T23:27:49.780Z,1607902069.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:50.540Z,1607902070.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:50.964Z,1607902070.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:51.798Z,1607902071.798 [Micromodem](INFO): Nmea in: $SNTTA,0.038910,,,,232751.71*45

2020-12-13T23:27:51.927Z,1607902071.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 218.871240 deg, deltaT: 4.187832 s, approachRate: -0.544434 m/s, LOS rate: 0.370796 deg/s, posRepo size: 4
2020-12-13T23:27:51.939Z,1607902071.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 218.871240 deg,
      approachRate: -0.544434 m/s,
      LOS rate: 0.370796 deg/s,
      cmd update: 1.112387 deg/s,
      cmd heading: 221.002870 deg,
      new cmd heading: 221.537369 deg.

2020-12-13T23:27:53.917Z,1607902073.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:54.703Z,1607902074.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:55.293Z,1607902075.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:27:56.144Z,1607902076.144 [Micromodem](INFO): Nmea in: $SNTTA,0.037449,,,0.039954,232755.87*5A

2020-12-13T23:27:56.217Z,1607902076.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.980003 m, bearing: 220.267959 deg, deltaT: 4.429334 s, approachRate: -0.487657 m/s, LOS rate: 0.315334 deg/s, posRepo size: 4
2020-12-13T23:27:56.219Z,1607902076.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 220.267959 deg,
      approachRate: -0.487657 m/s,
      LOS rate: 0.315334 deg/s,
      cmd update: 0.946002 deg/s,
      cmd heading: 225.952240 deg,
      new cmd heading: 226.394116 deg.

2020-12-13T23:27:58.422Z,1607902078.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:27:59.345Z,1607902079.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:27:59.756Z,1607902079.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:00.553Z,1607902080.553 [Micromodem](INFO): Nmea in: $SNTTA,0.035850,,0.050505,,232800.51*5F

2020-12-13T23:28:00.578Z,1607902080.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 217.648076 deg, deltaT: 4.366794 s, approachRate: -0.549604 m/s, LOS rate: -0.599956 deg/s, posRepo size: 4
2020-12-13T23:28:00.581Z,1607902080.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.579998 m,
      bearing: 217.648076 deg,
      approachRate: -0.549604 m/s,
      LOS rate: -0.599956 deg/s,
      cmd update: -1.799867 deg/s,
      cmd heading: 230.083347 deg,
      new cmd heading: 230.461728 deg.

2020-12-13T23:28:02.977Z,1607902082.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:03.747Z,1607902083.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:04.157Z,1607902084.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:05.006Z,1607902085.006 [Micromodem](INFO): Nmea in: $SNTTA,0.034110,,,,232804.92*43

2020-12-13T23:28:05.048Z,1607902085.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.939999 m, bearing: 222.017867 deg, deltaT: 4.476898 s, approachRate: -0.589694 m/s, LOS rate: 0.976076 deg/s, posRepo size: 4
2020-12-13T23:28:05.050Z,1607902085.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 222.017867 deg,
      approachRate: -0.589694 m/s,
      LOS rate: 0.976076 deg/s,
      cmd update: 2.928227 deg/s,
      cmd heading: 222.030416 deg,
      new cmd heading: 221.318572 deg.

2020-12-13T23:28:07.453Z,1607902087.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:08.203Z,1607902088.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:08.597Z,1607902088.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:09.446Z,1607902089.446 [Micromodem](INFO): Nmea in: $SNTTA,0.032758,,,,232809.37*4D

2020-12-13T23:28:09.468Z,1607902089.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 219.901437 deg, deltaT: 4.380679 s, approachRate: -0.451984 m/s, LOS rate: -0.483128 deg/s, posRepo size: 4
2020-12-13T23:28:09.470Z,1607902089.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.960003 m,
      bearing: 219.901437 deg,
      approachRate: -0.451984 m/s,
      LOS rate: -0.483128 deg/s,
      cmd update: -1.449385 deg/s,
      cmd heading: 234.889288 deg,
      new cmd heading: 236.131243 deg.

2020-12-13T23:28:11.915Z,1607902091.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:12.639Z,1607902092.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:13.055Z,1607902093.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:13.886Z,1607902093.886 [Micromodem](INFO): Nmea in: $SNTTA,0.031272,,,,232813.81*45

2020-12-13T23:28:13.888Z,1607902093.888 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:28:13.922Z,1607902093.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 219.563411 deg, deltaT: 4.463269 s, approachRate: -0.497394 m/s, LOS rate: -0.075735 deg/s, posRepo size: 4
2020-12-13T23:28:13.924Z,1607902093.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.739998 m,
      bearing: 219.563411 deg,
      approachRate: -0.497394 m/s,
      LOS rate: -0.075735 deg/s,
      cmd update: -0.227205 deg/s,
      cmd heading: 228.457738 deg,
      new cmd heading: 227.819677 deg.

2020-12-13T23:28:14.271Z,1607902094.271 [PowerOnly](FAULT): loadControl LCB fault:  Software Overcurrent.
2020-12-13T23:28:14.271Z,1607902094.271 [PowerOnly] Hardware Fault, FailCount= 1
2020-12-13T23:28:14.271Z,1607902094.271 [PowerOnly](ERROR): Hardware Fault
2020-12-13T23:28:14.399Z,1607902094.399 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2020-12-13T23:28:14.678Z,1607902094.678 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:28:15.736Z,1607902095.736 [CBIT](INFO): Clearing failed state for component PowerOnly
2020-12-13T23:28:15.736Z,1607902095.736 [PowerOnly] No Fault, FailCount= 1
2020-12-13T23:28:16.306Z,1607902096.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:17.083Z,1607902097.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:17.087Z,1607902097.087 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:28:17.538Z,1607902097.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:18.338Z,1607902098.338 [Micromodem](INFO): Nmea in: $SNTTA,0.029618,,,,232818.25*41

2020-12-13T23:28:18.353Z,1607902098.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 216.228285 deg, deltaT: 4.398739 s, approachRate: -0.559251 m/s, LOS rate: -0.758201 deg/s, posRepo size: 4
2020-12-13T23:28:18.355Z,1607902098.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.279999 m,
      bearing: 216.228285 deg,
      approachRate: -0.559251 m/s,
      LOS rate: -0.758201 deg/s,
      cmd update: -2.274602 deg/s,
      cmd heading: 227.452525 deg,
      new cmd heading: 227.351018 deg.

2020-12-13T23:28:20.774Z,1607902100.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:21.549Z,1607902101.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:21.941Z,1607902101.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:22.770Z,1607902102.770 [Micromodem](INFO): Nmea in: $SNTTA,0.028275,,,,232822.72*44

2020-12-13T23:28:22.795Z,1607902102.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 214.572005 deg, deltaT: 4.471708 s, approachRate: -0.483037 m/s, LOS rate: -0.370391 deg/s, posRepo size: 4
2020-12-13T23:28:22.797Z,1607902102.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.119999 m,
      bearing: 214.572005 deg,
      approachRate: -0.483037 m/s,
      LOS rate: -0.370391 deg/s,
      cmd update: -1.111173 deg/s,
      cmd heading: 217.298962 deg,
      new cmd heading: 216.331166 deg.

2020-12-13T23:28:25.194Z,1607902105.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:25.975Z,1607902105.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:26.386Z,1607902106.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:27.224Z,1607902107.224 [Micromodem](INFO): Nmea in: $SNTTA,0.026925,,,,232827.14*41

2020-12-13T23:28:27.244Z,1607902107.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.200001 m, bearing: 217.450916 deg, deltaT: 4.454908 s, approachRate: -0.430985 m/s, LOS rate: 0.646234 deg/s, posRepo size: 4
2020-12-13T23:28:27.246Z,1607902107.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.200001 m,
      bearing: 217.450916 deg,
      approachRate: -0.430985 m/s,
      LOS rate: 0.646234 deg/s,
      cmd update: 1.938701 deg/s,
      cmd heading: 212.339711 deg,
      new cmd heading: 211.882685 deg.

2020-12-13T23:28:29.678Z,1607902109.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:30.421Z,1607902110.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:30.853Z,1607902110.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:31.690Z,1607902111.690 [Micromodem](INFO): Nmea in: $SNTTA,0.025371,,,,232831.59*47

2020-12-13T23:28:31.731Z,1607902111.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 212.981404 deg, deltaT: 4.493404 s, approachRate: -0.507410 m/s, LOS rate: -0.994683 deg/s, posRepo size: 4
2020-12-13T23:28:31.731Z,1607902111.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m.
2020-12-13T23:28:31.734Z,1607902111.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.920002 m,
      bearing: 212.981404 deg,
      approachRate: -0.507410 m/s,
      LOS rate: -0.994683 deg/s,
      cmd update: -2.984048 deg/s,
      cmd heading: 221.051169 deg,
      new cmd heading: 221.835779 deg.

2020-12-13T23:28:32.107Z,1607902112.107 [PowerOnly](INFO): Powering up loadControl
2020-12-13T23:28:34.199Z,1607902114.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:34.617Z,1607902114.617 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:28:34.911Z,1607902114.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:35.341Z,1607902115.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:36.134Z,1607902116.134 [Micromodem](INFO): Nmea in: $SNTTA,0.023945,0.031388,,,232836.08*50

2020-12-13T23:28:36.164Z,1607902116.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 215.375358 deg, deltaT: 4.441246 s, approachRate: -0.486350 m/s, LOS rate: 0.539028 deg/s, posRepo size: 4
2020-12-13T23:28:36.165Z,1607902116.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2020-12-13T23:28:36.167Z,1607902116.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 215.375358 deg,
      approachRate: -0.486350 m/s,
      LOS rate: 0.539028 deg/s,
      cmd update: 1.617083 deg/s,
      cmd heading: 207.810481 deg,
      new cmd heading: 206.614674 deg.

2020-12-13T23:28:37.727Z,1607902117.727 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:28:38.546Z,1607902118.546 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:28:38.602Z,1607902118.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:39.327Z,1607902119.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:39.759Z,1607902119.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:40.593Z,1607902120.593 [Micromodem](INFO): Nmea in: $SNTTA,0.022633,,,,232840.50*4C

2020-12-13T23:28:40.619Z,1607902120.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 211.404996 deg, deltaT: 4.397252 s, approachRate: -0.463927 m/s, LOS rate: -0.902919 deg/s, posRepo size: 4
2020-12-13T23:28:40.620Z,1607902120.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2020-12-13T23:28:40.622Z,1607902120.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 211.404996 deg,
      approachRate: -0.463927 m/s,
      LOS rate: -0.902919 deg/s,
      cmd update: -2.708757 deg/s,
      cmd heading: 214.920767 deg,
      new cmd heading: 215.663002 deg.

2020-12-13T23:28:43.017Z,1607902123.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:43.779Z,1607902123.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:44.244Z,1607902124.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:45.042Z,1607902125.042 [Micromodem](INFO): Nmea in: $SNTTA,0.021708,,,,232844.95*4B

2020-12-13T23:28:45.064Z,1607902125.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 217.619949 deg, deltaT: 4.499200 s, approachRate: -0.293385 m/s, LOS rate: 1.381346 deg/s, posRepo size: 4
2020-12-13T23:28:45.065Z,1607902125.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.40 m.
2020-12-13T23:28:45.067Z,1607902125.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.399998 m,
      bearing: 217.619949 deg,
      approachRate: -0.293385 m/s,
      LOS rate: 1.381346 deg/s,
      cmd update: 4.144039 deg/s,
      cmd heading: 202.732937 deg,
      new cmd heading: 201.637469 deg.

2020-12-13T23:28:47.434Z,1607902127.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:48.295Z,1607902128.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:48.645Z,1607902128.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:49.490Z,1607902129.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 214.378055 deg, deltaT: 4.386461 s, approachRate: -0.355640 m/s, LOS rate: -0.739068 deg/s, posRepo size: 4
2020-12-13T23:28:49.492Z,1607902129.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.84 m.
2020-12-13T23:28:49.497Z,1607902129.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.84 m.
2020-12-13T23:28:49.498Z,1607902129.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T23:28:49.514Z,1607902129.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.839998 m,
      bearing: 214.378055 deg,
      approachRate: -0.355640 m/s,
      LOS rate: -0.739068 deg/s,
      cmd update: -2.217205 deg/s,
      cmd heading: 220.927803 deg,
      new cmd heading: 222.719876 deg.

2020-12-13T23:28:49.862Z,1607902129.862 [Micromodem](INFO): Nmea in: $SNTTA,0.020666,,,,232849.46*40

2020-12-13T23:28:51.927Z,1607902131.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:52.655Z,1607902132.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:53.070Z,1607902133.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:53.910Z,1607902133.910 [Micromodem](INFO): Nmea in: $SNTTA,0.019745,,,0.055563,232853.82*57

2020-12-13T23:28:53.981Z,1607902133.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 215.539856 deg, deltaT: 4.502554 s, approachRate: -0.333144 m/s, LOS rate: 0.258032 deg/s, posRepo size: 4
2020-12-13T23:28:53.983Z,1607902133.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.340000 m,
      bearing: 215.539856 deg,
      approachRate: -0.333144 m/s,
      LOS rate: 0.258032 deg/s,
      cmd update: 0.774095 deg/s,
      cmd heading: 210.954031 deg,
      new cmd heading: 210.004644 deg.

2020-12-13T23:28:56.319Z,1607902136.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:28:57.103Z,1607902137.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:28:57.629Z,1607902137.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:28:58.363Z,1607902138.363 [Micromodem](INFO): Nmea in: $SNTTA,0.018789,,,0.031108,232858.27*59

2020-12-13T23:28:58.378Z,1607902138.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 221.966941 deg, deltaT: 4.386849 s, approachRate: -0.300899 m/s, LOS rate: 1.465080 deg/s, posRepo size: 4
2020-12-13T23:28:58.380Z,1607902138.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.020000 m,
      bearing: 221.966941 deg,
      approachRate: -0.300899 m/s,
      LOS rate: 1.465080 deg/s,
      cmd update: 4.395240 deg/s,
      cmd heading: 214.346844 deg,
      new cmd heading: 214.692729 deg.

2020-12-13T23:29:00.804Z,1607902140.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:01.639Z,1607902141.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:01.971Z,1607902141.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:02.855Z,1607902142.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.580002 m, bearing: 220.684150 deg, deltaT: 4.450629 s, approachRate: -0.323549 m/s, LOS rate: -0.288227 deg/s, posRepo size: 4
2020-12-13T23:29:02.874Z,1607902142.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 220.684150 deg,
      approachRate: -0.323549 m/s,
      LOS rate: -0.288227 deg/s,
      cmd update: -0.864681 deg/s,
      cmd heading: 233.944153 deg,
      new cmd heading: 235.857533 deg.

2020-12-13T23:29:03.170Z,1607902143.170 [Micromodem](INFO): Nmea in: $SNTTA,0.017828,,,,232902.81*45

2020-12-13T23:29:05.219Z,1607902145.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:06.003Z,1607902146.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:06.397Z,1607902146.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:07.246Z,1607902147.246 [Micromodem](INFO): Nmea in: $SNTTA,0.016981,,,,232907.17*4C

2020-12-13T23:29:07.292Z,1607902147.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 221.305533 deg, deltaT: 4.460123 s, approachRate: -0.269052 m/s, LOS rate: 0.139320 deg/s, posRepo size: 4
2020-12-13T23:29:07.294Z,1607902147.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.379997 m,
      bearing: 221.305533 deg,
      approachRate: -0.269052 m/s,
      LOS rate: 0.139320 deg/s,
      cmd update: 0.417959 deg/s,
      cmd heading: 230.087555 deg,
      new cmd heading: 229.707160 deg.

2020-12-13T23:29:09.686Z,1607902149.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:10.437Z,1607902150.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:10.845Z,1607902150.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:11.698Z,1607902151.698 [Micromodem](INFO): Nmea in: $SNTTA,0.015960,,,,232911.61*46

2020-12-13T23:29:11.733Z,1607902151.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.760000 m, bearing: 225.193878 deg, deltaT: 4.483704 s, approachRate: -0.361308 m/s, LOS rate: 0.867217 deg/s, posRepo size: 4
2020-12-13T23:29:11.735Z,1607902151.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.760000 m,
      bearing: 225.193878 deg,
      approachRate: -0.361308 m/s,
      LOS rate: 0.867217 deg/s,
      cmd update: 2.601651 deg/s,
      cmd heading: 231.961551 deg,
      new cmd heading: 232.128142 deg.

2020-12-13T23:29:14.087Z,1607902154.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:14.879Z,1607902154.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:15.357Z,1607902155.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:16.154Z,1607902156.154 [Micromodem](INFO): Nmea in: $SNTTA,0.014924,,,,232916.05*42

2020-12-13T23:29:16.203Z,1607902156.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 221.613807 deg, deltaT: 4.455743 s, approachRate: -0.336644 m/s, LOS rate: -0.803473 deg/s, posRepo size: 4
2020-12-13T23:29:16.210Z,1607902156.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 221.613807 deg,
      approachRate: -0.336644 m/s,
      LOS rate: -0.803473 deg/s,
      cmd update: -2.410420 deg/s,
      cmd heading: 243.548752 deg,
      new cmd heading: 244.629348 deg.

2020-12-13T23:29:18.597Z,1607902158.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:19.327Z,1607902159.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:19.737Z,1607902159.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:20.582Z,1607902160.582 [Micromodem](INFO): Nmea in: $SNTTA,0.014313,,,,232920.49*41

2020-12-13T23:29:20.608Z,1607902160.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 225.146954 deg, deltaT: 4.377510 s, approachRate: -0.205597 m/s, LOS rate: 0.807114 deg/s, posRepo size: 4
2020-12-13T23:29:20.610Z,1607902160.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.359999 m,
      bearing: 225.146954 deg,
      approachRate: -0.205597 m/s,
      LOS rate: 0.807114 deg/s,
      cmd update: 2.421340 deg/s,
      cmd heading: 232.992806 deg,
      new cmd heading: 231.930909 deg.

2020-12-13T23:29:22.995Z,1607902162.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:23.767Z,1607902163.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:24.177Z,1607902164.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:25.038Z,1607902165.038 [Micromodem](INFO): Nmea in: $SNTTA,0.013399,,,,232924.94*40

2020-12-13T23:29:25.053Z,1607902165.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.980001 m, bearing: 224.678048 deg, deltaT: 4.514916 s, approachRate: -0.305653 m/s, LOS rate: -0.103857 deg/s, posRepo size: 4
2020-12-13T23:29:25.055Z,1607902165.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.980001 m,
      bearing: 224.678048 deg,
      approachRate: -0.305653 m/s,
      LOS rate: -0.103857 deg/s,
      cmd update: -0.311571 deg/s,
      cmd heading: 243.925322 deg,
      new cmd heading: 244.823381 deg.

2020-12-13T23:29:27.427Z,1607902167.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:28.211Z,1607902168.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:28.681Z,1607902168.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:29.466Z,1607902169.466 [Micromodem](INFO): Nmea in: $SNTTA,0.012573,0.045404,,,232929.38*57

2020-12-13T23:29:29.490Z,1607902169.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 228.214105 deg, deltaT: 4.384175 s, approachRate: -0.287398 m/s, LOS rate: 0.806550 deg/s, posRepo size: 4
2020-12-13T23:29:29.521Z,1607902169.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 228.214105 deg,
      approachRate: -0.287398 m/s,
      LOS rate: 0.806550 deg/s,
      cmd update: 2.419651 deg/s,
      cmd heading: 242.560588 deg,
      new cmd heading: 242.427340 deg.

2020-12-13T23:29:32.050Z,1607902172.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:32.651Z,1607902172.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:33.057Z,1607902173.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:33.918Z,1607902173.918 [Micromodem](INFO): Nmea in: $SNTTA,0.011909,,,,232933.82*40

2020-12-13T23:29:34.004Z,1607902174.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 232.746564 deg, deltaT: 4.492399 s, approachRate: -0.253762 m/s, LOS rate: 1.008917 deg/s, posRepo size: 4
2020-12-13T23:29:34.018Z,1607902174.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 232.746564 deg,
      approachRate: -0.253762 m/s,
      LOS rate: 1.008917 deg/s,
      cmd update: 3.026752 deg/s,
      cmd heading: 253.430464 deg,
      new cmd heading: 254.516834 deg.

2020-12-13T23:29:36.328Z,1607902176.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:37.111Z,1607902177.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:37.553Z,1607902177.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:38.386Z,1607902178.386 [Micromodem](INFO): Nmea in: $SNTTA,0.010952,,,,232938.28*44

2020-12-13T23:29:38.459Z,1607902178.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 224.782810 deg, deltaT: 4.463554 s, approachRate: -0.322613 m/s, LOS rate: -1.784173 deg/s, posRepo size: 4
2020-12-13T23:29:38.470Z,1607902178.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.139999 m,
      bearing: 224.782810 deg,
      approachRate: -0.322613 m/s,
      LOS rate: -1.784173 deg/s,
      cmd update: -5.352520 deg/s,
      cmd heading: 266.939941 deg,
      new cmd heading: 268.275383 deg.

2020-12-13T23:29:40.808Z,1607902180.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:41.567Z,1607902181.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:42.041Z,1607902182.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:42.790Z,1607902182.790 [Micromodem](INFO): Nmea in: $SNTTA,0.010170,,,,232942.73*4F

2020-12-13T23:29:42.885Z,1607902182.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 276.604111 deg, deltaT: 4.436219 s, approachRate: -0.216401 m/s, LOS rate: 11.681412 deg/s, posRepo size: 4
2020-12-13T23:29:42.886Z,1607902182.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.681412 deg/s. Setting heading cmd to target bearing of 276.604111deg and heading rate command to 0 deg/s.
2020-12-13T23:29:45.202Z,1607902185.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:45.991Z,1607902185.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:46.407Z,1607902186.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:47.242Z,1607902187.242 [Micromodem](INFO): Nmea in: $SNTTA,0.009623,,,,232947.16*40

2020-12-13T23:29:47.268Z,1607902187.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 222.979285 deg, deltaT: 4.440200 s, approachRate: -0.229719 m/s, LOS rate: -12.077119 deg/s, posRepo size: 4
2020-12-13T23:29:47.269Z,1607902187.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.077119 deg/s. Setting heading cmd to target bearing of 222.979285deg and heading rate command to 0 deg/s.
2020-12-13T23:29:49.718Z,1607902189.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:50.449Z,1607902190.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:50.848Z,1607902190.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:51.786Z,1607902191.786 [Micromodem](INFO): Nmea in: $SNTTA,0.008818,,,,232951.62*43

2020-12-13T23:29:51.826Z,1607902191.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.960001 m, bearing: 221.467559 deg, deltaT: 4.383743 s, approachRate: -0.273738 m/s, LOS rate: -0.344848 deg/s, posRepo size: 4
2020-12-13T23:29:51.887Z,1607902191.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.960001 m,
      bearing: 221.467559 deg,
      approachRate: -0.273738 m/s,
      LOS rate: -0.344848 deg/s,
      cmd update: -1.034545 deg/s,
      cmd heading: 222.979285 deg,
      new cmd heading: 222.979285 deg.

2020-12-13T23:29:54.142Z,1607902194.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:54.907Z,1607902194.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:55.385Z,1607902195.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:29:56.147Z,1607902196.147 [Micromodem](INFO): Nmea in: $SNTTA,0.007965,,,,232956.07*43

2020-12-13T23:29:56.201Z,1607902196.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.579999 m, bearing: 228.196661 deg, deltaT: 4.653154 s, approachRate: -0.296573 m/s, LOS rate: 1.446138 deg/s, posRepo size: 4
2020-12-13T23:29:56.203Z,1607902196.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 228.196661 deg,
      approachRate: -0.296573 m/s,
      LOS rate: 1.446138 deg/s,
      cmd update: 4.338414 deg/s,
      cmd heading: 218.169539 deg,
      new cmd heading: 217.895501 deg.

2020-12-13T23:29:58.601Z,1607902198.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:29:59.354Z,1607902199.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:29:59.741Z,1607902199.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:00.574Z,1607902200.574 [Micromodem](INFO): Nmea in: $SNTTA,0.007170,,,,233000.52*44

2020-12-13T23:30:00.600Z,1607902200.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 223.304347 deg, deltaT: 4.241240 s, approachRate: -0.240496 m/s, LOS rate: -1.153510 deg/s, posRepo size: 4
2020-12-13T23:30:00.602Z,1607902200.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 223.304347 deg,
      approachRate: -0.240496 m/s,
      LOS rate: -1.153510 deg/s,
      cmd update: -3.460531 deg/s,
      cmd heading: 236.620596 deg,
      new cmd heading: 238.457293 deg.

2020-12-13T23:30:03.005Z,1607902203.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:03.773Z,1607902203.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:04.193Z,1607902204.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:05.082Z,1607902205.082 [Micromodem](INFO): Nmea in: $SNTTA,0.006274,,,,233004.94*4C

2020-12-13T23:30:05.104Z,1607902205.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 220.125017 deg, deltaT: 4.507963 s, approachRate: -0.292815 m/s, LOS rate: -0.705270 deg/s, posRepo size: 4
2020-12-13T23:30:05.106Z,1607902205.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 220.125017 deg,
      approachRate: -0.292815 m/s,
      LOS rate: -0.705270 deg/s,
      cmd update: -2.115809 deg/s,
      cmd heading: 221.033111 deg,
      new cmd heading: 219.567971 deg.

2020-12-13T23:30:06.614Z,1607902206.614 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:30:07.462Z,1607902207.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:08.219Z,1607902208.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:08.629Z,1607902208.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:09.502Z,1607902209.502 [Micromodem](INFO): Nmea in: $SNTTA,0.005177,,,,233009.39*45

2020-12-13T23:30:09.594Z,1607902209.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.680000 m, bearing: 218.476305 deg, deltaT: 4.445314 s, approachRate: -0.350932 m/s, LOS rate: -0.370888 deg/s, posRepo size: 4
2020-12-13T23:30:09.596Z,1607902209.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 218.476305 deg,
      approachRate: -0.350932 m/s,
      LOS rate: -0.370888 deg/s,
      cmd update: -1.112663 deg/s,
      cmd heading: 211.618940 deg,
      new cmd heading: 210.637892 deg.

2020-12-13T23:30:11.931Z,1607902211.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:12.667Z,1607902212.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:13.103Z,1607902213.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:13.920Z,1607902213.920 [Micromodem](INFO): Nmea in: $SNTTA,0.004375,,,,233013.83*4E

2020-12-13T23:30:13.954Z,1607902213.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 217.624553 deg, deltaT: 4.419817 s, approachRate: -0.298655 m/s, LOS rate: -0.192712 deg/s, posRepo size: 4
2020-12-13T23:30:13.956Z,1607902213.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 217.624553 deg,
      approachRate: -0.298655 m/s,
      LOS rate: -0.192712 deg/s,
      cmd update: -0.578136 deg/s,
      cmd heading: 206.705694 deg,
      new cmd heading: 206.251372 deg.

2020-12-13T23:30:16.340Z,1607902216.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:17.120Z,1607902217.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:17.578Z,1607902217.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:18.435Z,1607902218.435 [Micromodem](INFO): Nmea in: $SNTTA,0.003800,,,,233018.29*4B

2020-12-13T23:30:18.488Z,1607902218.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 231.895086 deg, deltaT: 4.400013 s, approachRate: -0.149999 m/s, LOS rate: 3.243293 deg/s, posRepo size: 4
2020-12-13T23:30:18.490Z,1607902218.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 231.895086 deg,
      approachRate: -0.149999 m/s,
      LOS rate: 3.243293 deg/s,
      cmd update: 9.729880 deg/s,
      cmd heading: 204.168834 deg,
      new cmd heading: 203.850615 deg.

2020-12-13T23:30:20.792Z,1607902220.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:21.593Z,1607902221.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:21.961Z,1607902221.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:22.796Z,1607902222.796 [Micromodem](INFO): Nmea in: $SNTTA,0.003492,,,,233022.76*4F

2020-12-13T23:30:22.878Z,1607902222.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 256.607284 deg, deltaT: 4.512329 s, approachRate: -0.079781 m/s, LOS rate: 5.476595 deg/s, posRepo size: 4
2020-12-13T23:30:22.879Z,1607902222.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 256.607284 deg,
      approachRate: -0.079781 m/s,
      LOS rate: 5.476595 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 248.074257 deg,
      new cmd heading: 252.227340 deg.

2020-12-13T23:30:25.210Z,1607902225.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:25.999Z,1607902225.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:26.415Z,1607902226.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:27.250Z,1607902227.250 [Micromodem](INFO): Nmea in: $SNTTA,0.003291,,,,233027.17*48

2020-12-13T23:30:27.286Z,1607902227.286 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T23:30:27.286Z,1607902227.286 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:30:27.286Z,1607902227.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T23:30:27.286Z,1607902227.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:30:27.287Z,1607902227.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T23:30:27.287Z,1607902227.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2020-12-13T23:30:27.287Z,1607902227.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T23:30:27.287Z,1607902227.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T23:30:27.287Z,1607902227.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T23:30:27.290Z,1607902227.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 226.607003 deg, deltaT: 4.400660 s, approachRate: -0.095440 m/s, LOS rate: -6.817223 deg/s, posRepo size: 4
2020-12-13T23:30:27.292Z,1607902227.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 226.607003 deg,
      approachRate: -0.095440 m/s,
      LOS rate: -6.817223 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.880391 deg,
      new cmd heading: 306.192035 deg.

2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T233027: (41.552319, -70.708603)
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T23:30:27.687Z,1607902227.687 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T23:30:27.688Z,1607902227.688 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:30:29.678Z,1607902229.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:30.447Z,1607902230.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:30.849Z,1607902230.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:31.754Z,1607902231.754 [Micromodem](INFO): Nmea in: $SNTTA,0.003700,,,,233031.61*43

2020-12-13T23:30:31.779Z,1607902231.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 207.291146 deg, deltaT: 4.406735 s, approachRate: 0.163386 m/s, LOS rate: -4.383258 deg/s, posRepo size: 4
2020-12-13T23:30:31.781Z,1607902231.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 207.291146 deg,
      approachRate: 0.163386 m/s,
      LOS rate: -4.383258 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.810198 deg,
      new cmd heading: 241.697098 deg.

2020-12-13T23:30:34.099Z,1607902234.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:34.899Z,1607902234.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:35.293Z,1607902235.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:36.154Z,1607902236.154 [Micromodem](INFO): Nmea in: $SNTTA,0.004256,,0.035325,,233036.07*59

2020-12-13T23:30:36.176Z,1607902236.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 256.825795 deg, deltaT: 4.542243 s, approachRate: 0.171721 m/s, LOS rate: 10.905328 deg/s, posRepo size: 4
2020-12-13T23:30:36.176Z,1607902236.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.42 m.
2020-12-13T23:30:36.178Z,1607902236.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 256.825795 deg,
      approachRate: 0.171721 m/s,
      LOS rate: 10.905328 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 193.299729 deg,
      new cmd heading: 188.935544 deg.

2020-12-13T23:30:38.600Z,1607902238.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:39.339Z,1607902239.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:39.741Z,1607902239.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:40.575Z,1607902240.575 [Micromodem](INFO): Nmea in: $SNTTA,0.005134,,,,233040.51*41

2020-12-13T23:30:41.374Z,1607902241.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:44.199Z,1607902244.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:47.037Z,1607902247.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:47.819Z,1607902247.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:48.229Z,1607902248.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:49.134Z,1607902249.134 [Micromodem](INFO): Nmea in: $SNTTA,0.006222,0.018860,0.017984,3050,COPROC,0.10.0.46*47

2020-12-13T23:30:49.135Z,1607902249.135 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTTA,0.006222,0.018860,0.017984,3050,COPROC,0.10.0.46*47
 expected 6B
2020-12-13T23:30:49.190Z,1607902249.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 263.151042 deg, deltaT: 12.885213 s, approachRate: 0.228169 m/s, LOS rate: 0.490892 deg/s, posRepo size: 4
2020-12-13T23:30:49.191Z,1607902249.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.36 m.
2020-12-13T23:30:49.197Z,1607902249.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 263.151042 deg,
      approachRate: 0.228169 m/s,
      LOS rate: 0.490892 deg/s,
      cmd update: 1.472676 deg/s,
      cmd heading: 347.777953 deg,
      new cmd heading: 353.774593 deg.

2020-12-13T23:30:51.486Z,1607902251.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:52.263Z,1607902252.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:52.680Z,1607902252.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:53.517Z,1607902253.517 [Micromodem](INFO): Nmea in: $SNTTA,0.006542,,,,233053.43*46

2020-12-13T23:30:53.606Z,1607902253.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 228.206551 deg, deltaT: 4.407394 s, approachRate: 0.122521 m/s, LOS rate: -7.928606 deg/s, posRepo size: 4
2020-12-13T23:30:53.608Z,1607902253.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 228.206551 deg,
      approachRate: 0.122521 m/s,
      LOS rate: -7.928606 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 354.286324 deg,
      new cmd heading: 355.023772 deg.

2020-12-13T23:30:55.927Z,1607902255.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:30:56.709Z,1607902256.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:30:57.119Z,1607902257.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:30:57.950Z,1607902257.950 [Micromodem](INFO): Nmea in: $SNTTA,0.006731,,,,233057.88*43

2020-12-13T23:30:57.972Z,1607902257.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 250.123877 deg, deltaT: 4.496580 s, approachRate: 0.053374 m/s, LOS rate: 4.874221 deg/s, posRepo size: 4
2020-12-13T23:30:57.974Z,1607902257.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 250.123877 deg,
      approachRate: 0.053374 m/s,
      LOS rate: 4.874221 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 300.375734 deg,
      new cmd heading: 295.879742 deg.

2020-12-13T23:31:00.358Z,1607902260.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:01.155Z,1607902261.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:01.581Z,1607902261.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:02.394Z,1607902262.394 [Micromodem](INFO): Nmea in: $SNTTA,0.006662,,,,233102.32*44

2020-12-13T23:31:02.431Z,1607902262.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 296.063866 deg, deltaT: 4.413845 s, approachRate: -0.013593 m/s, LOS rate: 10.408156 deg/s, posRepo size: 4
2020-12-13T23:31:02.434Z,1607902262.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 296.063866 deg,
      approachRate: -0.013593 m/s,
      LOS rate: 10.408156 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 353.390596 deg,
      new cmd heading: 358.363636 deg.

2020-12-13T23:31:04.830Z,1607902264.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:05.596Z,1607902265.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:05.997Z,1607902265.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:06.841Z,1607902266.841 [Micromodem](INFO): Nmea in: $SNTTA,0.006401,,,,233106.76*47

2020-12-13T23:31:06.875Z,1607902266.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 338.697661 deg, deltaT: 4.415252 s, approachRate: -0.135894 m/s, LOS rate: 9.656028 deg/s, posRepo size: 4
2020-12-13T23:31:06.877Z,1607902266.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 338.697661 deg,
      approachRate: -0.135894 m/s,
      LOS rate: 9.656028 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.147432 deg,
      new cmd heading: 51.711245 deg.

2020-12-13T23:31:09.246Z,1607902269.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:10.043Z,1607902270.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:10.444Z,1607902270.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:11.274Z,1607902271.274 [Micromodem](INFO): Nmea in: $SNTTA,0.005900,,,,233111.21*4C

2020-12-13T23:31:11.311Z,1607902271.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 24.571008 deg, deltaT: 4.470836 s, approachRate: -0.147623 m/s, LOS rate: 10.260574 deg/s, posRepo size: 4
2020-12-13T23:31:11.312Z,1607902271.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.82 m.
2020-12-13T23:31:11.314Z,1607902271.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 24.571008 deg,
      approachRate: -0.147623 m/s,
      LOS rate: 10.260574 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 99.975330 deg,
      new cmd heading: 104.944230 deg.

2020-12-13T23:31:11.760Z,1607902271.760 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:31:11.760Z,1607902271.760 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T23:31:11.760Z,1607902271.760 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T23:31:11.760Z,1607902271.760 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:31:11.761Z,1607902271.761 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T23:31:11.761Z,1607902271.761 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:31:11.762Z,1607902271.762 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-13T23:31:12.194Z,1607902272.194 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-13T23:31:12.194Z,1607902272.194 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-13T23:31:12.194Z,1607902272.194 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T23:31:12.194Z,1607902272.194 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:31:12.194Z,1607902272.194 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T23:31:13.795Z,1607902273.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:14.575Z,1607902274.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:14.957Z,1607902274.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:15.763Z,1607902275.763 [Micromodem](INFO): Nmea in: $SNTTA,0.005189,,,,233115.74*41

2020-12-13T23:31:15.830Z,1607902275.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.680000 m, bearing: 13.013439 deg, deltaT: 4.463288 s, approachRate: -0.255417 m/s, LOS rate: -2.589474 deg/s, posRepo size: 4
2020-12-13T23:31:15.831Z,1607902275.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.68 m.
2020-12-13T23:31:15.833Z,1607902275.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 13.013439 deg,
      approachRate: -0.255417 m/s,
      LOS rate: -2.589474 deg/s,
      cmd update: -7.768422 deg/s,
      cmd heading: 153.581576 deg,
      new cmd heading: 159.174428 deg.

2020-12-13T23:31:18.201Z,1607902278.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:18.991Z,1607902278.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:19.385Z,1607902279.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:20.218Z,1607902280.218 [Micromodem](INFO): Nmea in: $SNTTA,0.004479,,0.008298,,233120.16*5D

2020-12-13T23:31:20.233Z,1607902280.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 24.470826 deg, deltaT: 4.494852 s, approachRate: -0.240275 m/s, LOS rate: 2.549002 deg/s, posRepo size: 4
2020-12-13T23:31:20.235Z,1607902280.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 24.470826 deg,
      approachRate: -0.240275 m/s,
      LOS rate: 2.549002 deg/s,
      cmd update: 7.647006 deg/s,
      cmd heading: 118.693762 deg,
      new cmd heading: 115.760794 deg.

2020-12-13T23:31:22.640Z,1607902282.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:23.424Z,1607902283.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:23.831Z,1607902283.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:24.674Z,1607902284.674 [Micromodem](INFO): Nmea in: $SNTTA,0.003599,,,,233124.59*4F

2020-12-13T23:31:24.736Z,1607902284.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 34.738089 deg, deltaT: 4.405430 s, approachRate: -0.313250 m/s, LOS rate: 2.330593 deg/s, posRepo size: 4
2020-12-13T23:31:24.742Z,1607902284.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 34.738089 deg,
      approachRate: -0.313250 m/s,
      LOS rate: 2.330593 deg/s,
      cmd update: 6.991778 deg/s,
      cmd heading: 152.395657 deg,
      new cmd heading: 156.015910 deg.

2020-12-13T23:31:27.078Z,1607902287.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:27.871Z,1607902287.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:28.273Z,1607902288.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:29.102Z,1607902289.102 [Micromodem](INFO): Nmea in: $SNTTA,0.002619,,,,233129.04*40

2020-12-13T23:31:29.140Z,1607902289.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 6.693908 deg, deltaT: 4.478512 s, approachRate: -0.294741 m/s, LOS rate: -6.261942 deg/s, posRepo size: 4
2020-12-13T23:31:29.146Z,1607902289.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 6.693908 deg,
      approachRate: -0.294741 m/s,
      LOS rate: -6.261942 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 183.722108 deg,
      new cmd heading: 186.495928 deg.

2020-12-13T23:31:31.570Z,1607902291.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:32.315Z,1607902292.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:32.715Z,1607902292.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:33.574Z,1607902293.574 [Micromodem](INFO): Nmea in: $SNTTA,0.002364,,,,233133.48*4C

2020-12-13T23:31:33.663Z,1607902293.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 59.319681 deg, deltaT: 4.456129 s, approachRate: -0.040393 m/s, LOS rate: 11.809751 deg/s, posRepo size: 4
2020-12-13T23:31:33.664Z,1607902293.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.809751 deg/s. Setting heading cmd to target bearing of 59.319681deg and heading rate command to 0 deg/s.
2020-12-13T23:31:36.002Z,1607902296.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:36.763Z,1607902296.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:37.157Z,1607902297.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:38.006Z,1607902298.006 [Micromodem](INFO): Nmea in: $SNTTA,0.002881,,,,233137.93*4E

2020-12-13T23:31:38.036Z,1607902298.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 40.159965 deg, deltaT: 4.451168 s, approachRate: 0.121316 m/s, LOS rate: -4.304424 deg/s, posRepo size: 4
2020-12-13T23:31:38.076Z,1607902298.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 40.159965 deg,
      approachRate: 0.121316 m/s,
      LOS rate: -4.304424 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.319681 deg,
      new cmd heading: 59.319681 deg.

2020-12-13T23:31:40.407Z,1607902300.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:41.206Z,1607902301.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:41.609Z,1607902301.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:42.454Z,1607902302.454 [Micromodem](INFO): Nmea in: $SNTTA,0.004036,,0.037728,0.006541,233142.37*4F

2020-12-13T23:31:42.496Z,1607902302.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.179999 m, bearing: 57.542705 deg, deltaT: 4.389221 s, approachRate: 0.437435 m/s, LOS rate: 3.960324 deg/s, posRepo size: 4
2020-12-13T23:31:42.506Z,1607902302.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.179999 m,
      bearing: 57.542705 deg,
      approachRate: 0.437435 m/s,
      LOS rate: 3.960324 deg/s,
      cmd update: 11.880972 deg/s,
      cmd heading: 6.648247 deg,
      new cmd heading: 1.122655 deg.

2020-12-13T23:31:44.554Z,1607902304.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:45.247Z,1607902305.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:45.645Z,1607902305.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:46.530Z,1607902306.530 [Micromodem](INFO): Nmea in: $SNTTA,0.005207,,,,233146.42*47

2020-12-13T23:31:46.608Z,1607902306.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 57.674254 deg, deltaT: 4.021660 s, approachRate: 0.447576 m/s, LOS rate: 0.032710 deg/s, posRepo size: 4
2020-12-13T23:31:46.610Z,1607902306.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 57.674254 deg,
      approachRate: 0.447576 m/s,
      LOS rate: 0.032710 deg/s,
      cmd update: 0.098131 deg/s,
      cmd heading: 54.480139 deg,
      new cmd heading: 60.967732 deg.

2020-12-13T23:31:48.584Z,1607902308.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:49.283Z,1607902309.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:49.685Z,1607902309.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:50.558Z,1607902310.558 [Micromodem](INFO): Nmea in: $SNTTA,0.006648,,,,233150.45*4B

2020-12-13T23:31:50.605Z,1607902310.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 67.590254 deg, deltaT: 4.060558 s, approachRate: 0.531947 m/s, LOS rate: 2.442029 deg/s, posRepo size: 4
2020-12-13T23:31:50.607Z,1607902310.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 67.590254 deg,
      approachRate: 0.531947 m/s,
      LOS rate: 2.442029 deg/s,
      cmd update: 7.326087 deg/s,
      cmd heading: 54.878125 deg,
      new cmd heading: 54.925571 deg.

2020-12-13T23:31:52.650Z,1607902312.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:53.340Z,1607902313.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:53.733Z,1607902313.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:54.594Z,1607902314.594 [Micromodem](INFO): Nmea in: $SNTTA,0.008068,,,,233154.51*40

2020-12-13T23:31:54.682Z,1607902314.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 65.531383 deg, deltaT: 4.048097 s, approachRate: 0.518763 m/s, LOS rate: -0.508602 deg/s, posRepo size: 4
2020-12-13T23:31:54.683Z,1607902314.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.24 m. Rolling out.
2020-12-13T23:31:54.683Z,1607902314.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T23:31:56.825Z,1607902316.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:31:57.382Z,1607902317.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:31:57.800Z,1607902317.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:31:58.622Z,1607902318.622 [Micromodem](INFO): Nmea in: $SNTTA,0.009521,,,,233158.55*41

2020-12-13T23:31:58.668Z,1607902318.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 73.173599 deg, deltaT: 4.020646 s, approachRate: 0.537227 m/s, LOS rate: 1.900743 deg/s, posRepo size: 4
2020-12-13T23:32:01.052Z,1607902321.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:01.807Z,1607902321.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:02.213Z,1607902322.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:03.074Z,1607902323.074 [Micromodem](INFO): Nmea in: $SNTTA,0.011410,,,,233202.98*46

2020-12-13T23:32:03.110Z,1607902323.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 90.731666 deg, deltaT: 4.469424 s, approachRate: 0.630953 m/s, LOS rate: 3.928485 deg/s, posRepo size: 4
2020-12-13T23:32:05.760Z,1607902325.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:06.339Z,1607902326.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:06.753Z,1607902326.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:07.594Z,1607902327.594 [Micromodem](INFO): Nmea in: $SNTTA,0.013301,,,,233207.51*43

2020-12-13T23:32:07.630Z,1607902327.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.039999 m, bearing: 99.724628 deg, deltaT: 4.489222 s, approachRate: 0.628172 m/s, LOS rate: 2.003234 deg/s, posRepo size: 4
2020-12-13T23:32:10.086Z,1607902330.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:10.779Z,1607902330.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:11.189Z,1607902331.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:12.044Z,1607902332.044 [Micromodem](INFO): Nmea in: $SNTTA,0.015450,,,,233211.95*49

2020-12-13T23:32:12.080Z,1607902332.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 90.614153 deg, deltaT: 4.478007 s, approachRate: 0.723537 m/s, LOS rate: -2.034493 deg/s, posRepo size: 4
2020-12-13T23:32:14.453Z,1607902334.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:15.229Z,1607902335.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:15.645Z,1607902335.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:15.678Z,1607902335.678 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:32:16.517Z,1607902336.517 [Micromodem](INFO): Nmea in: $SNTTA,0.017689,,,,233216.40*42

2020-12-13T23:32:16.595Z,1607902336.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.639999 m, bearing: 96.570685 deg, deltaT: 4.454972 s, approachRate: 0.754213 m/s, LOS rate: 1.337053 deg/s, posRepo size: 4
2020-12-13T23:32:18.590Z,1607902338.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:19.347Z,1607902339.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:19.797Z,1607902339.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:20.632Z,1607902340.632 [Micromodem](INFO): Nmea in: $SNTTA,0.020005,,,,233220.51*41

2020-12-13T23:32:20.671Z,1607902340.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 86.650970 deg, deltaT: 4.152613 s, approachRate: 0.838026 m/s, LOS rate: -2.388789 deg/s, posRepo size: 4
2020-12-13T23:32:23.026Z,1607902343.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:23.835Z,1607902343.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:24.248Z,1607902344.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:25.059Z,1607902345.059 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233225.00*59

2020-12-13T23:32:25.539Z,1607902345.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:27.494Z,1607902347.494 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:32:28.283Z,1607902348.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:29.079Z,1607902349.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:29.523Z,1607902349.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:30.318Z,1607902350.318 [Micromodem](INFO): Nmea in: $SNTTA,0.025076,,,,233230.25*42

2020-12-13T23:32:30.359Z,1607902350.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 97.734584 deg, deltaT: 9.663390 s, approachRate: 0.769916 m/s, LOS rate: 1.146970 deg/s, posRepo size: 4
2020-12-13T23:32:32.826Z,1607902352.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:33.570Z,1607902353.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:33.949Z,1607902353.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:34.784Z,1607902354.784 [Micromodem](INFO): Nmea in: $SNTTA,0.027317,,,,233234.74*44

2020-12-13T23:32:34.832Z,1607902354.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.820000 m, bearing: 84.531200 deg, deltaT: 4.461755 s, approachRate: 0.954782 m/s, LOS rate: -2.959236 deg/s, posRepo size: 4
2020-12-13T23:32:36.717Z,1607902356.717 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.271378
2020-12-13T23:32:36.909Z,1607902356.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:36.910Z,1607902356.910 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:32:36.910Z,1607902356.910 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T23:32:36.910Z,1607902356.910 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T23:32:36.910Z,1607902356.910 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:32:36.910Z,1607902356.910 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T23:32:37.591Z,1607902357.591 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:32:37.591Z,1607902357.591 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:32:37.959Z,1607902357.959 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:32:37.960Z,1607902357.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:38.359Z,1607902358.359 [Micromodem](INFO): Nmea in: $CADRQ,233238,1,9,0,64,1*45

2020-12-13T23:32:38.359Z,1607902358.359 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,233238,1,9,0,64,1*45

2020-12-13T23:32:38.769Z,1607902358.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:39.210Z,1607902359.210 [Micromodem](INFO): Nmea in: $SNTTA,0.030543,,0.034973,,233239.13*5D

2020-12-13T23:32:39.372Z,1607902359.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.719997 m, bearing: 94.117384 deg, deltaT: 4.478034 s, approachRate: 0.870917 m/s, LOS rate: 2.140713 deg/s, posRepo size: 4
2020-12-13T23:32:41.790Z,1607902361.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:42.536Z,1607902362.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:42.947Z,1607902362.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:43.845Z,1607902363.845 [Micromodem](INFO): Nmea in: $SNTTA,0.031277,,,,233243.70*40

2020-12-13T23:32:44.726Z,1607902364.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:45.959Z,1607902365.959 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:32:47.641Z,1607902367.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:48.383Z,1607902368.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:48.833Z,1607902368.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:49.646Z,1607902369.646 [Micromodem](INFO): Nmea in: $SNTTA,0.034322,,,,233249.55*49

2020-12-13T23:32:49.818Z,1607902369.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.200001 m, bearing: 88.617306 deg, deltaT: 10.443938 s, approachRate: 0.620456 m/s, LOS rate: -0.526629 deg/s, posRepo size: 4
2020-12-13T23:32:51.900Z,1607902371.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:52.564Z,1607902372.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:52.921Z,1607902372.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:52.965Z,1607902372.965 [Radio_Surface](INFO): Powering down
2020-12-13T23:32:53.740Z,1607902373.740 [Micromodem](INFO): Nmea in: $SNTTA,0.036529,,0.070936,,233253.73*5C

2020-12-13T23:32:53.807Z,1607902373.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 87.248584 deg, deltaT: 4.056568 s, approachRate: 0.665587 m/s, LOS rate: -0.337409 deg/s, posRepo size: 4
2020-12-13T23:32:56.329Z,1607902376.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:32:56.971Z,1607902376.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:32:57.385Z,1607902377.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:32:58.238Z,1607902378.238 [Micromodem](INFO): Nmea in: $SNTTA,0.038910,,,,233258.14*4B

2020-12-13T23:32:58.400Z,1607902378.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 83.409608 deg, deltaT: 4.534724 s, approachRate: 0.886494 m/s, LOS rate: -0.846573 deg/s, posRepo size: 4
2020-12-13T23:33:00.403Z,1607902380.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:01.171Z,1607902381.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:01.581Z,1607902381.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:02.407Z,1607902382.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233302.34*5A

2020-12-13T23:33:02.936Z,1607902382.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:04.590Z,1607902384.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:33:05.585Z,1607902385.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:06.279Z,1607902386.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:06.681Z,1607902386.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:07.562Z,1607902387.562 [Micromodem](INFO): Nmea in: $SNTTA,0.044191,,,,233307.45*4E

2020-12-13T23:33:07.615Z,1607902387.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 80.985348 deg, deltaT: 9.220582 s, approachRate: 0.780861 m/s, LOS rate: -0.262918 deg/s, posRepo size: 4
2020-12-13T23:33:08.726Z,1607902388.726 [Micromodem](INFO): Nmea in: $CAERR,233308,DATA_TIMEOUT,1*47

2020-12-13T23:33:09.617Z,1607902389.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:10.332Z,1607902390.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:10.733Z,1607902390.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:11.598Z,1607902391.598 [Micromodem](INFO): Nmea in: $SNTTA,0.046299,,,,233311.50*44

2020-12-13T23:33:11.636Z,1607902391.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 82.119119 deg, deltaT: 4.108290 s, approachRate: 0.759441 m/s, LOS rate: 0.275971 deg/s, posRepo size: 4
2020-12-13T23:33:12.873Z,1607902392.873 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-13T23:33:13.720Z,1607902393.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:13.877Z,1607902393.877 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-13T23:33:14.515Z,1607902394.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:14.929Z,1607902394.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:15.770Z,1607902395.770 [Micromodem](INFO): Nmea in: $SNTTA,0.048172,,,,233315.68*43

2020-12-13T23:33:15.804Z,1607902395.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.660004 m, bearing: 84.316595 deg, deltaT: 4.156131 s, approachRate: 0.822880 m/s, LOS rate: 0.528731 deg/s, posRepo size: 4
2020-12-13T23:33:17.862Z,1607902397.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:18.591Z,1607902398.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:19.006Z,1607902399.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:19.846Z,1607902399.846 [Micromodem](INFO): Nmea in: $SNTTA,0.050835,,,,233319.76*43

2020-12-13T23:33:19.870Z,1607902399.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 83.817616 deg, deltaT: 4.100611 s, approachRate: 0.819390 m/s, LOS rate: -0.121684 deg/s, posRepo size: 4
2020-12-13T23:33:22.251Z,1607902402.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:23.051Z,1607902403.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:23.447Z,1607902403.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:24.358Z,1607902404.358 [Micromodem](INFO): Nmea in: $SNTTA,0.053001,,0.064813,,233324.22*56

2020-12-13T23:33:24.391Z,1607902404.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 86.001555 deg, deltaT: 4.518084 s, approachRate: 0.783516 m/s, LOS rate: 0.483377 deg/s, posRepo size: 4
2020-12-13T23:33:26.534Z,1607902406.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:27.187Z,1607902407.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:27.593Z,1607902407.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:28.435Z,1607902408.435 [Micromodem](INFO): Nmea in: $SNTTA,0.056159,,,,233328.35*43

2020-12-13T23:33:28.542Z,1607902408.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.640007 m, bearing: 85.074760 deg, deltaT: 4.038292 s, approachRate: 1.010330 m/s, LOS rate: -0.229502 deg/s, posRepo size: 4
2020-12-13T23:33:30.634Z,1607902410.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:31.283Z,1607902411.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:31.709Z,1607902411.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:31.731Z,1607902411.731 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:33:32.538Z,1607902412.538 [Micromodem](INFO): Nmea in: $SNTTA,0.058070,,,,233332.45*4B

2020-12-13T23:33:32.575Z,1607902412.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 83.093855 deg, deltaT: 4.080541 s, approachRate: 0.794012 m/s, LOS rate: -0.485452 deg/s, posRepo size: 4
2020-12-13T23:33:33.894Z,1607902413.894 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:33:34.966Z,1607902414.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:35.727Z,1607902415.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:36.270Z,1607902416.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:37.086Z,1607902417.086 [Micromodem](INFO): Nmea in: $SNTTA,0.060702,,,,233336.89*46

2020-12-13T23:33:37.142Z,1607902417.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.720001 m, bearing: 81.621218 deg, deltaT: 4.631292 s, approachRate: 0.829141 m/s, LOS rate: -0.317975 deg/s, posRepo size: 4
2020-12-13T23:33:39.543Z,1607902419.543 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:33:39.567Z,1607902419.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:40.380Z,1607902420.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:40.749Z,1607902420.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:41.598Z,1607902421.598 [Micromodem](INFO): Nmea in: $SNTTA,0.063099,,,,233341.55*41

2020-12-13T23:33:41.654Z,1607902421.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 81.333100 deg, deltaT: 4.465061 s, approachRate: 0.765948 m/s, LOS rate: -0.064527 deg/s, posRepo size: 4
2020-12-13T23:33:42.745Z,1607902422.745 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:33:43.271Z,1607902423.271 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:33:43.271Z,1607902423.271 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:33:43.603Z,1607902423.603 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:33:44.018Z,1607902424.018 [Micromodem](INFO): Nmea in: $CADRQ,233344,1,9,0,64,1*4F

2020-12-13T23:33:44.019Z,1607902424.019 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:33:44.108Z,1607902424.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:44.414Z,1607902424.414 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:33:44.775Z,1607902424.775 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:33:44.776Z,1607902424.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:45.985Z,1607902425.985 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:33:45.986Z,1607902425.986 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:33:46.380Z,1607902426.380 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,233345.202323,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-13T23:33:46.380Z,1607902426.380 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,233345.202323,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-13T23:33:46.648Z,1607902426.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:49.327Z,1607902429.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:51.860Z,1607902431.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:53.679Z,1607902433.679 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:33:54.532Z,1607902434.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:33:56.031Z,1607902436.031 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:33:56.435Z,1607902436.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:33:57.382Z,1607902437.382 [Micromodem](INFO): Nmea in: $SNTTA,0.071632,,,,233357.20*40

2020-12-13T23:33:57.404Z,1607902437.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 84.400791 deg, deltaT: 15.692408 s, approachRate: 0.856465 m/s, LOS rate: 0.195489 deg/s, posRepo size: 4
2020-12-13T23:33:59.851Z,1607902439.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:00.500Z,1607902440.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:00.888Z,1607902440.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:01.720Z,1607902441.720 [Micromodem](INFO): Nmea in: $SNTTA,0.074331,,0.075513,,233401.67*5F

2020-12-13T23:34:01.863Z,1607902441.863 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:34:01.895Z,1607902441.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 81.900320 deg, deltaT: 4.447168 s, approachRate: 0.930929 m/s, LOS rate: -0.562261 deg/s, posRepo size: 4
2020-12-13T23:34:04.183Z,1607902444.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:04.947Z,1607902444.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:05.353Z,1607902445.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:06.198Z,1607902446.198 [Micromodem](INFO): Nmea in: $SNTTA,0.076916,,,,233406.11*4F

2020-12-13T23:34:06.364Z,1607902446.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 85.040998 deg, deltaT: 4.501286 s, approachRate: 0.853089 m/s, LOS rate: 0.697729 deg/s, posRepo size: 4
2020-12-13T23:34:08.366Z,1607902448.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:09.015Z,1607902449.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:09.431Z,1607902449.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:10.270Z,1607902450.270 [Micromodem](INFO): Nmea in: $SNTTA,0.079243,,,,233410.18*45

2020-12-13T23:34:10.292Z,1607902450.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.040001 m, bearing: 87.096660 deg, deltaT: 4.091154 s, approachRate: 0.850615 m/s, LOS rate: 0.502465 deg/s, posRepo size: 4
2020-12-13T23:34:12.840Z,1607902452.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:13.466Z,1607902453.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:13.865Z,1607902453.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:14.706Z,1607902454.706 [Micromodem](INFO): Nmea in: $SNTTA,0.081790,,,,233414.63*41

2020-12-13T23:34:14.894Z,1607902454.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.820007 m, bearing: 87.491417 deg, deltaT: 4.406788 s, approachRate: 0.857769 m/s, LOS rate: 0.089579 deg/s, posRepo size: 4
2020-12-13T23:34:17.128Z,1607902457.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:17.940Z,1607902457.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:18.309Z,1607902458.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:19.144Z,1607902459.144 [Micromodem](INFO): Nmea in: $SNTTA,0.084535,,,,233419.11*41

2020-12-13T23:34:19.304Z,1607902459.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 88.238135 deg, deltaT: 4.446115 s, approachRate: 0.931150 m/s, LOS rate: 0.167948 deg/s, posRepo size: 4
2020-12-13T23:34:21.367Z,1607902461.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:21.952Z,1607902461.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:22.363Z,1607902462.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:23.194Z,1607902463.194 [Micromodem](INFO): Nmea in: $SNTTA,0.086648,,,,233423.12*40

2020-12-13T23:34:23.216Z,1607902463.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 87.723002 deg, deltaT: 4.026967 s, approachRate: 0.804573 m/s, LOS rate: -0.127921 deg/s, posRepo size: 4
2020-12-13T23:34:25.831Z,1607902465.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:26.408Z,1607902466.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:26.823Z,1607902466.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:26.891Z,1607902466.891 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:34:27.666Z,1607902467.666 [Micromodem](INFO): Nmea in: $SNTTA,0.089306,,,0.100637,233427.57*58

2020-12-13T23:34:27.863Z,1607902467.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.100006 m, bearing: 88.134391 deg, deltaT: 4.472143 s, approachRate: 0.872067 m/s, LOS rate: 0.091989 deg/s, posRepo size: 4
2020-12-13T23:34:29.835Z,1607902469.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:30.588Z,1607902470.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:30.997Z,1607902470.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:31.834Z,1607902471.834 [Micromodem](INFO): Nmea in: $SNTTA,0.091768,,,,233431.76*44

2020-12-13T23:34:32.030Z,1607902472.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.759995 m, bearing: 89.820935 deg, deltaT: 4.185619 s, approachRate: 0.874420 m/s, LOS rate: 0.402938 deg/s, posRepo size: 4
2020-12-13T23:34:34.010Z,1607902474.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:34.711Z,1607902474.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:35.057Z,1607902475.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:36.262Z,1607902476.262 [Micromodem](INFO): Nmea in: $SNTTA,0.094221,,,,233435.88*4C

2020-12-13T23:34:36.284Z,1607902476.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 89.420037 deg, deltaT: 4.481234 s, approachRate: 0.830129 m/s, LOS rate: -0.089462 deg/s, posRepo size: 4
2020-12-13T23:34:38.722Z,1607902478.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:39.524Z,1607902479.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:39.885Z,1607902479.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:40.708Z,1607902480.708 [Micromodem](INFO): Nmea in: $SNTTA,0.097062,,,,233440.69*47

2020-12-13T23:34:40.761Z,1607902480.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 90.017426 deg, deltaT: 4.374030 s, approachRate: 0.000000 m/s, LOS rate: 0.136576 deg/s, posRepo size: 4
2020-12-13T23:34:43.154Z,1607902483.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:43.927Z,1607902483.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:44.329Z,1607902484.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:45.305Z,1607902485.305 [Micromodem](INFO): Nmea in: $SNTTA,0.099499,,,,233445.09*4A

2020-12-13T23:34:45.778Z,1607902485.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:47.870Z,1607902487.870 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:34:48.591Z,1607902488.591 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:34:48.644Z,1607902488.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:49.134Z,1607902489.134 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:34:49.134Z,1607902489.134 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:34:49.391Z,1607902489.391 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:34:49.798Z,1607902489.798 [Micromodem](INFO): Nmea in: $CADRQ,233450,1,9,0,64,1*4D

2020-12-13T23:34:49.798Z,1607902489.798 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:34:50.287Z,1607902490.287 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:34:50.611Z,1607902490.611 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:34:51.448Z,1607902491.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:51.840Z,1607902491.840 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:34:52.228Z,1607902492.228 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,233450.985009,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-13T23:34:52.229Z,1607902492.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:52.641Z,1607902492.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:53.451Z,1607902493.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233453.40*5A

2020-12-13T23:34:54.251Z,1607902494.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:55.850Z,1607902495.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:34:57.226Z,1607902497.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:34:57.871Z,1607902497.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:34:58.277Z,1607902498.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:34:59.122Z,1607902499.122 [Micromodem](INFO): Nmea in: $SNTTA,0.107332,,,,233459.04*4A

2020-12-13T23:34:59.281Z,1607902499.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 86.780511 deg, deltaT: 18.452075 s, approachRate: 1.063296 m/s, LOS rate: -0.175423 deg/s, posRepo size: 4
2020-12-13T23:35:01.614Z,1607902501.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:02.327Z,1607902502.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:02.721Z,1607902502.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:03.573Z,1607902503.573 [Micromodem](INFO): Nmea in: $SNTTA,0.110004,,,,233503.50*45

2020-12-13T23:35:04.398Z,1607902504.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:05.958Z,1607902505.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:35:07.200Z,1607902507.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:07.975Z,1607902507.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:08.385Z,1607902508.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:08.787Z,1607902508.787 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F92,000,00D
E,187,80,80,7E,FF
2020-12-13T23:35:09.214Z,1607902509.214 [Micromodem](INFO): Nmea in: $SNTTA,0.113848,,,,233509.14*4C

2020-12-13T23:35:10.174Z,1607902510.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:12.890Z,1607902512.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:15.720Z,1607902515.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:16.483Z,1607902516.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:16.973Z,1607902516.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:17.736Z,1607902517.736 [Micromodem](INFO): Nmea in: $SNTTA,0.118312,,,,233517.66*49

2020-12-13T23:35:18.717Z,1607902518.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:20.131Z,1607902520.131 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:35:21.369Z,1607902521.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:22.143Z,1607902522.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:22.581Z,1607902522.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:22.967Z,1607902522.967 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FB8,000,004
E,187,80,80,7E,FF
2020-12-13T23:35:23.387Z,1607902523.387 [Micromodem](INFO): Nmea in: $SNTTA,0.121684,,,,233523.31*4C

2020-12-13T23:35:24.237Z,1607902524.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:27.015Z,1607902527.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:29.680Z,1607902529.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:30.340Z,1607902530.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:30.689Z,1607902530.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:31.532Z,1607902531.532 [Micromodem](INFO): Nmea in: $SNTTA,0.126317,,,,233531.51*41

2020-12-13T23:35:31.967Z,1607902531.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 83.855353 deg, deltaT: 32.995029 s, approachRate: 0.881951 m/s, LOS rate: -0.088655 deg/s, posRepo size: 4
2020-12-13T23:35:32.794Z,1607902532.794 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:35:34.371Z,1607902534.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:35.192Z,1607902535.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:35.577Z,1607902535.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:36.373Z,1607902536.373 [Micromodem](INFO): Nmea in: $SNTTA,0.128985,,,,233536.36*48

2020-12-13T23:35:37.232Z,1607902537.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:38.802Z,1607902538.802 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:35:40.026Z,1607902540.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:40.826Z,1607902540.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:41.300Z,1607902541.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:42.057Z,1607902542.057 [Micromodem](INFO): Nmea in: $SNTTA,0.133037,,,,233541.99*47

2020-12-13T23:35:42.684Z,1607902542.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.539993 m, bearing: 84.981057 deg, deltaT: 10.346827 s, approachRate: 0.806044 m/s, LOS rate: 0.108797 deg/s, posRepo size: 4
2020-12-13T23:35:44.746Z,1607902544.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:45.308Z,1607902545.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:45.728Z,1607902545.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:46.585Z,1607902546.585 [Micromodem](INFO): Nmea in: $SNTTA,0.135307,,,,233546.47*45

2020-12-13T23:35:46.980Z,1607902546.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.559998 m, bearing: 83.709228 deg, deltaT: 4.550149 s, approachRate: 0.883488 m/s, LOS rate: -0.279514 deg/s, posRepo size: 4
2020-12-13T23:35:49.418Z,1607902549.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:50.199Z,1607902550.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:50.617Z,1607902550.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:51.435Z,1607902551.435 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233551.37*59

2020-12-13T23:35:51.887Z,1607902551.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.819992 m, bearing: 83.746753 deg, deltaT: 4.799557 s, approachRate: 0.887581 m/s, LOS rate: 0.007818 deg/s, posRepo size: 4
2020-12-13T23:35:54.248Z,1607902554.248 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:35:54.270Z,1607902554.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:54.791Z,1607902554.791 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:35:54.791Z,1607902554.791 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:35:55.063Z,1607902555.063 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:35:55.064Z,1607902555.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:35:55.568Z,1607902555.568 [Micromodem](INFO): Nmea in: $CADRQ,233555,1,9,0,64,1*49

2020-12-13T23:35:55.568Z,1607902555.568 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,233555,1,9,0,64,1*49

2020-12-13T23:35:55.925Z,1607902555.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:35:56.333Z,1607902556.333 [Micromodem](INFO): Nmea in: $SNTTA,0.185133,,,,233556.23*48

2020-12-13T23:35:56.873Z,1607902556.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.919983 m, bearing: 89.257964 deg, deltaT: 4.935514 s, approachRate: 14.405792 m/s, LOS rate: 1.116644 deg/s, posRepo size: 4
2020-12-13T23:35:59.186Z,1607902559.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:35:59.963Z,1607902559.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:00.431Z,1607902560.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:01.214Z,1607902561.214 [Micromodem](INFO): Nmea in: $SNTTA,0.143271,,,,233601.13*45

2020-12-13T23:36:01.764Z,1607902561.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:03.618Z,1607902563.618 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:36:04.459Z,1607902564.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:05.215Z,1607902565.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:05.625Z,1607902565.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:06.457Z,1607902566.457 [Micromodem](INFO): Nmea in: $SNTTA,0.146589,,,,233606.38*4E

2020-12-13T23:36:07.270Z,1607902567.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:08.850Z,1607902568.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:36:10.250Z,1607902570.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:10.873Z,1607902570.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:11.286Z,1607902571.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:12.109Z,1607902572.109 [Micromodem](INFO): Nmea in: $SNTTA,0.149826,,,,233612.04*43

2020-12-13T23:36:12.564Z,1607902572.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.819992 m, bearing: 83.924665 deg, deltaT: 15.748781 s, approachRate: -3.371689 m/s, LOS rate: -0.338648 deg/s, posRepo size: 4
2020-12-13T23:36:14.711Z,1607902574.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:15.319Z,1607902575.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:15.773Z,1607902575.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:16.577Z,1607902576.577 [Micromodem](INFO): Nmea in: $SNTTA,0.152593,,,,233616.49*47

2020-12-13T23:36:16.984Z,1607902576.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.800003 m, bearing: 84.676048 deg, deltaT: 4.626126 s, approachRate: 1.076497 m/s, LOS rate: 0.162421 deg/s, posRepo size: 4
2020-12-13T23:36:19.391Z,1607902579.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:20.171Z,1607902580.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:20.577Z,1607902580.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:21.399Z,1607902581.399 [Micromodem](INFO): Nmea in: $SNTTA,0.155303,,,,233621.34*41

2020-12-13T23:36:22.233Z,1607902582.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:23.798Z,1607902583.798 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:36:25.011Z,1607902585.011 [Micromodem](INFO): Nmea in: $CAERR,233625,DATA_TIMEOUT,1*4D

2020-12-13T23:36:25.042Z,1607902585.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:25.843Z,1607902585.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:26.243Z,1607902586.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:27.042Z,1607902587.042 [Micromodem](INFO): Nmea in: $SNTTA,0.158709,,,,233627.01*42

2020-12-13T23:36:27.672Z,1607902587.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.659988 m, bearing: 85.265623 deg, deltaT: 10.321185 s, approachRate: 0.761539 m/s, LOS rate: 0.057123 deg/s, posRepo size: 4
2020-12-13T23:36:29.717Z,1607902589.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:30.279Z,1607902590.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:30.689Z,1607902590.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:31.535Z,1607902591.535 [Micromodem](INFO): Nmea in: $SNTTA,0.161018,,,,233631.45*48

2020-12-13T23:36:31.924Z,1607902591.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.619980 m, bearing: 85.897825 deg, deltaT: 4.496983 s, approachRate: 0.880588 m/s, LOS rate: 0.140584 deg/s, posRepo size: 4
2020-12-13T23:36:34.339Z,1607902594.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:35.150Z,1607902595.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:35.581Z,1607902595.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:36.367Z,1607902596.367 [Micromodem](INFO): Nmea in: $SNTTA,0.163740,,,,233636.32*47

2020-12-13T23:36:36.806Z,1607902596.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.699997 m, bearing: 86.239690 deg, deltaT: 4.838547 s, approachRate: 0.843232 m/s, LOS rate: 0.070654 deg/s, posRepo size: 4
2020-12-13T23:36:39.221Z,1607902599.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:40.003Z,1607902600.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:40.397Z,1607902600.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:41.253Z,1607902601.253 [Micromodem](INFO): Nmea in: $SNTTA,0.166591,,,,233641.17*4B

2020-12-13T23:36:41.739Z,1607902601.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.959991 m, bearing: 87.139253 deg, deltaT: 4.839006 s, approachRate: 0.880345 m/s, LOS rate: 0.185898 deg/s, posRepo size: 4
2020-12-13T23:36:44.095Z,1607902604.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:44.895Z,1607902604.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:45.301Z,1607902605.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:46.121Z,1607902606.121 [Micromodem](INFO): Nmea in: $SNTTA,0.169480,,,,233646.06*42

2020-12-13T23:36:46.583Z,1607902606.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.339996 m, bearing: 86.830706 deg, deltaT: 4.908613 s, approachRate: 0.892310 m/s, LOS rate: -0.062858 deg/s, posRepo size: 4
2020-12-13T23:36:49.137Z,1607902609.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:49.793Z,1607902609.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:50.164Z,1607902610.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:51.363Z,1607902611.363 [Micromodem](INFO): Nmea in: $SNTTA,0.172232,,,,233650.96*49

2020-12-13T23:36:51.378Z,1607902611.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.479980 m, bearing: 87.410753 deg, deltaT: 4.839711 s, approachRate: 0.855420 m/s, LOS rate: 0.119852 deg/s, posRepo size: 4
2020-12-13T23:36:53.644Z,1607902613.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:54.203Z,1607902614.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:54.613Z,1607902614.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:55.462Z,1607902615.462 [Micromodem](INFO): Nmea in: $SNTTA,0.174868,,,,233655.37*44

2020-12-13T23:36:55.912Z,1607902615.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.439972 m, bearing: 88.035469 deg, deltaT: 4.693406 s, approachRate: 0.843735 m/s, LOS rate: 0.133105 deg/s, posRepo size: 4
2020-12-13T23:36:58.319Z,1607902618.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:36:59.103Z,1607902619.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:36:59.538Z,1607902619.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:36:59.906Z,1607902619.906 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:37:00.338Z,1607902620.338 [Micromodem](INFO): Nmea in: $SNTTA,0.177811,,,,233700.27*49

2020-12-13T23:37:00.539Z,1607902620.539 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:37:00.540Z,1607902620.540 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:37:00.908Z,1607902620.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.819977 m, bearing: 88.177742 deg, deltaT: 4.903659 s, approachRate: 0.893212 m/s, LOS rate: 0.029014 deg/s, posRepo size: 4
2020-12-13T23:37:01.738Z,1607902621.738 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:37:02.170Z,1607902622.170 [Micromodem](INFO): Nmea in: $CADRQ,233701,1,9,0,64,1*4A

2020-12-13T23:37:02.170Z,1607902622.170 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:37:02.633Z,1607902622.633 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:37:03.019Z,1607902623.019 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:37:03.477Z,1607902623.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:04.279Z,1607902624.279 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:37:04.280Z,1607902624.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:04.629Z,1607902624.629 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,233703.356392,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-13T23:37:04.629Z,1607902624.629 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,233703.356392,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-13T23:37:05.038Z,1607902625.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:05.831Z,1607902625.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233705.45*5F

2020-12-13T23:37:06.404Z,1607902626.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:07.850Z,1607902627.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:09.079Z,1607902629.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:09.875Z,1607902629.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:10.291Z,1607902630.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:11.109Z,1607902631.109 [Micromodem](INFO): Nmea in: $SNTTA,0.184109,,,,233711.04*44

2020-12-13T23:37:11.567Z,1607902631.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.299988 m, bearing: 89.053714 deg, deltaT: 10.541676 s, approachRate: 0.899289 m/s, LOS rate: 0.083096 deg/s, posRepo size: 4
2020-12-13T23:37:13.851Z,1607902633.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:14.581Z,1607902634.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:14.964Z,1607902634.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:15.783Z,1607902635.783 [Micromodem](INFO): Nmea in: $SNTTA,0.186776,,,,233715.75*4A

2020-12-13T23:37:16.685Z,1607902636.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:18.182Z,1607902638.182 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:19.644Z,1607902639.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:20.230Z,1607902640.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:20.626Z,1607902640.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:21.437Z,1607902641.437 [Micromodem](INFO): Nmea in: $SNTTA,0.190082,,,,233721.40*40

2020-12-13T23:37:21.901Z,1607902641.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.660004 m, bearing: 85.638073 deg, deltaT: 10.539270 s, approachRate: 0.888109 m/s, LOS rate: -0.324087 deg/s, posRepo size: 4
2020-12-13T23:37:24.341Z,1607902644.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:25.099Z,1607902645.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:25.533Z,1607902645.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:26.363Z,1607902646.363 [Micromodem](INFO): Nmea in: $SNTTA,0.193035,,,,233726.27*49

2020-12-13T23:37:26.725Z,1607902646.725 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:37:27.181Z,1607902647.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:28.794Z,1607902648.794 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:29.995Z,1607902649.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:30.755Z,1607902650.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:31.157Z,1607902651.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:31.991Z,1607902651.991 [Micromodem](INFO): Nmea in: $SNTTA,0.196522,,,,233731.92*47

2020-12-13T23:37:32.623Z,1607902652.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:34.430Z,1607902654.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:35.271Z,1607902655.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:36.051Z,1607902656.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:36.462Z,1607902656.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:37.287Z,1607902657.287 [Micromodem](INFO): Nmea in: $SNTTA,0.199933,,,,233737.22*49

2020-12-13T23:37:38.179Z,1607902658.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:39.710Z,1607902659.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:40.794Z,1607902660.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:41.364Z,1607902661.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:41.777Z,1607902661.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:42.589Z,1607902662.589 [Micromodem](INFO): Nmea in: $SNTTA,0.202874,,,,233742.53*4E

2020-12-13T23:37:43.005Z,1607902663.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.799988 m, bearing: 88.175761 deg, deltaT: 20.949323 s, approachRate: 0.913633 m/s, LOS rate: 0.121135 deg/s, posRepo size: 4
2020-12-13T23:37:43.006Z,1607902663.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 304.80 m. Resuming terminal guidance.
2020-12-13T23:37:43.006Z,1607902663.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-13T23:37:45.158Z,1607902665.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:45.807Z,1607902665.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:45.854Z,1607902665.854 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:37:46.206Z,1607902666.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:47.031Z,1607902667.031 [Micromodem](INFO): Nmea in: $SNTTA,0.205462,,,,233746.97*4E

2020-12-13T23:37:47.832Z,1607902667.832 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:37:47.862Z,1607902667.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:49.438Z,1607902669.438 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:50.775Z,1607902670.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:51.495Z,1607902671.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:51.889Z,1607902671.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:52.747Z,1607902672.747 [Micromodem](INFO): Nmea in: $SNTTA,0.208685,,,,233752.67*42

2020-12-13T23:37:53.566Z,1607902673.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:55.086Z,1607902675.086 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:37:56.325Z,1607902676.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:37:57.115Z,1607902677.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:37:57.564Z,1607902677.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:37:58.349Z,1607902678.349 [Micromodem](INFO): Nmea in: $SNTTA,0.211830,,,,233758.28*4B

2020-12-13T23:37:58.798Z,1607902678.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.880005 m, bearing: 89.228150 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-13T23:37:58.798Z,1607902678.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 89.228150deg and heading rate command to 0 deg/s.
2020-12-13T23:38:01.171Z,1607902681.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:01.966Z,1607902681.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:02.367Z,1607902682.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:03.216Z,1607902683.216 [Micromodem](INFO): Nmea in: $SNTTA,0.214671,,,,233803.13*4C

2020-12-13T23:38:03.762Z,1607902683.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.079987 m, bearing: 91.876979 deg, deltaT: 4.884845 s, approachRate: 0.859798 m/s, LOS rate: 0.542255 deg/s, posRepo size: 2
2020-12-13T23:38:03.764Z,1607902683.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.079987 m,
      bearing: 91.876979 deg,
      approachRate: 0.859798 m/s,
      LOS rate: 0.542255 deg/s,
      cmd update: 1.626764 deg/s,
      cmd heading: 89.228150 deg,
      new cmd heading: 89.228150 deg.

2020-12-13T23:38:05.633Z,1607902685.633 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:38:05.810Z,1607902685.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:06.155Z,1607902686.155 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:38:06.156Z,1607902686.156 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:38:06.403Z,1607902686.403 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:38:06.404Z,1607902686.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:06.811Z,1607902686.811 [Micromodem](INFO): Nmea in: $CADRQ,233807,1,9,0,64,1*43

2020-12-13T23:38:06.812Z,1607902686.812 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,233807,1,9,0,64,1*43

2020-12-13T23:38:07.221Z,1607902687.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:07.633Z,1607902687.633 [Micromodem](INFO): Nmea in: $SNTTA,0.217368,,,,233807.57*46

2020-12-13T23:38:08.059Z,1607902688.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.219971 m, bearing: 93.055686 deg, deltaT: 4.465365 s, approachRate: 0.927132 m/s, LOS rate: 0.263966 deg/s, posRepo size: 3
2020-12-13T23:38:08.061Z,1607902688.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.219971 m,
      bearing: 93.055686 deg,
      approachRate: 0.927132 m/s,
      LOS rate: 0.263966 deg/s,
      cmd update: 0.791899 deg/s,
      cmd heading: 96.485480 deg,
      new cmd heading: 97.054886 deg.

2020-12-13T23:38:10.262Z,1607902690.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:10.875Z,1607902690.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:11.249Z,1607902691.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:12.062Z,1607902692.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233812.04*53

2020-12-13T23:38:12.884Z,1607902692.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:14.514Z,1607902694.514 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:38:15.754Z,1607902695.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:16.535Z,1607902696.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:16.993Z,1607902696.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:17.817Z,1607902697.817 [Micromodem](INFO): Nmea in: $SNTTA,0.223230,,,,233817.70*49

2020-12-13T23:38:18.246Z,1607902698.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.979980 m, bearing: 98.509667 deg, deltaT: 10.168309 s, approachRate: 0.861501 m/s, LOS rate: 0.536371 deg/s, posRepo size: 4
2020-12-13T23:38:18.247Z,1607902698.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.979980 m,
      bearing: 98.509667 deg,
      approachRate: 0.861501 m/s,
      LOS rate: 0.536371 deg/s,
      cmd update: 1.609112 deg/s,
      cmd heading: 104.541027 deg,
      new cmd heading: 104.829158 deg.

2020-12-13T23:38:20.665Z,1607902700.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:21.433Z,1607902701.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:21.833Z,1607902701.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:22.687Z,1607902702.687 [Micromodem](INFO): Nmea in: $SNTTA,0.225976,,,,233822.60*41

2020-12-13T23:38:23.253Z,1607902703.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:24.850Z,1607902704.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:38:26.110Z,1607902706.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:26.875Z,1607902706.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:27.265Z,1607902707.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:28.099Z,1607902708.099 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233828.04*5A

2020-12-13T23:38:28.942Z,1607902708.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:30.511Z,1607902710.511 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:38:31.539Z,1607902711.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:32.124Z,1607902712.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:32.569Z,1607902712.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:33.345Z,1607902713.345 [Micromodem](INFO): Nmea in: $SNTTA,0.231843,,,,233833.29*4E

2020-12-13T23:38:33.785Z,1607902713.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.180023 m, bearing: 155.582475 deg, deltaT: 15.478277 s, approachRate: 0.852811 m/s, LOS rate: 3.687284 deg/s, posRepo size: 4
2020-12-13T23:38:33.787Z,1607902713.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.180023 m,
      bearing: 155.582475 deg,
      approachRate: 0.852811 m/s,
      LOS rate: 3.687284 deg/s,
      cmd update: 11.061853 deg/s,
      cmd heading: 129.447328 deg,
      new cmd heading: 130.131466 deg.

2020-12-13T23:38:35.956Z,1607902715.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:36.234Z,1607902716.234 [Micromodem](INFO): Nmea in: $CAERR,233837,DATA_TIMEOUT,1*40

2020-12-13T23:38:36.621Z,1607902716.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:36.973Z,1607902716.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:38.254Z,1607902718.254 [Micromodem](INFO): Nmea in: $SNTTA,0.233609,,,,233837.79*4D

2020-12-13T23:38:38.284Z,1607902718.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.399994 m, bearing: 164.627503 deg, deltaT: 4.618368 s, approachRate: 0.480683 m/s, LOS rate: 1.958490 deg/s, posRepo size: 4
2020-12-13T23:38:38.286Z,1607902718.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.399994 m,
      bearing: 164.627503 deg,
      approachRate: 0.480683 m/s,
      LOS rate: 1.958490 deg/s,
      cmd update: 5.875470 deg/s,
      cmd heading: 180.534938 deg,
      new cmd heading: 183.918062 deg.

2020-12-13T23:38:39.814Z,1607902719.814 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:38:40.695Z,1607902720.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:41.413Z,1607902721.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:41.817Z,1607902721.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:42.653Z,1607902722.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233842.58*5F

2020-12-13T23:38:43.057Z,1607902723.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.040009 m, bearing: 199.737872 deg, deltaT: 4.770282 s, approachRate: 0.553429 m/s, LOS rate: 7.360229 deg/s, posRepo size: 4
2020-12-13T23:38:43.059Z,1607902723.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.040009 m,
      bearing: 199.737872 deg,
      approachRate: 0.553429 m/s,
      LOS rate: 7.360229 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 208.530103 deg,
      new cmd heading: 210.372745 deg.

2020-12-13T23:38:45.540Z,1607902725.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:46.255Z,1607902726.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:46.665Z,1607902726.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:47.519Z,1607902727.519 [Micromodem](INFO): Nmea in: $SNTTA,0.236446,,,,233847.42*4E

2020-12-13T23:38:47.956Z,1607902727.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.660004 m, bearing: 234.671120 deg, deltaT: 4.843857 s, approachRate: 0.334443 m/s, LOS rate: 7.211866 deg/s, posRepo size: 4
2020-12-13T23:38:47.958Z,1607902727.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.660004 m,
      bearing: 234.671120 deg,
      approachRate: 0.334443 m/s,
      LOS rate: 7.211866 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 266.674101 deg,
      new cmd heading: 271.083345 deg.

2020-12-13T23:38:50.402Z,1607902730.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:51.127Z,1607902731.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:51.569Z,1607902731.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:52.391Z,1607902732.391 [Micromodem](INFO): Nmea in: $SNTTA,0.236783,,,,233852.29*4D

2020-12-13T23:38:53.225Z,1607902733.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:54.770Z,1607902734.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:38:55.991Z,1607902735.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:38:56.779Z,1607902736.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:38:57.190Z,1607902737.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:38:58.024Z,1607902738.024 [Micromodem](INFO): Nmea in: $SNTTA,0.236534,,,,233857.95*41

2020-12-13T23:38:58.461Z,1607902738.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.720001 m, bearing: 274.451016 deg, deltaT: 10.447231 s, approachRate: 0.005743 m/s, LOS rate: 3.807698 deg/s, posRepo size: 4
2020-12-13T23:38:58.463Z,1607902738.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.720001 m,
      bearing: 274.451016 deg,
      approachRate: 0.005743 m/s,
      LOS rate: 3.807698 deg/s,
      cmd update: 11.423094 deg/s,
      cmd heading: 32.086874 deg,
      new cmd heading: 37.143230 deg.

2020-12-13T23:39:00.877Z,1607902740.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:01.632Z,1607902741.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:02.099Z,1607902742.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:03.135Z,1607902743.135 [Micromodem](INFO): Nmea in: $SNTTA,0.235658,,,,233902.80*4E

2020-12-13T23:39:03.383Z,1607902743.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:05.014Z,1607902745.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:39:06.187Z,1607902746.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:06.963Z,1607902746.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:07.377Z,1607902747.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:08.207Z,1607902748.207 [Micromodem](INFO): Nmea in: $SNTTA,0.234334,,,,233908.13*40

2020-12-13T23:39:08.624Z,1607902748.624 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:39:09.047Z,1607902749.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:10.630Z,1607902750.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:39:11.442Z,1607902751.442 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:39:11.959Z,1607902751.959 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:39:11.959Z,1607902751.959 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:39:12.034Z,1607902752.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:12.243Z,1607902752.243 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:39:12.651Z,1607902752.651 [Micromodem](INFO): Nmea in: $CADRQ,233913,1,9,0,64,1*47

2020-12-13T23:39:12.652Z,1607902752.652 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:39:13.047Z,1607902753.047 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:39:13.047Z,1607902753.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:13.458Z,1607902753.458 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:39:13.459Z,1607902753.459 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-13T23:39:14.691Z,1607902754.691 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:39:14.691Z,1607902754.691 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:39:14.901Z,1607902754.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:15.072Z,1607902755.072 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,233913.836793,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-13T23:39:15.072Z,1607902755.072 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,233913.836793,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-13T23:39:17.574Z,1607902757.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:20.343Z,1607902760.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:23.298Z,1607902763.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:24.362Z,1607902764.362 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:24.773Z,1607902764.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:25.608Z,1607902765.608 [Micromodem](INFO): Nmea in: $SNTTA,0.233513,,,,233925.53*4F

2020-12-13T23:39:26.004Z,1607902766.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.279999 m, bearing: 274.688352 deg, deltaT: 27.602437 s, approachRate: -0.160855 m/s, LOS rate: 0.008598 deg/s, posRepo size: 4
2020-12-13T23:39:26.006Z,1607902766.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.279999 m,
      bearing: 274.688352 deg,
      approachRate: -0.160855 m/s,
      LOS rate: 0.008598 deg/s,
      cmd update: 0.025795 deg/s,
      cmd heading: 347.392183 deg,
      new cmd heading: 351.531329 deg.

2020-12-13T23:39:28.452Z,1607902768.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:29.203Z,1607902769.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:29.681Z,1607902769.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:30.522Z,1607902770.522 [Micromodem](INFO): Nmea in: $SNTTA,0.232461,,,,233930.37*4C

2020-12-13T23:39:30.932Z,1607902770.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.479980 m, bearing: 268.793817 deg, deltaT: 4.944157 s, approachRate: -0.364070 m/s, LOS rate: -1.192223 deg/s, posRepo size: 4
2020-12-13T23:39:30.951Z,1607902770.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.479980 m,
      bearing: 268.793817 deg,
      approachRate: -0.364070 m/s,
      LOS rate: -1.192223 deg/s,
      cmd update: -3.576668 deg/s,
      cmd heading: 347.519619 deg,
      new cmd heading: 347.528643 deg.

2020-12-13T23:39:33.311Z,1607902773.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:34.073Z,1607902774.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:34.526Z,1607902774.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:35.338Z,1607902775.338 [Micromodem](INFO): Nmea in: $SNTTA,0.230765,,,,233935.24*4E

2020-12-13T23:39:35.760Z,1607902775.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.959991 m, bearing: 270.988957 deg, deltaT: 4.797809 s, approachRate: -0.525237 m/s, LOS rate: 0.457530 deg/s, posRepo size: 4
2020-12-13T23:39:35.765Z,1607902775.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.959991 m,
      bearing: 270.988957 deg,
      approachRate: -0.525237 m/s,
      LOS rate: 0.457530 deg/s,
      cmd update: 1.372589 deg/s,
      cmd heading: 330.345145 deg,
      new cmd heading: 329.006913 deg.

2020-12-13T23:39:38.150Z,1607902778.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:38.931Z,1607902778.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:39.344Z,1607902779.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:40.176Z,1607902780.176 [Micromodem](INFO): Nmea in: $SNTTA,0.229262,,,,233940.10*41

2020-12-13T23:39:40.761Z,1607902780.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.379974 m, bearing: 272.885783 deg, deltaT: 4.824170 s, approachRate: -0.534811 m/s, LOS rate: 0.393192 deg/s, posRepo size: 4
2020-12-13T23:39:40.762Z,1607902780.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.379974 m,
      bearing: 272.885783 deg,
      approachRate: -0.534811 m/s,
      LOS rate: 0.393192 deg/s,
      cmd update: 1.179576 deg/s,
      cmd heading: 336.966557 deg,
      new cmd heading: 337.724759 deg.

2020-12-13T23:39:42.736Z,1607902782.736 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:39:42.770Z,1607902782.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:43.379Z,1607902783.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:43.792Z,1607902783.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:44.616Z,1607902784.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233944.55*55

2020-12-13T23:39:45.020Z,1607902785.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.279968 m, bearing: 271.164685 deg, deltaT: 4.451903 s, approachRate: -0.471710 m/s, LOS rate: -0.386598 deg/s, posRepo size: 4
2020-12-13T23:39:45.022Z,1607902785.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.279968 m,
      bearing: 271.164685 deg,
      approachRate: -0.471710 m/s,
      LOS rate: -0.386598 deg/s,
      cmd update: -1.159795 deg/s,
      cmd heading: 342.217967 deg,
      new cmd heading: 342.642724 deg.

2020-12-13T23:39:47.181Z,1607902787.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:47.811Z,1607902787.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:48.221Z,1607902788.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:49.050Z,1607902789.050 [Micromodem](INFO): Nmea in: $SNTTA,0.226232,,,,233948.98*43

2020-12-13T23:39:49.874Z,1607902789.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:51.455Z,1607902791.455 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:39:52.717Z,1607902792.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:53.507Z,1607902793.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:53.977Z,1607902793.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:54.785Z,1607902794.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,233954.67*55

2020-12-13T23:39:55.224Z,1607902795.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.260010 m, bearing: 263.568066 deg, deltaT: 10.227383 s, approachRate: -0.393058 m/s, LOS rate: -0.742772 deg/s, posRepo size: 4
2020-12-13T23:39:55.226Z,1607902795.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.260010 m,
      bearing: 263.568066 deg,
      approachRate: -0.393058 m/s,
      LOS rate: -0.742772 deg/s,
      cmd update: -2.228317 deg/s,
      cmd heading: 330.377332 deg,
      new cmd heading: 329.965858 deg.

2020-12-13T23:39:57.647Z,1607902797.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:39:58.413Z,1607902798.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:39:58.881Z,1607902798.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:39:59.664Z,1607902799.664 [Micromodem](INFO): Nmea in: $SNTTA,0.224221,,,,233959.58*4F

2020-12-13T23:40:00.218Z,1607902800.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 336.179993 m, bearing: 266.092777 deg, deltaT: 4.847859 s, approachRate: -0.222782 m/s, LOS rate: 0.520789 deg/s, posRepo size: 4
2020-12-13T23:40:00.222Z,1607902800.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.179993 m,
      bearing: 266.092777 deg,
      approachRate: -0.222782 m/s,
      LOS rate: 0.520789 deg/s,
      cmd update: 1.562367 deg/s,
      cmd heading: 319.569781 deg,
      new cmd heading: 318.459996 deg.

2020-12-13T23:40:02.543Z,1607902802.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:03.271Z,1607902803.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:03.665Z,1607902803.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:04.528Z,1607902804.528 [Micromodem](INFO): Nmea in: $SNTTA,0.223177,,,,234004.44*43

2020-12-13T23:40:04.919Z,1607902804.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.559998 m, bearing: 265.534751 deg, deltaT: 4.856048 s, approachRate: -0.333604 m/s, LOS rate: -0.114914 deg/s, posRepo size: 4
2020-12-13T23:40:04.921Z,1607902804.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.559998 m,
      bearing: 265.534751 deg,
      approachRate: -0.333604 m/s,
      LOS rate: -0.114914 deg/s,
      cmd update: -0.344741 deg/s,
      cmd heading: 327.167312 deg,
      new cmd heading: 327.693985 deg.

2020-12-13T23:40:07.319Z,1607902807.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:08.107Z,1607902808.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:08.538Z,1607902808.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:09.341Z,1607902809.341 [Micromodem](INFO): Nmea in: $SNTTA,0.222159,,,,234009.27*46

2020-12-13T23:40:09.811Z,1607902809.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.059998 m, bearing: 259.706742 deg, deltaT: 4.787025 s, approachRate: -0.313347 m/s, LOS rate: -1.217460 deg/s, posRepo size: 4
2020-12-13T23:40:09.829Z,1607902809.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.059998 m,
      bearing: 259.706742 deg,
      approachRate: -0.313347 m/s,
      LOS rate: -1.217460 deg/s,
      cmd update: -3.652379 deg/s,
      cmd heading: 325.513837 deg,
      new cmd heading: 325.364858 deg.

2020-12-13T23:40:12.227Z,1607902812.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:13.011Z,1607902813.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:13.585Z,1607902813.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:14.353Z,1607902814.353 [Micromodem](INFO): Nmea in: $SNTTA,0.220843,,,,234014.18*46

2020-12-13T23:40:14.830Z,1607902814.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.500000 m, bearing: 260.356484 deg, deltaT: 5.042943 s, approachRate: -0.309343 m/s, LOS rate: 0.128842 deg/s, posRepo size: 4
2020-12-13T23:40:14.832Z,1607902814.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.500000 m,
      bearing: 260.356484 deg,
      approachRate: -0.309343 m/s,
      LOS rate: 0.128842 deg/s,
      cmd update: 0.386526 deg/s,
      cmd heading: 307.102765 deg,
      new cmd heading: 305.604347 deg.

2020-12-13T23:40:16.939Z,1607902816.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:17.330Z,1607902817.330 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:40:17.739Z,1607902817.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:18.137Z,1607902818.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:18.301Z,1607902818.301 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:40:18.302Z,1607902818.302 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:40:18.574Z,1607902818.574 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:40:18.973Z,1607902818.973 [Micromodem](INFO): Nmea in: $CADRQ,234019,1,9,0,64,1*43

2020-12-13T23:40:18.973Z,1607902818.973 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:40:19.382Z,1607902819.382 [Micromodem](INFO): Nmea in: $SNTTA,0.219644,,,,234018.91*48

2020-12-13T23:40:19.382Z,1607902819.382 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.219644,,,,234018.91*48

2020-12-13T23:40:19.648Z,1607902819.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 329.160004 m, bearing: 268.520664 deg, deltaT: 4.653843 s, approachRate: -0.502809 m/s, LOS rate: 1.754288 deg/s, posRepo size: 4
2020-12-13T23:40:19.650Z,1607902819.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.160004 m,
      bearing: 268.520664 deg,
      approachRate: -0.502809 m/s,
      LOS rate: 1.754288 deg/s,
      cmd update: 5.262863 deg/s,
      cmd heading: 308.900809 deg,
      new cmd heading: 309.123648 deg.

2020-12-13T23:40:20.621Z,1607902820.621 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:40:21.029Z,1607902821.029 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:40:21.446Z,1607902821.446 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:40:21.824Z,1607902821.824 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234020.160372,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-13T23:40:21.877Z,1607902821.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:22.636Z,1607902822.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:23.037Z,1607902823.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:23.901Z,1607902823.901 [Micromodem](INFO): Nmea in: $SNTTA,0.218074,,,0.220579,234023.80*51

2020-12-13T23:40:24.438Z,1607902824.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.879974 m, bearing: 266.478738 deg, deltaT: 4.866243 s, approachRate: -0.468540 m/s, LOS rate: -0.419610 deg/s, posRepo size: 4
2020-12-13T23:40:24.442Z,1607902824.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.879974 m,
      bearing: 266.478738 deg,
      approachRate: -0.468540 m/s,
      LOS rate: -0.419610 deg/s,
      cmd update: -1.258831 deg/s,
      cmd heading: 334.532774 deg,
      new cmd heading: 337.139544 deg.

2020-12-13T23:40:26.682Z,1607902826.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:27.247Z,1607902827.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:27.663Z,1607902827.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:28.530Z,1607902828.530 [Micromodem](INFO): Nmea in: $SNTTA,0.216699,,,,234028.41*49

2020-12-13T23:40:28.915Z,1607902828.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.959991 m, bearing: 260.854405 deg, deltaT: 4.635785 s, approachRate: -0.414166 m/s, LOS rate: -1.213243 deg/s, posRepo size: 4
2020-12-13T23:40:28.935Z,1607902828.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.959991 m,
      bearing: 260.854405 deg,
      approachRate: -0.414166 m/s,
      LOS rate: -1.213243 deg/s,
      cmd update: -3.639728 deg/s,
      cmd heading: 328.697128 deg,
      new cmd heading: 328.271369 deg.

2020-12-13T23:40:31.083Z,1607902831.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:31.696Z,1607902831.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:32.121Z,1607902832.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:32.929Z,1607902832.929 [Micromodem](INFO): Nmea in: $SNTTA,0.215908,,,0.218421,234032.86*5F

2020-12-13T23:40:33.347Z,1607902833.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.760010 m, bearing: 264.214885 deg, deltaT: 4.553803 s, approachRate: -0.263512 m/s, LOS rate: 0.737950 deg/s, posRepo size: 4
2020-12-13T23:40:33.365Z,1607902833.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.760010 m,
      bearing: 264.214885 deg,
      approachRate: -0.263512 m/s,
      LOS rate: 0.737950 deg/s,
      cmd update: 2.213851 deg/s,
      cmd heading: 312.130566 deg,
      new cmd heading: 311.334987 deg.

2020-12-13T23:40:35.830Z,1607902835.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:36.571Z,1607902836.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:37.017Z,1607902837.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:37.832Z,1607902837.832 [Micromodem](INFO): Nmea in: $SNTTA,0.214819,,,,234037.74*45

2020-12-13T23:40:38.257Z,1607902838.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.079987 m, bearing: 264.992680 deg, deltaT: 4.716101 s, approachRate: -0.356231 m/s, LOS rate: 0.164923 deg/s, posRepo size: 4
2020-12-13T23:40:38.259Z,1607902838.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.079987 m,
      bearing: 264.992680 deg,
      approachRate: -0.356231 m/s,
      LOS rate: 0.164923 deg/s,
      cmd update: 0.494770 deg/s,
      cmd heading: 322.576284 deg,
      new cmd heading: 323.482875 deg.

2020-12-13T23:40:40.711Z,1607902840.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:41.437Z,1607902841.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:41.838Z,1607902841.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:42.679Z,1607902842.679 [Micromodem](INFO): Nmea in: $SNTTA,0.213454,,,,234042.61*41

2020-12-13T23:40:43.092Z,1607902843.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.040009 m, bearing: 264.881375 deg, deltaT: 4.892281 s, approachRate: -0.416979 m/s, LOS rate: -0.022751 deg/s, posRepo size: 4
2020-12-13T23:40:43.095Z,1607902843.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.040009 m,
      bearing: 264.881375 deg,
      approachRate: -0.416979 m/s,
      LOS rate: -0.022751 deg/s,
      cmd update: -0.068253 deg/s,
      cmd heading: 324.996837 deg,
      new cmd heading: 325.171414 deg.

2020-12-13T23:40:45.567Z,1607902845.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:46.279Z,1607902846.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:46.695Z,1607902846.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:47.545Z,1607902847.545 [Micromodem](INFO): Nmea in: $SNTTA,0.212502,,,,234047.45*41

2020-12-13T23:40:48.140Z,1607902848.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.660004 m, bearing: 260.622998 deg, deltaT: 4.869092 s, approachRate: -0.283421 m/s, LOS rate: -0.874573 deg/s, posRepo size: 4
2020-12-13T23:40:48.149Z,1607902848.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.660004 m,
      bearing: 260.622998 deg,
      approachRate: -0.283421 m/s,
      LOS rate: -0.874573 deg/s,
      cmd update: -2.623719 deg/s,
      cmd heading: 324.664781 deg,
      new cmd heading: 324.628255 deg.

2020-12-13T23:40:50.226Z,1607902850.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:50.839Z,1607902850.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:51.265Z,1607902851.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:52.053Z,1607902852.053 [Micromodem](INFO): Nmea in: $SNTTA,0.211649,,,,234052.01*4A

2020-12-13T23:40:52.624Z,1607902852.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.339996 m, bearing: 257.037504 deg, deltaT: 4.636359 s, approachRate: -0.284708 m/s, LOS rate: -0.773343 deg/s, posRepo size: 4
2020-12-13T23:40:52.626Z,1607902852.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.339996 m,
      bearing: 257.037504 deg,
      approachRate: -0.284708 m/s,
      LOS rate: -0.773343 deg/s,
      cmd update: -2.320028 deg/s,
      cmd heading: 312.495692 deg,
      new cmd heading: 311.494930 deg.

2020-12-13T23:40:54.884Z,1607902854.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:40:55.687Z,1607902855.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:40:56.077Z,1607902856.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:40:56.901Z,1607902856.901 [Micromodem](INFO): Nmea in: $SNTTA,0.210660,,,,234056.85*48

2020-12-13T23:40:57.314Z,1607902857.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.839996 m, bearing: 262.984604 deg, deltaT: 4.690736 s, approachRate: -0.319779 m/s, LOS rate: 1.267839 deg/s, posRepo size: 4
2020-12-13T23:40:57.316Z,1607902857.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.839996 m,
      bearing: 262.984604 deg,
      approachRate: -0.319779 m/s,
      LOS rate: 1.267839 deg/s,
      cmd update: 3.803518 deg/s,
      cmd heading: 301.626774 deg,
      new cmd heading: 300.730491 deg.

2020-12-13T23:40:59.784Z,1607902859.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:00.567Z,1607902860.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:00.937Z,1607902860.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:01.751Z,1607902861.751 [Micromodem](INFO): Nmea in: $SNTTA,0.209385,,,,234101.73*44

2020-12-13T23:41:02.208Z,1607902862.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.859985 m, bearing: 261.570946 deg, deltaT: 4.905634 s, approachRate: -0.403620 m/s, LOS rate: -0.288170 deg/s, posRepo size: 4
2020-12-13T23:41:02.214Z,1607902862.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.859985 m,
      bearing: 261.570946 deg,
      approachRate: -0.403620 m/s,
      LOS rate: -0.288170 deg/s,
      cmd update: -0.864511 deg/s,
      cmd heading: 320.316503 deg,
      new cmd heading: 321.710824 deg.

2020-12-13T23:41:04.690Z,1607902864.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:05.440Z,1607902865.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:05.889Z,1607902865.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:06.647Z,1607902866.647 [Micromodem](INFO): Nmea in: $SNTTA,0.208106,,,,234106.63*4A

2020-12-13T23:41:07.080Z,1607902867.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.999969 m, bearing: 262.621402 deg, deltaT: 4.868310 s, approachRate: -0.382066 m/s, LOS rate: 0.215774 deg/s, posRepo size: 4
2020-12-13T23:41:07.098Z,1607902867.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.999969 m,
      bearing: 262.621402 deg,
      approachRate: -0.382066 m/s,
      LOS rate: 0.215774 deg/s,
      cmd update: 0.647323 deg/s,
      cmd heading: 316.107767 deg,
      new cmd heading: 315.788145 deg.

2020-12-13T23:41:09.805Z,1607902869.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:10.363Z,1607902870.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:10.773Z,1607902870.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:11.609Z,1607902871.609 [Micromodem](INFO): Nmea in: $SNTTA,0.206998,,,,234111.53*4E

2020-12-13T23:41:12.083Z,1607902872.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.319977 m, bearing: 251.947701 deg, deltaT: 5.087608 s, approachRate: -0.330213 m/s, LOS rate: -2.097980 deg/s, posRepo size: 4
2020-12-13T23:41:12.102Z,1607902872.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.319977 m,
      bearing: 251.947701 deg,
      approachRate: -0.330213 m/s,
      LOS rate: -2.097980 deg/s,
      cmd update: -6.293940 deg/s,
      cmd heading: 319.400952 deg,
      new cmd heading: 319.586307 deg.

2020-12-13T23:41:14.575Z,1607902874.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:15.281Z,1607902875.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:15.677Z,1607902875.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:16.533Z,1607902876.533 [Micromodem](INFO): Nmea in: $SNTTA,0.205793,,,,234116.45*48

2020-12-13T23:41:16.959Z,1607902876.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.579987 m, bearing: 253.930396 deg, deltaT: 4.793323 s, approachRate: -0.363003 m/s, LOS rate: 0.413637 deg/s, posRepo size: 4
2020-12-13T23:41:16.962Z,1607902876.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.579987 m,
      bearing: 253.930396 deg,
      approachRate: -0.363003 m/s,
      LOS rate: 0.413637 deg/s,
      cmd update: 1.240910 deg/s,
      cmd heading: 289.381493 deg,
      new cmd heading: 286.909360 deg.

2020-12-13T23:41:19.121Z,1607902879.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:19.833Z,1607902879.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:20.229Z,1607902880.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:21.046Z,1607902881.046 [Micromodem](INFO): Nmea in: $SNTTA,0.204778,,,,234121.00*49

2020-12-13T23:41:21.541Z,1607902881.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.959991 m, bearing: 262.195827 deg, deltaT: 4.490631 s, approachRate: -0.360750 m/s, LOS rate: 1.840594 deg/s, posRepo size: 4
2020-12-13T23:41:21.543Z,1607902881.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.959991 m,
      bearing: 262.195827 deg,
      approachRate: -0.360750 m/s,
      LOS rate: 1.840594 deg/s,
      cmd update: 5.521784 deg/s,
      cmd heading: 294.977998 deg,
      new cmd heading: 295.549341 deg.

2020-12-13T23:41:23.473Z,1607902883.473 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:41:23.989Z,1607902883.989 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:41:23.990Z,1607902883.990 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:41:24.202Z,1607902884.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:24.386Z,1607902884.386 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:41:24.771Z,1607902884.771 [Micromodem](INFO): Nmea in: $CADRQ,234125,1,9,0,64,1*4D

2020-12-13T23:41:24.772Z,1607902884.772 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:41:25.191Z,1607902885.191 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:41:25.191Z,1607902885.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:25.582Z,1607902885.582 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:41:25.583Z,1607902885.583 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-13T23:41:26.811Z,1607902886.811 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:41:26.811Z,1607902886.811 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:41:26.887Z,1607902886.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:27.192Z,1607902887.192 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234125.956276,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-13T23:41:27.192Z,1607902887.192 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,234125.956276,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-13T23:41:29.546Z,1607902889.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:31.567Z,1607902891.567 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T23:41:32.387Z,1607902892.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:32.734Z,1607902892.734 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:41:34.915Z,1607902894.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:36.322Z,1607902896.322 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:36.737Z,1607902896.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:37.581Z,1607902897.581 [Micromodem](INFO): Nmea in: $SNTTA,0.200618,,,,234137.49*40

2020-12-13T23:41:38.016Z,1607902898.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.899994 m, bearing: 270.913880 deg, deltaT: 16.522540 s, approachRate: -0.366772 m/s, LOS rate: 0.527646 deg/s, posRepo size: 4
2020-12-13T23:41:38.018Z,1607902898.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.899994 m,
      bearing: 270.913880 deg,
      approachRate: -0.366772 m/s,
      LOS rate: 0.527646 deg/s,
      cmd update: 1.582938 deg/s,
      cmd heading: 26.237078 deg,
      new cmd heading: 28.514074 deg.

2020-12-13T23:41:40.387Z,1607902900.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:41.171Z,1607902901.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:41.665Z,1607902901.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:41.681Z,1607902901.681 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:41:42.500Z,1607902902.500 [Micromodem](INFO): Nmea in: $SNTTA,0.200760,,,,234142.34*46

2020-12-13T23:41:42.914Z,1607902902.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:44.613Z,1607902904.613 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:41:45.806Z,1607902905.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:46.533Z,1607902906.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:46.921Z,1607902906.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:47.734Z,1607902907.734 [Micromodem](INFO): Nmea in: $SNTTA,0.201575,,,,234147.70*44

2020-12-13T23:41:48.156Z,1607902908.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.399994 m, bearing: 324.641733 deg, deltaT: 10.336417 s, approachRate: 0.145118 m/s, LOS rate: 5.197918 deg/s, posRepo size: 4
2020-12-13T23:41:48.158Z,1607902908.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.399994 m,
      bearing: 324.641733 deg,
      approachRate: 0.145118 m/s,
      LOS rate: 5.197918 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 42.599001 deg,
      new cmd heading: 42.940971 deg.

2020-12-13T23:41:50.652Z,1607902910.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:51.353Z,1607902911.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:51.769Z,1607902911.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:52.589Z,1607902912.589 [Micromodem](INFO): Nmea in: $SNTTA,0.203229,,,,234152.52*4C

2020-12-13T23:41:53.004Z,1607902913.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.979980 m, bearing: 7.199769 deg, deltaT: 4.715731 s, approachRate: 0.547102 m/s, LOS rate: 9.024693 deg/s, posRepo size: 4
2020-12-13T23:41:53.006Z,1607902913.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.979980 m,
      bearing: 7.199769 deg,
      approachRate: 0.547102 m/s,
      LOS rate: 9.024693 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 99.139907 deg,
      new cmd heading: 103.367987 deg.

2020-12-13T23:41:55.539Z,1607902915.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:41:55.833Z,1607902915.833 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:41:56.204Z,1607902916.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:41:56.697Z,1607902916.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:41:57.556Z,1607902917.556 [Micromodem](INFO): Nmea in: $SNTTA,0.205156,,,,234157.37*47

2020-12-13T23:41:58.007Z,1607902918.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.039978 m, bearing: 46.667513 deg, deltaT: 4.990794 s, approachRate: 0.613128 m/s, LOS rate: 7.908109 deg/s, posRepo size: 4
2020-12-13T23:41:58.009Z,1607902918.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.039978 m,
      bearing: 46.667513 deg,
      approachRate: 0.613128 m/s,
      LOS rate: 7.908109 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 158.970133 deg,
      new cmd heading: 163.407001 deg.

2020-12-13T23:42:00.629Z,1607902920.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:01.192Z,1607902921.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:01.597Z,1607902921.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:02.434Z,1607902922.434 [Micromodem](INFO): Nmea in: $SNTTA,0.207935,,,,234202.36*4A

2020-12-13T23:42:03.291Z,1607902923.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:04.508Z,1607902924.508 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:42:06.120Z,1607902926.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:06.903Z,1607902926.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:07.325Z,1607902927.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:08.152Z,1607902928.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234208.07*56

2020-12-13T23:42:08.631Z,1607902928.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.259979 m, bearing: 85.084773 deg, deltaT: 10.566981 s, approachRate: 0.777895 m/s, LOS rate: 3.635595 deg/s, posRepo size: 4
2020-12-13T23:42:08.634Z,1607902928.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.259979 m,
      bearing: 85.084773 deg,
      approachRate: 0.777895 m/s,
      LOS rate: 3.635595 deg/s,
      cmd update: 10.906784 deg/s,
      cmd heading: 285.880144 deg,
      new cmd heading: 290.894944 deg.

2020-12-13T23:42:10.971Z,1607902930.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:11.771Z,1607902931.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:12.197Z,1607902932.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:13.069Z,1607902933.069 [Micromodem](INFO): Nmea in: $SNTTA,0.212987,,,,234212.94*4E

2020-12-13T23:42:13.636Z,1607902933.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.559998 m, bearing: 87.367443 deg, deltaT: 4.910983 s, approachRate: 0.671967 m/s, LOS rate: 0.464809 deg/s, posRepo size: 4
2020-12-13T23:42:13.638Z,1607902933.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.559998 m,
      bearing: 87.367443 deg,
      approachRate: 0.671967 m/s,
      LOS rate: 0.464809 deg/s,
      cmd update: 1.394427 deg/s,
      cmd heading: 339.397727 deg,
      new cmd heading: 345.022933 deg.

2020-12-13T23:42:15.697Z,1607902935.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:16.375Z,1607902936.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:16.788Z,1607902936.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:17.621Z,1607902937.621 [Micromodem](INFO): Nmea in: $SNTTA,0.215823,,,,234217.54*4F

2020-12-13T23:42:18.426Z,1607902938.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:20.014Z,1607902940.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:42:21.256Z,1607902941.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:22.028Z,1607902942.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:22.431Z,1607902942.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:23.267Z,1607902943.267 [Micromodem](INFO): Nmea in: $SNTTA,0.218720,,,,234223.19*40

2020-12-13T23:42:23.707Z,1607902943.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.259979 m, bearing: 83.294266 deg, deltaT: 10.160482 s, approachRate: 0.856257 m/s, LOS rate: -0.400884 deg/s, posRepo size: 4
2020-12-13T23:42:23.713Z,1607902943.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.259979 m,
      bearing: 83.294266 deg,
      approachRate: 0.856257 m/s,
      LOS rate: -0.400884 deg/s,
      cmd update: -1.202653 deg/s,
      cmd heading: 353.571401 deg,
      new cmd heading: 354.160480 deg.

2020-12-13T23:42:26.242Z,1607902946.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:26.891Z,1607902946.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:27.298Z,1607902947.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:28.101Z,1607902948.101 [Micromodem](INFO): Nmea in: $SNTTA,0.220816,,,,234228.06*44

2020-12-13T23:42:28.638Z,1607902948.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.799988 m, bearing: 11.820089 deg, deltaT: 5.010709 s, approachRate: 0.706489 m/s, LOS rate: -14.264285 deg/s, posRepo size: 4
2020-12-13T23:42:28.638Z,1607902948.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.264285 deg/s. Setting heading cmd to target bearing of 11.820089deg and heading rate command to 0 deg/s.
2020-12-13T23:42:29.338Z,1607902949.338 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:42:29.903Z,1607902949.903 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:42:29.904Z,1607902949.904 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:42:30.164Z,1607902950.164 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:42:30.582Z,1607902950.582 [Micromodem](INFO): Nmea in: $CADRQ,234230,1,9,0,64,1*4A

2020-12-13T23:42:30.583Z,1607902950.583 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:42:30.957Z,1607902950.957 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:42:31.011Z,1607902951.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:31.363Z,1607902951.363 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:42:31.751Z,1607902951.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:32.587Z,1607902952.587 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:42:32.588Z,1607902952.588 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:42:32.967Z,1607902952.967 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234231.769476,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-13T23:42:32.968Z,1607902952.968 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,234231.769476,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-13T23:42:33.841Z,1607902953.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:36.672Z,1607902956.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:37.038Z,1607902957.038 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T23:32:36.9Z
2020-12-13T23:42:37.038Z,1607902957.038 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T23:42:37.039Z,1607902957.039 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:42:37.039Z,1607902957.039 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T23:42:37.039Z,1607902957.039 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:42:37.039Z,1607902957.039 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T23:42:37.677Z,1607902957.677 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:42:37.677Z,1607902957.677 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T23:42:37.677Z,1607902957.677 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T23:42:37.677Z,1607902957.677 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:42:37.677Z,1607902957.677 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T23:42:39.281Z,1607902959.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:42.103Z,1607902962.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:42.882Z,1607902962.882 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:43.289Z,1607902963.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:43.738Z,1607902963.738 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:42:44.125Z,1607902964.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234244.05*5C

2020-12-13T23:42:44.568Z,1607902964.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.059998 m, bearing: 320.421687 deg, deltaT: 16.000325 s, approachRate: 0.453741 m/s, LOS rate: -3.212334 deg/s, posRepo size: 4
2020-12-13T23:42:44.570Z,1607902964.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.059998 m,
      bearing: 320.421687 deg,
      approachRate: 0.453741 m/s,
      LOS rate: -3.212334 deg/s,
      cmd update: -9.637002 deg/s,
      cmd heading: 11.820089 deg,
      new cmd heading: 11.820089 deg.

2020-12-13T23:42:45.750Z,1607902965.750 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:42:46.951Z,1607902966.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:47.735Z,1607902967.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:48.148Z,1607902968.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:48.990Z,1607902968.990 [Micromodem](INFO): Nmea in: $SNTTA,0.226567,,,,234248.90*40

2020-12-13T23:42:49.405Z,1607902969.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.899994 m, bearing: 316.380673 deg, deltaT: 4.744753 s, approachRate: 0.177037 m/s, LOS rate: -0.851680 deg/s, posRepo size: 4
2020-12-13T23:42:49.407Z,1607902969.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.899994 m,
      bearing: 316.380673 deg,
      approachRate: 0.177037 m/s,
      LOS rate: -0.851680 deg/s,
      cmd update: -2.555041 deg/s,
      cmd heading: 326.146672 deg,
      new cmd heading: 322.739914 deg.

2020-12-13T23:42:50.733Z,1607902970.733 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:42:50.736Z,1607902970.736 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:42:51.873Z,1607902971.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:52.595Z,1607902972.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:53.172Z,1607902973.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:53.925Z,1607902973.925 [Micromodem](INFO): Nmea in: $SNTTA,0.227420,,,,234253.76*41

2020-12-13T23:42:54.378Z,1607902974.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.100006 m, bearing: 313.481531 deg, deltaT: 4.942479 s, approachRate: 0.242796 m/s, LOS rate: -0.586577 deg/s, posRepo size: 4
2020-12-13T23:42:54.380Z,1607902974.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.100006 m,
      bearing: 313.481531 deg,
      approachRate: 0.242796 m/s,
      LOS rate: -0.586577 deg/s,
      cmd update: -1.759730 deg/s,
      cmd heading: 313.504798 deg,
      new cmd heading: 312.496929 deg.

2020-12-13T23:42:55.613Z,1607902975.613 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-13T23:42:55.619Z,1607902975.619 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:42:56.913Z,1607902976.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:42:57.579Z,1607902977.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:42:57.957Z,1607902977.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:42:58.776Z,1607902978.776 [Micromodem](INFO): Nmea in: $SNTTA,0.227335,,,,234258.75*4A

2020-12-13T23:42:59.252Z,1607902979.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.859985 m, bearing: 256.666734 deg, deltaT: 5.011080 s, approachRate: -0.047898 m/s, LOS rate: -11.337835 deg/s, posRepo size: 4
2020-12-13T23:42:59.256Z,1607902979.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.859985 m,
      bearing: 256.666734 deg,
      approachRate: -0.047898 m/s,
      LOS rate: -11.337835 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 304.693576 deg,
      new cmd heading: 304.233046 deg.

2020-12-13T23:43:00.807Z,1607902980.807 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-13T23:43:00.810Z,1607902980.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:43:01.643Z,1607902981.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:02.399Z,1607902982.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:02.815Z,1607902982.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:03.640Z,1607902983.640 [Micromodem](INFO): Nmea in: $SNTTA,0.226404,,,,234303.57*41

2020-12-13T23:43:04.061Z,1607902984.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.420013 m, bearing: 256.146820 deg, deltaT: 4.679821 s, approachRate: -0.307698 m/s, LOS rate: -0.111097 deg/s, posRepo size: 4
2020-12-13T23:43:04.063Z,1607902984.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.420013 m,
      bearing: 256.146820 deg,
      approachRate: -0.307698 m/s,
      LOS rate: -0.111097 deg/s,
      cmd update: -0.333291 deg/s,
      cmd heading: 248.488071 deg,
      new cmd heading: 243.851834 deg.

2020-12-13T23:43:05.666Z,1607902985.666 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:43:05.672Z,1607902985.672 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T23:43:06.624Z,1607902986.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:07.263Z,1607902987.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:07.661Z,1607902987.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:08.499Z,1607902988.499 [Micromodem](INFO): Nmea in: $SNTTA,0.224871,,,,234308.43*43

2020-12-13T23:43:08.900Z,1607902988.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.080017 m, bearing: 253.065530 deg, deltaT: 4.907429 s, approachRate: -0.476827 m/s, LOS rate: -0.627883 deg/s, posRepo size: 4
2020-12-13T23:43:08.902Z,1607902988.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.080017 m,
      bearing: 253.065530 deg,
      approachRate: -0.476827 m/s,
      LOS rate: -0.627883 deg/s,
      cmd update: -1.883648 deg/s,
      cmd heading: 246.852527 deg,
      new cmd heading: 246.746344 deg.

2020-12-13T23:43:10.561Z,1607902990.561 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 65
2020-12-13T23:43:11.352Z,1607902991.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:12.095Z,1607902992.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:12.530Z,1607902992.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:13.333Z,1607902993.333 [Micromodem](INFO): Nmea in: $SNTTA,0.222921,,,,234313.26*48

2020-12-13T23:43:13.783Z,1607902993.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.199982 m, bearing: 252.781039 deg, deltaT: 4.771294 s, approachRate: -0.603617 m/s, LOS rate: -0.059626 deg/s, posRepo size: 4
2020-12-13T23:43:13.785Z,1607902993.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.199982 m,
      bearing: 252.781039 deg,
      approachRate: -0.603617 m/s,
      LOS rate: -0.059626 deg/s,
      cmd update: -0.178877 deg/s,
      cmd heading: 237.865204 deg,
      new cmd heading: 237.054433 deg.

2020-12-13T23:43:15.789Z,1607902995.789 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:43:16.305Z,1607902996.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:16.951Z,1607902996.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:17.353Z,1607902997.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:18.253Z,1607902998.253 [Micromodem](INFO): Nmea in: $SNTTA,0.220950,,,,234318.12*40

2020-12-13T23:43:18.677Z,1607902998.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.259979 m, bearing: 252.302325 deg, deltaT: 5.079626 s, approachRate: -0.578783 m/s, LOS rate: -0.094242 deg/s, posRepo size: 4
2020-12-13T23:43:18.679Z,1607902998.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.259979 m,
      bearing: 252.302325 deg,
      approachRate: -0.578783 m/s,
      LOS rate: -0.094242 deg/s,
      cmd update: -0.282726 deg/s,
      cmd heading: 236.956944 deg,
      new cmd heading: 236.912785 deg.

2020-12-13T23:43:20.674Z,1607903000.674 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:43:21.055Z,1607903001.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:21.852Z,1607903001.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:22.253Z,1607903002.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:23.103Z,1607903003.103 [Micromodem](INFO): Nmea in: $SNTTA,0.219179,,,,234323.02*40

2020-12-13T23:43:23.558Z,1607903003.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.559998 m, bearing: 253.972443 deg, deltaT: 4.687081 s, approachRate: -0.576048 m/s, LOS rate: 0.356324 deg/s, posRepo size: 4
2020-12-13T23:43:23.560Z,1607903003.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.559998 m,
      bearing: 253.972443 deg,
      approachRate: -0.576048 m/s,
      LOS rate: 0.356324 deg/s,
      cmd update: 1.068971 deg/s,
      cmd heading: 235.631134 deg,
      new cmd heading: 235.507335 deg.

2020-12-13T23:43:24.849Z,1607903004.849 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:43:25.580Z,1607903005.580 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:43:25.944Z,1607903005.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:26.695Z,1607903006.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:27.105Z,1607903007.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:27.925Z,1607903007.925 [Micromodem](INFO): Nmea in: $SNTTA,0.217242,,,,234327.86*4D

2020-12-13T23:43:28.367Z,1607903008.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.679993 m, bearing: 254.615655 deg, deltaT: 4.819822 s, approachRate: -0.597533 m/s, LOS rate: 0.133452 deg/s, posRepo size: 4
2020-12-13T23:43:28.369Z,1607903008.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.679993 m,
      bearing: 254.615655 deg,
      approachRate: -0.597533 m/s,
      LOS rate: 0.133452 deg/s,
      cmd update: 0.400355 deg/s,
      cmd heading: 240.783218 deg,
      new cmd heading: 241.240722 deg.

2020-12-13T23:43:30.766Z,1607903010.766 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:43:30.772Z,1607903010.772 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-13T23:43:30.787Z,1607903010.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:31.639Z,1607903011.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:31.965Z,1607903011.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:33.242Z,1607903013.242 [Micromodem](INFO): Nmea in: $SNTTA,0.215219,,,,234332.80*43

2020-12-13T23:43:33.272Z,1607903013.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 322.619995 m, bearing: 254.578854 deg, deltaT: 4.935718 s, approachRate: -0.619970 m/s, LOS rate: -0.007456 deg/s, posRepo size: 4
2020-12-13T23:43:33.274Z,1607903013.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.619995 m,
      bearing: 254.578854 deg,
      approachRate: -0.619970 m/s,
      LOS rate: -0.007456 deg/s,
      cmd update: -0.022368 deg/s,
      cmd heading: 242.759313 deg,
      new cmd heading: 242.918121 deg.

2020-12-13T23:43:35.201Z,1607903015.201 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:43:35.740Z,1607903015.740 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:43:35.741Z,1607903015.741 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:43:35.947Z,1607903015.947 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-13T23:43:35.983Z,1607903015.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:36.168Z,1607903016.168 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:43:36.583Z,1607903016.583 [Micromodem](INFO): Nmea in: $CADRQ,234336,1,9,0,64,1*4D

2020-12-13T23:43:36.584Z,1607903016.584 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:43:36.971Z,1607903016.971 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:43:36.971Z,1607903016.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:37.374Z,1607903017.374 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:43:37.375Z,1607903017.375 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-13T23:43:38.607Z,1607903018.607 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:43:38.607Z,1607903018.607 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:43:38.643Z,1607903018.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:38.996Z,1607903018.996 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234337.768576,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-13T23:43:38.996Z,1607903018.996 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,234337.768576,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-13T23:43:41.459Z,1607903021.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:42.639Z,1607903022.639 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:43:44.419Z,1607903024.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:47.118Z,1607903027.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:48.295Z,1607903028.295 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:48.701Z,1607903028.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:49.539Z,1607903029.539 [Micromodem](INFO): Nmea in: $SNTTA,0.208417,,,,234349.46*41

2020-12-13T23:43:49.972Z,1607903029.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.419983 m, bearing: 255.046749 deg, deltaT: 16.744159 s, approachRate: -0.609168 m/s, LOS rate: 0.027944 deg/s, posRepo size: 4
2020-12-13T23:43:49.974Z,1607903029.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.419983 m,
      bearing: 255.046749 deg,
      approachRate: -0.609168 m/s,
      LOS rate: 0.027944 deg/s,
      cmd update: 0.083831 deg/s,
      cmd heading: 242.384878 deg,
      new cmd heading: 242.376883 deg.

2020-12-13T23:43:52.339Z,1607903032.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:53.135Z,1607903033.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:53.565Z,1607903033.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:54.382Z,1607903034.382 [Micromodem](INFO): Nmea in: $SNTTA,0.206463,,,,234354.30*41

2020-12-13T23:43:54.780Z,1607903034.780 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:43:54.842Z,1607903034.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.479980 m, bearing: 255.943198 deg, deltaT: 4.777552 s, approachRate: -0.615378 m/s, LOS rate: 0.187638 deg/s, posRepo size: 4
2020-12-13T23:43:54.849Z,1607903034.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.479980 m,
      bearing: 255.943198 deg,
      approachRate: -0.615378 m/s,
      LOS rate: 0.187638 deg/s,
      cmd update: 0.562913 deg/s,
      cmd heading: 242.785768 deg,
      new cmd heading: 242.822611 deg.

2020-12-13T23:43:57.330Z,1607903037.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:43:57.998Z,1607903037.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:43:58.462Z,1607903038.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:43:59.213Z,1607903039.213 [Micromodem](INFO): Nmea in: $SNTTA,0.204550,,,,234359.17*4A

2020-12-13T23:43:59.680Z,1607903039.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.660004 m, bearing: 256.534556 deg, deltaT: 4.855575 s, approachRate: -0.580771 m/s, LOS rate: 0.121789 deg/s, posRepo size: 4
2020-12-13T23:43:59.686Z,1607903039.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.660004 m,
      bearing: 256.534556 deg,
      approachRate: -0.580771 m/s,
      LOS rate: 0.121789 deg/s,
      cmd update: 0.365368 deg/s,
      cmd heading: 245.516756 deg,
      new cmd heading: 245.759581 deg.

2020-12-13T23:44:01.804Z,1607903041.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:02.433Z,1607903042.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:02.833Z,1607903042.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:03.680Z,1607903043.680 [Micromodem](INFO): Nmea in: $SNTTA,0.202669,,,,234403.60*4D

2020-12-13T23:44:04.084Z,1607903044.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.899994 m, bearing: 257.039635 deg, deltaT: 4.605183 s, approachRate: -0.599327 m/s, LOS rate: 0.109676 deg/s, posRepo size: 4
2020-12-13T23:44:04.086Z,1607903044.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.899994 m,
      bearing: 257.039635 deg,
      approachRate: -0.599327 m/s,
      LOS rate: 0.109676 deg/s,
      cmd update: 0.329029 deg/s,
      cmd heading: 247.200834 deg,
      new cmd heading: 247.283595 deg.

2020-12-13T23:44:06.569Z,1607903046.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:07.271Z,1607903047.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:07.685Z,1607903047.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:08.533Z,1607903048.533 [Micromodem](INFO): Nmea in: $SNTTA,0.200870,,,,234408.44*44

2020-12-13T23:44:08.948Z,1607903048.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.720001 m, bearing: 256.604934 deg, deltaT: 4.741778 s, approachRate: -0.670633 m/s, LOS rate: -0.091675 deg/s, posRepo size: 4
2020-12-13T23:44:08.950Z,1607903048.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.720001 m,
      bearing: 256.604934 deg,
      approachRate: -0.670633 m/s,
      LOS rate: -0.091675 deg/s,
      cmd update: -0.275024 deg/s,
      cmd heading: 248.759699 deg,
      new cmd heading: 248.875775 deg.

2020-12-13T23:44:11.412Z,1607903051.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:12.171Z,1607903052.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:12.585Z,1607903052.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:13.501Z,1607903053.501 [Micromodem](INFO): Nmea in: $SNTTA,0.198613,,,,234413.34*40

2020-12-13T23:44:13.836Z,1607903053.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.779999 m, bearing: 257.533758 deg, deltaT: 4.967899 s, approachRate: -0.591800 m/s, LOS rate: 0.186965 deg/s, posRepo size: 4
2020-12-13T23:44:13.846Z,1607903053.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.779999 m,
      bearing: 257.533758 deg,
      approachRate: -0.591800 m/s,
      LOS rate: 0.186965 deg/s,
      cmd update: 0.560895 deg/s,
      cmd heading: 247.392314 deg,
      new cmd heading: 247.318471 deg.

2020-12-13T23:44:16.238Z,1607903056.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:17.011Z,1607903057.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:17.427Z,1607903057.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:18.245Z,1607903058.245 [Micromodem](INFO): Nmea in: $SNTTA,0.196482,,,,234418.18*41

2020-12-13T23:44:18.676Z,1607903058.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.599976 m, bearing: 257.271069 deg, deltaT: 4.691698 s, approachRate: -0.677798 m/s, LOS rate: -0.055990 deg/s, posRepo size: 4
2020-12-13T23:44:18.678Z,1607903058.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.599976 m,
      bearing: 257.271069 deg,
      approachRate: -0.677798 m/s,
      LOS rate: -0.055990 deg/s,
      cmd update: -0.167971 deg/s,
      cmd heading: 250.023859 deg,
      new cmd heading: 250.257582 deg.

2020-12-13T23:44:21.216Z,1607903061.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:21.859Z,1607903061.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:22.269Z,1607903062.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:23.101Z,1607903063.101 [Micromodem](INFO): Nmea in: $SNTTA,0.194434,,,,234423.03*4C

2020-12-13T23:44:23.576Z,1607903063.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.479980 m, bearing: 257.561106 deg, deltaT: 5.013100 s, approachRate: -0.622368 m/s, LOS rate: 0.057856 deg/s, posRepo size: 4
2020-12-13T23:44:23.578Z,1607903063.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.479980 m,
      bearing: 257.561106 deg,
      approachRate: -0.622368 m/s,
      LOS rate: 0.057856 deg/s,
      cmd update: 0.173568 deg/s,
      cmd heading: 249.181803 deg,
      new cmd heading: 249.130788 deg.

2020-12-13T23:44:25.921Z,1607903065.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:26.792Z,1607903066.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:27.117Z,1607903067.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:27.974Z,1607903067.974 [Micromodem](INFO): Nmea in: $SNTTA,0.192317,,,,234427.96*44

2020-12-13T23:44:28.380Z,1607903068.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.299988 m, bearing: 258.151426 deg, deltaT: 4.765476 s, approachRate: -0.667298 m/s, LOS rate: 0.123874 deg/s, posRepo size: 4
2020-12-13T23:44:28.382Z,1607903068.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.299988 m,
      bearing: 258.151426 deg,
      approachRate: -0.667298 m/s,
      LOS rate: 0.123874 deg/s,
      cmd update: 0.371623 deg/s,
      cmd heading: 250.007437 deg,
      new cmd heading: 250.068377 deg.

2020-12-13T23:44:28.754Z,1607903068.754 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:44:30.792Z,1607903070.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:31.583Z,1607903071.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:31.961Z,1607903071.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:32.790Z,1607903072.790 [Micromodem](INFO): Nmea in: $SNTTA,0.190218,,,,234432.75*41

2020-12-13T23:44:32.798Z,1607903072.798 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:44:33.232Z,1607903073.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.179993 m, bearing: 258.208116 deg, deltaT: 4.811357 s, approachRate: -0.648465 m/s, LOS rate: 0.011783 deg/s, posRepo size: 4
2020-12-13T23:44:33.234Z,1607903073.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.179993 m,
      bearing: 258.208116 deg,
      approachRate: -0.648465 m/s,
      LOS rate: 0.011783 deg/s,
      cmd update: 0.035348 deg/s,
      cmd heading: 251.795630 deg,
      new cmd heading: 251.940921 deg.

2020-12-13T23:44:35.794Z,1607903075.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:36.411Z,1607903076.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:36.811Z,1607903076.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:37.659Z,1607903077.659 [Micromodem](INFO): Nmea in: $SNTTA,0.188125,,,,234437.58*4F

2020-12-13T23:44:38.063Z,1607903078.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.059998 m, bearing: 258.281937 deg, deltaT: 4.844573 s, approachRate: -0.644019 m/s, LOS rate: 0.015238 deg/s, posRepo size: 4
2020-12-13T23:44:38.093Z,1607903078.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.059998 m,
      bearing: 258.281937 deg,
      approachRate: -0.644019 m/s,
      LOS rate: 0.015238 deg/s,
      cmd update: 0.045713 deg/s,
      cmd heading: 251.967157 deg,
      new cmd heading: 251.980234 deg.

2020-12-13T23:44:40.281Z,1607903080.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:40.863Z,1607903080.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:41.270Z,1607903081.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:41.285Z,1607903081.285 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:44:41.772Z,1607903081.772 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:44:41.772Z,1607903081.772 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:44:42.077Z,1607903082.077 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:44:42.495Z,1607903082.495 [Micromodem](INFO): Nmea in: $CADRQ,234442,1,9,0,64,1*49

2020-12-13T23:44:42.498Z,1607903082.498 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:44:42.658Z,1607903082.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.119995 m, bearing: 258.781770 deg, deltaT: 4.558757 s, approachRate: -0.644913 m/s, LOS rate: 0.109642 deg/s, posRepo size: 4
2020-12-13T23:44:42.660Z,1607903082.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.119995 m,
      bearing: 258.781770 deg,
      approachRate: -0.644913 m/s,
      LOS rate: 0.109642 deg/s,
      cmd update: 0.328927 deg/s,
      cmd heading: 252.175563 deg,
      new cmd heading: 252.194114 deg.

2020-12-13T23:44:42.882Z,1607903082.882 [Micromodem](INFO): Nmea in: $SNTTA,0.186177,,,,234442.03*4A

2020-12-13T23:44:42.882Z,1607903082.882 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.186177,,,,234442.03*4A

2020-12-13T23:44:44.093Z,1607903084.093 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:44:44.523Z,1607903084.523 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:44:44.883Z,1607903084.883 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:44:44.900Z,1607903084.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:45.304Z,1607903085.304 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234443.684634,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-13T23:44:45.699Z,1607903085.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:46.104Z,1607903086.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:46.945Z,1607903086.945 [Micromodem](INFO): Nmea in: $SNTTA,0.184274,,,0.186774,234446.86*54

2020-12-13T23:44:47.357Z,1607903087.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.239990 m, bearing: 258.656259 deg, deltaT: 4.707216 s, approachRate: -0.611828 m/s, LOS rate: -0.026664 deg/s, posRepo size: 4
2020-12-13T23:44:47.359Z,1607903087.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.239990 m,
      bearing: 258.656259 deg,
      approachRate: -0.611828 m/s,
      LOS rate: -0.026664 deg/s,
      cmd update: -0.079991 deg/s,
      cmd heading: 253.723887 deg,
      new cmd heading: 253.854731 deg.

2020-12-13T23:44:49.821Z,1607903089.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:50.603Z,1607903090.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:50.961Z,1607903090.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:51.774Z,1607903091.774 [Micromodem](INFO): Nmea in: $SNTTA,0.182197,,,,234451.77*41

2020-12-13T23:44:52.313Z,1607903092.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.119995 m, bearing: 258.749641 deg, deltaT: 4.893999 s, approachRate: -0.637514 m/s, LOS rate: 0.019081 deg/s, posRepo size: 4
2020-12-13T23:44:52.315Z,1607903092.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.119995 m,
      bearing: 258.749641 deg,
      approachRate: -0.637514 m/s,
      LOS rate: 0.019081 deg/s,
      cmd update: 0.057243 deg/s,
      cmd heading: 253.332412 deg,
      new cmd heading: 253.295666 deg.

2020-12-13T23:44:54.777Z,1607903094.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:55.417Z,1607903095.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:44:55.809Z,1607903095.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:44:56.629Z,1607903096.629 [Micromodem](INFO): Nmea in: $SNTTA,0.180012,,,,234456.58*45

2020-12-13T23:44:57.067Z,1607903097.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.879974 m, bearing: 259.303624 deg, deltaT: 4.841815 s, approachRate: -0.669175 m/s, LOS rate: 0.114416 deg/s, posRepo size: 4
2020-12-13T23:44:57.074Z,1607903097.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.879974 m,
      bearing: 259.303624 deg,
      approachRate: -0.669175 m/s,
      LOS rate: 0.114416 deg/s,
      cmd update: 0.343249 deg/s,
      cmd heading: 253.608888 deg,
      new cmd heading: 253.630878 deg.

2020-12-13T23:44:59.214Z,1607903099.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:44:59.847Z,1607903099.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:00.249Z,1607903100.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:01.097Z,1607903101.097 [Micromodem](INFO): Nmea in: $SNTTA,0.178162,,,,234501.01*4B

2020-12-13T23:45:01.567Z,1607903101.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.059998 m, bearing: 259.503830 deg, deltaT: 4.577096 s, approachRate: -0.616106 m/s, LOS rate: 0.043741 deg/s, posRepo size: 4
2020-12-13T23:45:01.569Z,1607903101.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.059998 m,
      bearing: 259.503830 deg,
      approachRate: -0.616106 m/s,
      LOS rate: 0.043741 deg/s,
      cmd update: 0.131223 deg/s,
      cmd heading: 255.184037 deg,
      new cmd heading: 255.285186 deg.

2020-12-13T23:45:03.925Z,1607903103.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:04.726Z,1607903104.726 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2020-12-13T23:45:04.771Z,1607903104.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:05.125Z,1607903105.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:06.334Z,1607903106.334 [Micromodem](INFO): Nmea in: $SNTTA,0.176156,,,,234505.94*4A

2020-12-13T23:45:06.388Z,1607903106.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.059998 m, bearing: 259.481045 deg, deltaT: 4.711466 s, approachRate: -0.636744 m/s, LOS rate: -0.004836 deg/s, posRepo size: 4
2020-12-13T23:45:06.390Z,1607903106.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.059998 m,
      bearing: 259.481045 deg,
      approachRate: -0.636744 m/s,
      LOS rate: -0.004836 deg/s,
      cmd update: -0.014509 deg/s,
      cmd heading: 255.800912 deg,
      new cmd heading: 255.855362 deg.

2020-12-13T23:45:08.840Z,1607903108.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:09.579Z,1607903109.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:09.969Z,1607903109.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:10.817Z,1607903110.817 [Micromodem](INFO): Nmea in: $SNTTA,0.174192,,,,234510.75*4B

2020-12-13T23:45:11.247Z,1607903111.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.119995 m, bearing: 258.968289 deg, deltaT: 4.866899 s, approachRate: -0.604081 m/s, LOS rate: -0.105356 deg/s, posRepo size: 4
2020-12-13T23:45:11.249Z,1607903111.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.119995 m,
      bearing: 258.968289 deg,
      approachRate: -0.604081 m/s,
      LOS rate: -0.105356 deg/s,
      cmd update: -0.316067 deg/s,
      cmd heading: 255.730149 deg,
      new cmd heading: 255.724396 deg.

2020-12-13T23:45:13.768Z,1607903113.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:14.403Z,1607903114.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:14.809Z,1607903114.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:15.669Z,1607903115.669 [Micromodem](INFO): Nmea in: $SNTTA,0.172186,,,,234515.57*4D

2020-12-13T23:45:16.063Z,1607903116.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.059998 m, bearing: 259.699748 deg, deltaT: 4.871870 s, approachRate: -0.628095 m/s, LOS rate: 0.150139 deg/s, posRepo size: 4
2020-12-13T23:45:16.065Z,1607903116.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.059998 m,
      bearing: 259.699748 deg,
      approachRate: -0.628095 m/s,
      LOS rate: 0.150139 deg/s,
      cmd update: 0.450418 deg/s,
      cmd heading: 254.190258 deg,
      new cmd heading: 254.082562 deg.

2020-12-13T23:45:16.850Z,1607903116.850 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:45:18.482Z,1607903118.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:19.259Z,1607903119.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:19.721Z,1607903119.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:20.532Z,1607903120.532 [Micromodem](INFO): Nmea in: $SNTTA,0.170183,,,,234520.42*48

2020-12-13T23:45:20.931Z,1607903120.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.119980 m, bearing: 260.116389 deg, deltaT: 4.870547 s, approachRate: -0.603632 m/s, LOS rate: 0.085543 deg/s, posRepo size: 4
2020-12-13T23:45:20.951Z,1607903120.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.119980 m,
      bearing: 260.116389 deg,
      approachRate: -0.603632 m/s,
      LOS rate: 0.085543 deg/s,
      cmd update: 0.256629 deg/s,
      cmd heading: 256.371937 deg,
      new cmd heading: 256.536272 deg.

2020-12-13T23:45:23.327Z,1607903123.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:24.126Z,1607903124.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:24.535Z,1607903124.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:25.323Z,1607903125.323 [Micromodem](INFO): Nmea in: $SNTTA,0.168127,,,,234525.29*47

2020-12-13T23:45:25.806Z,1607903125.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.000000 m, bearing: 260.680945 deg, deltaT: 4.767979 s, approachRate: -0.654361 m/s, LOS rate: 0.118406 deg/s, posRepo size: 4
2020-12-13T23:45:25.808Z,1607903125.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.000000 m,
      bearing: 260.680945 deg,
      approachRate: -0.654361 m/s,
      LOS rate: 0.118406 deg/s,
      cmd update: 0.355217 deg/s,
      cmd heading: 257.601345 deg,
      new cmd heading: 257.712385 deg.

2020-12-13T23:45:28.177Z,1607903128.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:28.967Z,1607903128.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:29.381Z,1607903129.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:30.204Z,1607903130.204 [Micromodem](INFO): Nmea in: $SNTTA,0.165997,,,,234530.13*44

2020-12-13T23:45:30.661Z,1607903130.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.879990 m, bearing: 261.700993 deg, deltaT: 4.863056 s, approachRate: -0.641574 m/s, LOS rate: 0.209754 deg/s, posRepo size: 4
2020-12-13T23:45:30.663Z,1607903130.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.879990 m,
      bearing: 261.700993 deg,
      approachRate: -0.641574 m/s,
      LOS rate: 0.209754 deg/s,
      cmd update: 0.629263 deg/s,
      cmd heading: 259.330276 deg,
      new cmd heading: 259.485250 deg.

2020-12-13T23:45:33.166Z,1607903133.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:33.815Z,1607903133.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:34.213Z,1607903134.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:35.108Z,1607903135.108 [Micromodem](INFO): Nmea in: $SNTTA,0.163774,,,,234534.98*46

2020-12-13T23:45:35.519Z,1607903135.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.519974 m, bearing: 262.150747 deg, deltaT: 4.918938 s, approachRate: -0.683078 m/s, LOS rate: 0.091433 deg/s, posRepo size: 4
2020-12-13T23:45:35.530Z,1607903135.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.519974 m,
      bearing: 262.150747 deg,
      approachRate: -0.683078 m/s,
      LOS rate: 0.091433 deg/s,
      cmd update: 0.274300 deg/s,
      cmd heading: 262.425593 deg,
      new cmd heading: 262.657080 deg.

2020-12-13T23:45:37.642Z,1607903137.642 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:45:37.667Z,1607903137.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:38.259Z,1607903138.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:38.682Z,1607903138.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:39.531Z,1607903139.531 [Micromodem](INFO): Nmea in: $SNTTA,0.162181,,,,234539.43*40

2020-12-13T23:45:39.970Z,1607903139.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.119980 m, bearing: 263.142901 deg, deltaT: 4.588312 s, approachRate: -0.523067 m/s, LOS rate: 0.216235 deg/s, posRepo size: 4
2020-12-13T23:45:39.996Z,1607903139.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.119980 m,
      bearing: 263.142901 deg,
      approachRate: -0.523067 m/s,
      LOS rate: 0.216235 deg/s,
      cmd update: 0.648705 deg/s,
      cmd heading: 263.678695 deg,
      new cmd heading: 263.749343 deg.

2020-12-13T23:45:42.351Z,1607903142.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:43.145Z,1607903143.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:43.580Z,1607903143.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:45:44.389Z,1607903144.389 [Micromodem](INFO): Nmea in: $SNTTA,0.159916,,,,234544.31*41

2020-12-13T23:45:44.805Z,1607903144.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.699997 m, bearing: 263.274805 deg, deltaT: 4.672349 s, approachRate: -0.731962 m/s, LOS rate: 0.028231 deg/s, posRepo size: 4
2020-12-13T23:45:44.807Z,1607903144.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.699997 m,
      bearing: 263.274805 deg,
      approachRate: -0.731962 m/s,
      LOS rate: 0.028231 deg/s,
      cmd update: 0.084693 deg/s,
      cmd heading: 266.722638 deg,
      new cmd heading: 266.982763 deg.

2020-12-13T23:45:45.643Z,1607903145.643 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-13T23:45:46.789Z,1607903146.789 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:45:47.303Z,1607903147.303 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:45:47.303Z,1607903147.303 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:45:47.419Z,1607903147.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:47.675Z,1607903147.675 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:45:48.019Z,1607903148.019 [Micromodem](INFO): Nmea in: $CADRQ,234548,1,9,0,64,1*42

2020-12-13T23:45:48.019Z,1607903148.019 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:45:48.429Z,1607903148.429 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:45:48.430Z,1607903148.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:48.827Z,1607903148.827 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:45:48.827Z,1607903148.827 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-13T23:45:50.051Z,1607903150.051 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:45:50.051Z,1607903150.051 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:45:50.106Z,1607903150.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:50.434Z,1607903150.434 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234549.203252,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-13T23:45:50.434Z,1607903150.434 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,234549.203252,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-13T23:45:52.766Z,1607903152.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:55.399Z,1607903155.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:58.246Z,1607903158.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:45:59.874Z,1607903159.874 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:45:59.895Z,1607903159.895 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:46:00.229Z,1607903160.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:01.446Z,1607903161.446 [Micromodem](INFO): Nmea in: $SNTTA,0.152707,,,,234601.04*40

2020-12-13T23:46:01.538Z,1607903161.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.899979 m, bearing: 262.804697 deg, deltaT: 16.683092 s, approachRate: -0.647363 m/s, LOS rate: -0.028179 deg/s, posRepo size: 4
2020-12-13T23:46:01.540Z,1607903161.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.899979 m,
      bearing: 262.804697 deg,
      approachRate: -0.647363 m/s,
      LOS rate: -0.028179 deg/s,
      cmd update: -0.084536 deg/s,
      cmd heading: 268.135229 deg,
      new cmd heading: 268.173409 deg.

2020-12-13T23:46:03.732Z,1607903163.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:04.323Z,1607903164.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:04.721Z,1607903164.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:05.571Z,1607903165.571 [Micromodem](INFO): Nmea in: $SNTTA,0.150826,,,,234605.49*43

2020-12-13T23:46:05.994Z,1607903165.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.019989 m, bearing: 262.723773 deg, deltaT: 4.704250 s, approachRate: -0.612210 m/s, LOS rate: -0.017202 deg/s, posRepo size: 4
2020-12-13T23:46:05.996Z,1607903165.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.019989 m,
      bearing: 262.723773 deg,
      approachRate: -0.612210 m/s,
      LOS rate: -0.017202 deg/s,
      cmd update: -0.051607 deg/s,
      cmd heading: 267.737203 deg,
      new cmd heading: 267.720040 deg.

2020-12-13T23:46:08.404Z,1607903168.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:09.192Z,1607903169.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:09.589Z,1607903169.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:10.431Z,1607903170.431 [Micromodem](INFO): Nmea in: $SNTTA,0.148745,,,,234610.36*4C

2020-12-13T23:46:10.862Z,1607903170.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.839981 m, bearing: 264.556996 deg, deltaT: 4.736651 s, approachRate: -0.671362 m/s, LOS rate: 0.387029 deg/s, posRepo size: 4
2020-12-13T23:46:10.864Z,1607903170.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.839981 m,
      bearing: 264.556996 deg,
      approachRate: -0.671362 m/s,
      LOS rate: 0.387029 deg/s,
      cmd update: 1.161088 deg/s,
      cmd heading: 267.493722 deg,
      new cmd heading: 267.475527 deg.

2020-12-13T23:46:11.636Z,1607903171.636 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:46:13.310Z,1607903173.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:14.031Z,1607903174.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:14.439Z,1607903174.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:15.269Z,1607903175.269 [Micromodem](INFO): Nmea in: $SNTTA,0.146484,,,,234615.20*4E

2020-12-13T23:46:15.800Z,1607903175.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 263.710216 deg, deltaT: 4.762242 s, approachRate: -0.680350 m/s, LOS rate: -0.177811 deg/s, posRepo size: 4
2020-12-13T23:46:15.802Z,1607903175.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.599991 m,
      bearing: 263.710216 deg,
      approachRate: -0.680350 m/s,
      LOS rate: -0.177811 deg/s,
      cmd update: -0.533433 deg/s,
      cmd heading: 273.044455 deg,
      new cmd heading: 273.637164 deg.

2020-12-13T23:46:18.266Z,1607903178.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:18.879Z,1607903178.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:19.297Z,1607903179.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:20.113Z,1607903180.113 [Micromodem](INFO): Nmea in: $SNTTA,0.144556,,,,234620.04*42

2020-12-13T23:46:20.579Z,1607903180.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.600006 m, bearing: 262.966791 deg, deltaT: 4.861152 s, approachRate: -0.617135 m/s, LOS rate: -0.152932 deg/s, posRepo size: 4
2020-12-13T23:46:20.581Z,1607903180.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.600006 m,
      bearing: 262.966791 deg,
      approachRate: -0.617135 m/s,
      LOS rate: -0.152932 deg/s,
      cmd update: -0.458796 deg/s,
      cmd heading: 270.451242 deg,
      new cmd heading: 270.223647 deg.

2020-12-13T23:46:22.756Z,1607903182.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:23.319Z,1607903183.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:23.733Z,1607903183.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:23.782Z,1607903183.782 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:46:24.671Z,1607903184.671 [Micromodem](INFO): Nmea in: $SNTTA,0.142809,,,,234624.48*4F

2020-12-13T23:46:25.064Z,1607903185.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.080002 m, bearing: 263.845071 deg, deltaT: 4.691393 s, approachRate: -0.537155 m/s, LOS rate: 0.187211 deg/s, posRepo size: 4
2020-12-13T23:46:25.066Z,1607903185.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 263.845071 deg,
      approachRate: -0.537155 m/s,
      LOS rate: 0.187211 deg/s,
      cmd update: 0.561633 deg/s,
      cmd heading: 268.298837 deg,
      new cmd heading: 268.197104 deg.

2020-12-13T23:46:27.465Z,1607903187.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:28.243Z,1607903188.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:28.660Z,1607903188.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:29.531Z,1607903189.531 [Micromodem](INFO): Nmea in: $SNTTA,0.140733,,,,234629.41*4F

2020-12-13T23:46:29.922Z,1607903189.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.899994 m, bearing: 263.874277 deg, deltaT: 4.763934 s, approachRate: -0.667517 m/s, LOS rate: 0.006131 deg/s, posRepo size: 4
2020-12-13T23:46:29.924Z,1607903189.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.899994 m,
      bearing: 263.874277 deg,
      approachRate: -0.667517 m/s,
      LOS rate: 0.006131 deg/s,
      cmd update: 0.018392 deg/s,
      cmd heading: 270.972195 deg,
      new cmd heading: 271.149198 deg.

2020-12-13T23:46:32.334Z,1607903192.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:33.087Z,1607903193.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:33.530Z,1607903193.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:34.317Z,1607903194.317 [Micromodem](INFO): Nmea in: $SNTTA,0.138670,,,,234634.26*4B

2020-12-13T23:46:34.773Z,1607903194.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.839996 m, bearing: 263.858732 deg, deltaT: 4.756846 s, approachRate: -0.643283 m/s, LOS rate: -0.003268 deg/s, posRepo size: 4
2020-12-13T23:46:34.775Z,1607903194.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.839996 m,
      bearing: 263.858732 deg,
      approachRate: -0.643283 m/s,
      LOS rate: -0.003268 deg/s,
      cmd update: -0.009804 deg/s,
      cmd heading: 271.059681 deg,
      new cmd heading: 271.067214 deg.

2020-12-13T23:46:37.178Z,1607903197.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:37.952Z,1607903197.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:38.356Z,1607903198.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:39.173Z,1607903199.173 [Micromodem](INFO): Nmea in: $SNTTA,0.136680,,,,234639.12*40

2020-12-13T23:46:39.640Z,1607903199.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.899979 m, bearing: 263.287728 deg, deltaT: 4.824782 s, approachRate: -0.609358 m/s, LOS rate: -0.118348 deg/s, posRepo size: 4
2020-12-13T23:46:39.646Z,1607903199.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.899979 m,
      bearing: 263.287728 deg,
      approachRate: -0.609358 m/s,
      LOS rate: -0.118348 deg/s,
      cmd update: -0.355044 deg/s,
      cmd heading: 271.012339 deg,
      new cmd heading: 271.007908 deg.

2020-12-13T23:46:42.141Z,1607903202.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:42.783Z,1607903202.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:43.193Z,1607903203.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:44.027Z,1607903204.027 [Micromodem](INFO): Nmea in: $SNTTA,0.134565,,,,234643.95*48

2020-12-13T23:46:44.463Z,1607903204.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.659988 m, bearing: 262.953076 deg, deltaT: 5.009076 s, approachRate: -0.646824 m/s, LOS rate: -0.066809 deg/s, posRepo size: 4
2020-12-13T23:46:44.465Z,1607903204.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.659988 m,
      bearing: 262.953076 deg,
      approachRate: -0.646824 m/s,
      LOS rate: -0.066809 deg/s,
      cmd update: -0.200427 deg/s,
      cmd heading: 269.233938 deg,
      new cmd heading: 269.139675 deg.

2020-12-13T23:46:46.889Z,1607903206.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:47.646Z,1607903207.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:48.109Z,1607903208.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:48.945Z,1607903208.945 [Micromodem](INFO): Nmea in: $SNTTA,0.132628,,,,234648.81*4A

2020-12-13T23:46:48.975Z,1607903208.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.719986 m, bearing: 263.806331 deg, deltaT: 4.556907 s, approachRate: -0.645175 m/s, LOS rate: 0.187244 deg/s, posRepo size: 4
2020-12-13T23:46:48.977Z,1607903208.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.719986 m,
      bearing: 263.806331 deg,
      approachRate: -0.645175 m/s,
      LOS rate: 0.187244 deg/s,
      cmd update: 0.561733 deg/s,
      cmd heading: 268.320594 deg,
      new cmd heading: 268.276663 deg.

2020-12-13T23:46:51.384Z,1607903211.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:52.259Z,1607903212.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:52.612Z,1607903212.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:52.625Z,1607903212.625 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:46:53.146Z,1607903213.146 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:46:53.147Z,1607903213.147 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:46:53.434Z,1607903213.434 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:46:53.810Z,1607903213.810 [Micromodem](INFO): Nmea in: $CADRQ,234654,1,9,0,64,1*4C

2020-12-13T23:46:53.810Z,1607903213.810 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:46:53.931Z,1607903213.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.599976 m, bearing: 263.874960 deg, deltaT: 4.775956 s, approachRate: -0.653275 m/s, LOS rate: 0.014370 deg/s, posRepo size: 4
2020-12-13T23:46:53.933Z,1607903213.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.599976 m,
      bearing: 263.874960 deg,
      approachRate: -0.653275 m/s,
      LOS rate: 0.014370 deg/s,
      cmd update: 0.043110 deg/s,
      cmd heading: 270.981784 deg,
      new cmd heading: 271.228382 deg.

2020-12-13T23:46:54.206Z,1607903214.206 [Micromodem](INFO): Nmea in: $SNTTA,0.130543,,0.147680,,234653.42*51

2020-12-13T23:46:54.206Z,1607903214.206 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.130543,,0.147680,,234653.42*51

2020-12-13T23:46:55.520Z,1607903215.520 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:46:55.881Z,1607903215.881 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:46:56.271Z,1607903216.271 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:46:56.318Z,1607903216.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:46:56.703Z,1607903216.703 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234654.992913,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-13T23:46:57.083Z,1607903217.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:46:57.543Z,1607903217.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:46:58.325Z,1607903218.325 [Micromodem](INFO): Nmea in: $SNTTA,0.128378,,,,234658.25*4E

2020-12-13T23:46:58.768Z,1607903218.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 263.614211 deg, deltaT: 4.854184 s, approachRate: -0.655100 m/s, LOS rate: -0.053716 deg/s, posRepo size: 4
2020-12-13T23:46:58.770Z,1607903218.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 263.614211 deg,
      approachRate: -0.655100 m/s,
      LOS rate: -0.053716 deg/s,
      cmd update: -0.161149 deg/s,
      cmd heading: 271.192701 deg,
      new cmd heading: 271.209258 deg.

2020-12-13T23:47:00.887Z,1607903220.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:01.587Z,1607903221.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:01.971Z,1607903221.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:02.778Z,1607903222.778 [Micromodem](INFO): Nmea in: $SNTTA,0.126587,,,0.129119,234702.75*50

2020-12-13T23:47:03.342Z,1607903223.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 263.370892 deg, deltaT: 4.481519 s, approachRate: -0.602474 m/s, LOS rate: -0.054294 deg/s, posRepo size: 4
2020-12-13T23:47:03.344Z,1607903223.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.720001 m,
      bearing: 263.370892 deg,
      approachRate: -0.602474 m/s,
      LOS rate: -0.054294 deg/s,
      cmd update: -0.162881 deg/s,
      cmd heading: 270.471808 deg,
      new cmd heading: 270.393699 deg.

2020-12-13T23:47:05.655Z,1607903225.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:06.395Z,1607903226.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:06.805Z,1607903226.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:07.631Z,1607903227.631 [Micromodem](INFO): Nmea in: $SNTTA,0.124486,,,,234707.56*4B

2020-12-13T23:47:08.079Z,1607903228.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 263.906898 deg, deltaT: 4.957652 s, approachRate: -0.629332 m/s, LOS rate: 0.108117 deg/s, posRepo size: 4
2020-12-13T23:47:08.081Z,1607903228.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.599991 m,
      bearing: 263.906898 deg,
      approachRate: -0.629332 m/s,
      LOS rate: 0.108117 deg/s,
      cmd update: 0.324351 deg/s,
      cmd heading: 269.662964 deg,
      new cmd heading: 269.621609 deg.

2020-12-13T23:47:10.529Z,1607903230.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:11.285Z,1607903231.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:11.665Z,1607903231.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:12.513Z,1607903232.513 [Micromodem](INFO): Nmea in: $SNTTA,0.122546,,,,234712.45*46

2020-12-13T23:47:12.968Z,1607903232.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 263.332425 deg, deltaT: 4.765879 s, approachRate: -0.616882 m/s, LOS rate: -0.120539 deg/s, posRepo size: 4
2020-12-13T23:47:12.970Z,1607903232.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.660004 m,
      bearing: 263.332425 deg,
      approachRate: -0.616882 m/s,
      LOS rate: -0.120539 deg/s,
      cmd update: -0.361617 deg/s,
      cmd heading: 271.208775 deg,
      new cmd heading: 271.331676 deg.

2020-12-13T23:47:15.356Z,1607903235.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:16.163Z,1607903236.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:16.669Z,1607903236.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:17.530Z,1607903237.530 [Micromodem](INFO): Nmea in: $SNTTA,0.120343,,,,234717.33*43

2020-12-13T23:47:17.634Z,1607903237.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.360001 m, bearing: 263.471706 deg, deltaT: 4.501273 s, approachRate: -0.733127 m/s, LOS rate: 0.030943 deg/s, posRepo size: 4
2020-12-13T23:47:17.641Z,1607903237.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 263.471706 deg,
      approachRate: -0.733127 m/s,
      LOS rate: 0.030943 deg/s,
      cmd update: 0.092828 deg/s,
      cmd heading: 269.581027 deg,
      new cmd heading: 269.386629 deg.

2020-12-13T23:47:19.945Z,1607903239.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:20.737Z,1607903240.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:21.125Z,1607903241.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:21.958Z,1607903241.958 [Micromodem](INFO): Nmea in: $SNTTA,0.118524,,,,234721.90*43

2020-12-13T23:47:21.995Z,1607903241.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 263.015914 deg, deltaT: 4.549948 s, approachRate: -0.606599 m/s, LOS rate: -0.100175 deg/s, posRepo size: 4
2020-12-13T23:47:21.997Z,1607903241.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 263.015914 deg,
      approachRate: -0.606599 m/s,
      LOS rate: -0.100175 deg/s,
      cmd update: -0.300526 deg/s,
      cmd heading: 270.003384 deg,
      new cmd heading: 270.036308 deg.

2020-12-13T23:47:24.405Z,1607903244.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:25.207Z,1607903245.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:25.611Z,1607903245.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:26.438Z,1607903246.438 [Micromodem](INFO): Nmea in: $SNTTA,0.116741,,,,234726.37*46

2020-12-13T23:47:26.535Z,1607903246.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 263.163118 deg, deltaT: 4.422853 s, approachRate: 0.000000 m/s, LOS rate: 0.033283 deg/s, posRepo size: 4
2020-12-13T23:47:26.541Z,1607903246.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 263.163118 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.033283 deg/s,
      cmd update: 0.099848 deg/s,
      cmd heading: 268.675393 deg,
      new cmd heading: 268.532400 deg.

2020-12-13T23:47:28.583Z,1607903248.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:29.243Z,1607903249.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:29.663Z,1607903249.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:30.514Z,1607903250.514 [Micromodem](INFO): Nmea in: $SNTTA,0.114932,,,,234730.41*48

2020-12-13T23:47:30.576Z,1607903250.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.600006 m, bearing: 263.371138 deg, deltaT: 4.036891 s, approachRate: 0.000000 m/s, LOS rate: 0.051530 deg/s, posRepo size: 4
2020-12-13T23:47:30.578Z,1607903250.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.600006 m,
      bearing: 263.371138 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.051530 deg/s,
      cmd update: 0.154589 deg/s,
      cmd heading: 269.078860 deg,
      new cmd heading: 269.126329 deg.

2020-12-13T23:47:32.931Z,1607903252.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:33.691Z,1607903253.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:34.093Z,1607903254.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:34.934Z,1607903254.934 [Micromodem](INFO): Nmea in: $SNTTA,0.113079,,,,234734.86*46

2020-12-13T23:47:34.987Z,1607903254.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 263.287783 deg, deltaT: 4.514184 s, approachRate: -1.807636 m/s, LOS rate: -0.018465 deg/s, posRepo size: 4
2020-12-13T23:47:34.993Z,1607903254.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 263.287783 deg,
      approachRate: -1.807636 m/s,
      LOS rate: -0.018465 deg/s,
      cmd update: -0.055396 deg/s,
      cmd heading: 269.776216 deg,
      new cmd heading: 269.834344 deg.

2020-12-13T23:47:36.624Z,1607903256.624 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-13T23:47:37.362Z,1607903257.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:38.157Z,1607903258.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:38.593Z,1607903258.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:39.382Z,1607903259.382 [Micromodem](INFO): Nmea in: $SNTTA,0.111164,,,,234739.32*4B

2020-12-13T23:47:39.443Z,1607903259.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 262.447259 deg, deltaT: 4.372947 s, approachRate: 0.000000 m/s, LOS rate: -0.192210 deg/s, posRepo size: 4
2020-12-13T23:47:39.446Z,1607903259.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 262.447259 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.192210 deg/s,
      cmd update: -0.576629 deg/s,
      cmd heading: 269.533892 deg,
      new cmd heading: 269.508581 deg.

2020-12-13T23:47:41.998Z,1607903261.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:42.587Z,1607903262.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:42.996Z,1607903262.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:43.835Z,1607903263.835 [Micromodem](INFO): Nmea in: $SNTTA,0.109174,,,,234743.75*4D

2020-12-13T23:47:43.870Z,1607903263.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 263.952415 deg, deltaT: 4.464735 s, approachRate: 0.000000 m/s, LOS rate: 0.337121 deg/s, posRepo size: 4
2020-12-13T23:47:43.872Z,1607903263.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 263.952415 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.337121 deg/s,
      cmd update: 1.011362 deg/s,
      cmd heading: 266.961621 deg,
      new cmd heading: 266.717691 deg.

2020-12-13T23:47:46.402Z,1607903266.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:47.035Z,1607903267.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:47.440Z,1607903267.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:48.278Z,1607903268.278 [Micromodem](INFO): Nmea in: $SNTTA,0.107186,,,,234748.20*45

2020-12-13T23:47:48.459Z,1607903268.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 263.197624 deg, deltaT: 4.448513 s, approachRate: -1.982683 m/s, LOS rate: -0.169673 deg/s, posRepo size: 4
2020-12-13T23:47:48.461Z,1607903268.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 263.197624 deg,
      approachRate: -1.982683 m/s,
      LOS rate: -0.169673 deg/s,
      cmd update: -0.509018 deg/s,
      cmd heading: 271.466370 deg,
      new cmd heading: 272.030889 deg.

2020-12-13T23:47:50.785Z,1607903270.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:51.555Z,1607903271.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:51.928Z,1607903271.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:52.817Z,1607903272.817 [Micromodem](INFO): Nmea in: $SNTTA,0.105259,,,,234752.72*4A

2020-12-13T23:47:53.288Z,1607903273.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.740005 m, bearing: 264.036289 deg, deltaT: 5.124810 s, approachRate: -0.561973 m/s, LOS rate: 0.163648 deg/s, posRepo size: 4
2020-12-13T23:47:53.290Z,1607903273.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.740005 m,
      bearing: 264.036289 deg,
      approachRate: -0.561973 m/s,
      LOS rate: 0.163648 deg/s,
      cmd update: 0.490944 deg/s,
      cmd heading: 268.865958 deg,
      new cmd heading: 268.723983 deg.

2020-12-13T23:47:55.659Z,1607903275.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:47:56.433Z,1607903276.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:47:56.849Z,1607903276.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:47:57.686Z,1607903277.686 [Micromodem](INFO): Nmea in: $SNTTA,0.103361,,,,234757.60*40

2020-12-13T23:47:57.731Z,1607903277.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 267.893106 deg, deltaT: 4.236721 s, approachRate: -0.651450 m/s, LOS rate: 0.910331 deg/s, posRepo size: 4
2020-12-13T23:47:57.733Z,1607903277.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 267.893106 deg,
      approachRate: -0.651450 m/s,
      LOS rate: 0.910331 deg/s,
      cmd update: 2.730992 deg/s,
      cmd heading: 270.953876 deg,
      new cmd heading: 271.184182 deg.

2020-12-13T23:47:58.467Z,1607903278.467 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:47:59.017Z,1607903279.017 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:47:59.018Z,1607903279.018 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:47:59.274Z,1607903279.274 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:47:59.686Z,1607903279.686 [Micromodem](INFO): Nmea in: $CADRQ,234800,1,9,0,64,1*43

2020-12-13T23:47:59.686Z,1607903279.686 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:47:59.839Z,1607903279.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:00.075Z,1607903280.075 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:48:00.499Z,1607903280.499 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:48:00.503Z,1607903280.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:01.693Z,1607903281.693 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:48:01.693Z,1607903281.693 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:48:01.700Z,1607903281.700 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:48:02.096Z,1607903282.096 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234800.872014,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-13T23:48:02.096Z,1607903282.096 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,234800.872014,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-13T23:48:02.593Z,1607903282.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:05.387Z,1607903285.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:07.890Z,1607903287.890 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:48:07.915Z,1607903287.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:10.616Z,1607903290.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:11.799Z,1607903291.799 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:12.201Z,1607903292.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:13.042Z,1607903293.042 [Micromodem](INFO): Nmea in: $SNTTA,0.097425,,,,234812.96*4C

2020-12-13T23:48:13.064Z,1607903293.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 263.810729 deg, deltaT: 15.382408 s, approachRate: -0.588984 m/s, LOS rate: -0.265393 deg/s, posRepo size: 4
2020-12-13T23:48:13.066Z,1607903293.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.919998 m,
      bearing: 263.810729 deg,
      approachRate: -0.588984 m/s,
      LOS rate: -0.265393 deg/s,
      cmd update: -0.796178 deg/s,
      cmd heading: 312.962745 deg,
      new cmd heading: 314.109295 deg.

2020-12-13T23:48:15.540Z,1607903295.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:16.225Z,1607903296.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:16.637Z,1607903296.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:17.491Z,1607903297.491 [Micromodem](INFO): Nmea in: $SNTTA,0.095874,,,,234817.39*46

2020-12-13T23:48:17.575Z,1607903297.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 263.251883 deg, deltaT: 4.437902 s, approachRate: -0.513756 m/s, LOS rate: -0.125926 deg/s, posRepo size: 4
2020-12-13T23:48:17.582Z,1607903297.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 263.251883 deg,
      approachRate: -0.513756 m/s,
      LOS rate: -0.125926 deg/s,
      cmd update: -0.377777 deg/s,
      cmd heading: 309.431128 deg,
      new cmd heading: 309.036769 deg.

2020-12-13T23:48:19.982Z,1607903299.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:20.683Z,1607903300.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:21.145Z,1607903301.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:21.950Z,1607903301.950 [Micromodem](INFO): Nmea in: $SNTTA,0.094723,,,,234821.85*48

2020-12-13T23:48:22.019Z,1607903302.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 263.112356 deg, deltaT: 4.526353 s, approachRate: -0.384417 m/s, LOS rate: -0.030826 deg/s, posRepo size: 4
2020-12-13T23:48:22.025Z,1607903302.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.899994 m,
      bearing: 263.112356 deg,
      approachRate: -0.384417 m/s,
      LOS rate: -0.030826 deg/s,
      cmd update: -0.092477 deg/s,
      cmd heading: 307.720301 deg,
      new cmd heading: 307.565253 deg.

2020-12-13T23:48:22.760Z,1607903302.760 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:48:24.375Z,1607903304.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:25.171Z,1607903305.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:25.621Z,1607903305.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:26.447Z,1607903306.447 [Micromodem](INFO): Nmea in: $SNTTA,0.093596,,,,234826.34*4E

2020-12-13T23:48:26.540Z,1607903306.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 262.079686 deg, deltaT: 4.422024 s, approachRate: -0.393483 m/s, LOS rate: -0.233529 deg/s, posRepo size: 4
2020-12-13T23:48:26.542Z,1607903306.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.160004 m,
      bearing: 262.079686 deg,
      approachRate: -0.393483 m/s,
      LOS rate: -0.233529 deg/s,
      cmd update: -0.700586 deg/s,
      cmd heading: 307.311366 deg,
      new cmd heading: 307.264285 deg.

2020-12-13T23:48:28.888Z,1607903308.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:29.647Z,1607903309.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:30.073Z,1607903310.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:30.905Z,1607903310.905 [Micromodem](INFO): Nmea in: $SNTTA,0.092378,,,,234830.81*40

2020-12-13T23:48:30.928Z,1607903310.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.360001 m, bearing: 261.688289 deg, deltaT: 4.533404 s, approachRate: -0.397053 m/s, LOS rate: -0.086336 deg/s, posRepo size: 4
2020-12-13T23:48:30.930Z,1607903310.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.360001 m,
      bearing: 261.688289 deg,
      approachRate: -0.397053 m/s,
      LOS rate: -0.086336 deg/s,
      cmd update: -0.259009 deg/s,
      cmd heading: 304.135498 deg,
      new cmd heading: 303.880419 deg.

2020-12-13T23:48:33.069Z,1607903313.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:33.751Z,1607903313.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:34.237Z,1607903314.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:35.046Z,1607903315.046 [Micromodem](INFO): Nmea in: $SNTTA,0.091045,,,,234834.92*48

2020-12-13T23:48:35.114Z,1607903315.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.319992 m, bearing: 259.760044 deg, deltaT: 4.109785 s, approachRate: -0.496378 m/s, LOS rate: -0.469184 deg/s, posRepo size: 4
2020-12-13T23:48:35.118Z,1607903315.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.319992 m,
      bearing: 259.760044 deg,
      approachRate: -0.496378 m/s,
      LOS rate: -0.469184 deg/s,
      cmd update: -1.407551 deg/s,
      cmd heading: 303.075211 deg,
      new cmd heading: 302.957070 deg.

2020-12-13T23:48:37.540Z,1607903317.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:38.418Z,1607903318.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:38.841Z,1607903318.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:39.694Z,1607903319.694 [Micromodem](INFO): Nmea in: $SNTTA,0.089458,,,,234839.59*43

2020-12-13T23:48:39.762Z,1607903319.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.980011 m, bearing: 260.205455 deg, deltaT: 4.573596 s, approachRate: -0.511628 m/s, LOS rate: 0.097387 deg/s, posRepo size: 4
2020-12-13T23:48:39.764Z,1607903319.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.980011 m,
      bearing: 260.205455 deg,
      approachRate: -0.511628 m/s,
      LOS rate: 0.097387 deg/s,
      cmd update: 0.292162 deg/s,
      cmd heading: 296.614851 deg,
      new cmd heading: 295.891495 deg.

2020-12-13T23:48:41.751Z,1607903321.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:42.493Z,1607903322.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:42.870Z,1607903322.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:43.718Z,1607903323.718 [Micromodem](INFO): Nmea in: $SNTTA,0.088154,,,,234843.66*4A

2020-12-13T23:48:43.760Z,1607903323.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 258.623883 deg, deltaT: 4.048331 s, approachRate: -0.489093 m/s, LOS rate: -0.390672 deg/s, posRepo size: 4
2020-12-13T23:48:43.762Z,1607903323.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.000000 m,
      bearing: 258.623883 deg,
      approachRate: -0.489093 m/s,
      LOS rate: -0.390672 deg/s,
      cmd update: -1.172017 deg/s,
      cmd heading: 297.797655 deg,
      new cmd heading: 297.933327 deg.

2020-12-13T23:48:45.814Z,1607903325.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:46.623Z,1607903326.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:46.973Z,1607903326.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:47.892Z,1607903327.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 258.395181 deg, deltaT: 4.100835 s, approachRate: 0.000000 m/s, LOS rate: -0.055770 deg/s, posRepo size: 4
2020-12-13T23:48:47.900Z,1607903327.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.000000 m,
      bearing: 258.395181 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.055770 deg/s,
      cmd update: -0.167309 deg/s,
      cmd heading: 292.993344 deg,
      new cmd heading: 292.411906 deg.

2020-12-13T23:48:48.190Z,1607903328.190 [Micromodem](INFO): Nmea in: $SNTTA,0.086863,,,,234847.79*43

2020-12-13T23:48:50.212Z,1607903330.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:50.991Z,1607903330.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:51.408Z,1607903331.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:52.254Z,1607903332.254 [Micromodem](INFO): Nmea in: $SNTTA,0.085266,,,,234852.16*42

2020-12-13T23:48:52.276Z,1607903332.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 257.390515 deg, deltaT: 4.464784 s, approachRate: -0.981012 m/s, LOS rate: -0.225020 deg/s, posRepo size: 4
2020-12-13T23:48:52.278Z,1607903332.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.619995 m,
      bearing: 257.390515 deg,
      approachRate: -0.981012 m/s,
      LOS rate: -0.225020 deg/s,
      cmd update: -0.675060 deg/s,
      cmd heading: 292.246064 deg,
      new cmd heading: 292.176733 deg.

2020-12-13T23:48:54.748Z,1607903334.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:55.496Z,1607903335.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:48:55.949Z,1607903335.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:48:56.704Z,1607903336.704 [Micromodem](INFO): Nmea in: $SNTTA,0.083727,,,,234856.66*47

2020-12-13T23:48:56.750Z,1607903336.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 256.200150 deg, deltaT: 4.456467 s, approachRate: -0.511614 m/s, LOS rate: -0.267110 deg/s, posRepo size: 4
2020-12-13T23:48:56.752Z,1607903336.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.340004 m,
      bearing: 256.200150 deg,
      approachRate: -0.511614 m/s,
      LOS rate: -0.267110 deg/s,
      cmd update: -0.801329 deg/s,
      cmd heading: 289.237975 deg,
      new cmd heading: 288.945765 deg.

2020-12-13T23:48:59.197Z,1607903339.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:48:59.983Z,1607903339.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:00.455Z,1607903340.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:01.258Z,1607903341.258 [Micromodem](INFO): Nmea in: $SNTTA,0.082227,,,,234901.15*44

2020-12-13T23:49:01.323Z,1607903341.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 255.274386 deg, deltaT: 4.592626 s, approachRate: -0.470320 m/s, LOS rate: -0.201576 deg/s, posRepo size: 4
2020-12-13T23:49:01.325Z,1607903341.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.180000 m,
      bearing: 255.274386 deg,
      approachRate: -0.470320 m/s,
      LOS rate: -0.201576 deg/s,
      cmd update: -0.604728 deg/s,
      cmd heading: 285.561108 deg,
      new cmd heading: 285.226869 deg.

2020-12-13T23:49:03.696Z,1607903343.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:04.046Z,1607903344.046 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:49:04.463Z,1607903344.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:04.851Z,1607903344.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:05.001Z,1607903345.001 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:49:05.002Z,1607903345.002 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:49:05.336Z,1607903345.336 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:49:05.750Z,1607903345.750 [Micromodem](INFO): Nmea in: $CADRQ,234906,1,9,0,64,1*44

2020-12-13T23:49:05.750Z,1607903345.750 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:49:05.939Z,1607903345.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.480003 m, bearing: 255.043007 deg, deltaT: 4.491929 s, approachRate: -0.601077 m/s, LOS rate: -0.051510 deg/s, posRepo size: 4
2020-12-13T23:49:05.947Z,1607903345.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.480003 m,
      bearing: 255.043007 deg,
      approachRate: -0.601077 m/s,
      LOS rate: -0.051510 deg/s,
      cmd update: -0.154530 deg/s,
      cmd heading: 282.842031 deg,
      new cmd heading: 282.517801 deg.

2020-12-13T23:49:06.194Z,1607903346.194 [Micromodem](INFO): Nmea in: $SNTTA,0.080492,,,,234905.64*4C

2020-12-13T23:49:06.194Z,1607903346.194 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.080492,,,,234905.64*4C

2020-12-13T23:49:07.442Z,1607903347.442 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:49:07.839Z,1607903347.839 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:49:08.254Z,1607903348.254 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:49:08.271Z,1607903348.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:08.647Z,1607903348.647 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,234906.937628,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-13T23:49:09.047Z,1607903349.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:09.458Z,1607903349.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:10.302Z,1607903350.302 [Micromodem](INFO): Nmea in: $SNTTA,0.078851,,,,234910.21*4D

2020-12-13T23:49:10.529Z,1607903350.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 253.818299 deg, deltaT: 4.525678 s, approachRate: -0.543565 m/s, LOS rate: -0.270613 deg/s, posRepo size: 4
2020-12-13T23:49:10.531Z,1607903350.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.020004 m,
      bearing: 253.818299 deg,
      approachRate: -0.543565 m/s,
      LOS rate: -0.270613 deg/s,
      cmd update: -0.811839 deg/s,
      cmd heading: 282.142658 deg,
      new cmd heading: 282.049905 deg.

2020-12-13T23:49:12.613Z,1607903352.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:13.168Z,1607903353.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:13.657Z,1607903353.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:14.481Z,1607903354.481 [Micromodem](INFO): Nmea in: $SNTTA,0.077133,,,,234914.33*48

2020-12-13T23:49:14.550Z,1607903354.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 252.551244 deg, deltaT: 4.130786 s, approachRate: -0.610054 m/s, LOS rate: -0.306735 deg/s, posRepo size: 4
2020-12-13T23:49:14.552Z,1607903354.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.500000 m,
      bearing: 252.551244 deg,
      approachRate: -0.610054 m/s,
      LOS rate: -0.306735 deg/s,
      cmd update: -0.920204 deg/s,
      cmd heading: 278.795710 deg,
      new cmd heading: 278.390222 deg.

2020-12-13T23:49:16.575Z,1607903356.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:17.267Z,1607903357.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:17.673Z,1607903357.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:18.527Z,1607903358.527 [Micromodem](INFO): Nmea in: $SNTTA,0.075574,,,,234918.43*46

2020-12-13T23:49:18.574Z,1607903358.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.100006 m, bearing: 254.792530 deg, deltaT: 4.070237 s, approachRate: -0.589645 m/s, LOS rate: 0.550652 deg/s, posRepo size: 4
2020-12-13T23:49:18.575Z,1607903358.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.100006 m,
      bearing: 254.792530 deg,
      approachRate: -0.589645 m/s,
      LOS rate: 0.550652 deg/s,
      cmd update: 1.651957 deg/s,
      cmd heading: 275.042853 deg,
      new cmd heading: 274.634166 deg.

2020-12-13T23:49:20.915Z,1607903360.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:21.711Z,1607903361.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:22.113Z,1607903362.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:22.950Z,1607903362.950 [Micromodem](INFO): Nmea in: $SNTTA,0.073560,,,,234922.88*4B

2020-12-13T23:49:22.984Z,1607903362.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 252.808497 deg, deltaT: 4.473056 s, approachRate: -0.670684 m/s, LOS rate: -0.443552 deg/s, posRepo size: 4
2020-12-13T23:49:22.986Z,1607903362.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.099998 m,
      bearing: 252.808497 deg,
      approachRate: -0.670684 m/s,
      LOS rate: -0.443552 deg/s,
      cmd update: -1.330656 deg/s,
      cmd heading: 282.405631 deg,
      new cmd heading: 283.063212 deg.

2020-12-13T23:49:25.638Z,1607903365.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:26.195Z,1607903366.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:26.589Z,1607903366.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:27.397Z,1607903367.397 [Micromodem](INFO): Nmea in: $SNTTA,0.071704,,,,234927.36*49

2020-12-13T23:49:27.440Z,1607903367.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 251.625726 deg, deltaT: 4.461569 s, approachRate: -0.645512 m/s, LOS rate: -0.265102 deg/s, posRepo size: 4
2020-12-13T23:49:27.448Z,1607903367.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 251.625726 deg,
      approachRate: -0.645512 m/s,
      LOS rate: -0.265102 deg/s,
      cmd update: -0.795306 deg/s,
      cmd heading: 276.447279 deg,
      new cmd heading: 275.948629 deg.

2020-12-13T23:49:29.983Z,1607903369.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:30.618Z,1607903370.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:31.013Z,1607903371.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:31.854Z,1607903371.854 [Micromodem](INFO): Nmea in: $SNTTA,0.070139,,,,234931.78*4D

2020-12-13T23:49:32.040Z,1607903372.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 251.520514 deg, deltaT: 4.474302 s, approachRate: -0.482756 m/s, LOS rate: -0.023515 deg/s, posRepo size: 4
2020-12-13T23:49:32.042Z,1607903372.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.060005 m,
      bearing: 251.520514 deg,
      approachRate: -0.482756 m/s,
      LOS rate: -0.023515 deg/s,
      cmd update: -0.070544 deg/s,
      cmd heading: 272.895624 deg,
      new cmd heading: 272.489654 deg.

2020-12-13T23:49:34.263Z,1607903374.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:35.060Z,1607903375.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:35.466Z,1607903375.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:36.294Z,1607903376.294 [Micromodem](INFO): Nmea in: $SNTTA,0.068033,,,,234936.23*46

2020-12-13T23:49:36.535Z,1607903376.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.879997 m, bearing: 252.896333 deg, deltaT: 4.431693 s, approachRate: -0.717561 m/s, LOS rate: 0.310450 deg/s, posRepo size: 4
2020-12-13T23:49:36.541Z,1607903376.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.879997 m,
      bearing: 252.896333 deg,
      approachRate: -0.717561 m/s,
      LOS rate: 0.310450 deg/s,
      cmd update: 0.931350 deg/s,
      cmd heading: 272.582985 deg,
      new cmd heading: 272.542522 deg.

2020-12-13T23:49:38.614Z,1607903378.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:39.319Z,1607903379.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:39.740Z,1607903379.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:40.638Z,1607903380.638 [Micromodem](INFO): Nmea in: $SNTTA,0.066453,,,,234940.48*46

2020-12-13T23:49:40.672Z,1607903380.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.480003 m, bearing: 250.557293 deg, deltaT: 4.176554 s, approachRate: -0.574635 m/s, LOS rate: -0.560040 deg/s, posRepo size: 4
2020-12-13T23:49:40.710Z,1607903380.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.480003 m,
      bearing: 250.557293 deg,
      approachRate: -0.574635 m/s,
      LOS rate: -0.560040 deg/s,
      cmd update: -1.680121 deg/s,
      cmd heading: 276.480695 deg,
      new cmd heading: 276.970149 deg.

2020-12-13T23:49:42.760Z,1607903382.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:43.351Z,1607903383.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:43.761Z,1607903383.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:44.594Z,1607903384.594 [Micromodem](INFO): Nmea in: $SNTTA,0.065016,,,,234944.52*4F

2020-12-13T23:49:44.794Z,1607903384.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 250.934320 deg, deltaT: 4.081729 s, approachRate: -0.543887 m/s, LOS rate: 0.092369 deg/s, posRepo size: 4
2020-12-13T23:49:44.796Z,1607903384.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 250.934320 deg,
      approachRate: -0.543887 m/s,
      LOS rate: 0.092369 deg/s,
      cmd update: 0.277108 deg/s,
      cmd heading: 269.629669 deg,
      new cmd heading: 268.672257 deg.

2020-12-13T23:49:47.003Z,1607903387.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:47.806Z,1607903387.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:47.840Z,1607903387.840 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-13T23:49:48.201Z,1607903388.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:49.042Z,1607903389.042 [Micromodem](INFO): Nmea in: $SNTTA,0.063125,,,,234948.97*4D

2020-12-13T23:49:49.225Z,1607903389.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.500000 m, bearing: 249.346137 deg, deltaT: 4.448642 s, approachRate: -0.620415 m/s, LOS rate: -0.357004 deg/s, posRepo size: 4
2020-12-13T23:49:49.227Z,1607903389.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.500000 m,
      bearing: 249.346137 deg,
      approachRate: -0.620415 m/s,
      LOS rate: -0.357004 deg/s,
      cmd update: -1.071012 deg/s,
      cmd heading: 270.862422 deg,
      new cmd heading: 271.015486 deg.

2020-12-13T23:49:51.214Z,1607903391.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:51.847Z,1607903391.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:52.305Z,1607903392.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:53.086Z,1607903393.086 [Micromodem](INFO): Nmea in: $SNTTA,0.061462,,,,234953.01*4C

2020-12-13T23:49:53.112Z,1607903393.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.800003 m, bearing: 249.062739 deg, deltaT: 4.065475 s, approachRate: -0.664128 m/s, LOS rate: -0.069709 deg/s, posRepo size: 4
2020-12-13T23:49:53.114Z,1607903393.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.800003 m,
      bearing: 249.062739 deg,
      approachRate: -0.664128 m/s,
      LOS rate: -0.069709 deg/s,
      cmd update: -0.209126 deg/s,
      cmd heading: 266.503959 deg,
      new cmd heading: 266.107992 deg.

2020-12-13T23:49:55.705Z,1607903395.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:49:56.351Z,1607903396.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:49:56.757Z,1607903396.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:49:57.606Z,1607903397.606 [Micromodem](INFO): Nmea in: $SNTTA,0.059586,,,,234957.52*4E

2020-12-13T23:49:57.782Z,1607903397.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.160004 m, bearing: 248.151373 deg, deltaT: 4.459253 s, approachRate: -0.592027 m/s, LOS rate: -0.204376 deg/s, posRepo size: 4
2020-12-13T23:49:57.784Z,1607903397.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.160004 m,
      bearing: 248.151373 deg,
      approachRate: -0.592027 m/s,
      LOS rate: -0.204376 deg/s,
      cmd update: -0.613129 deg/s,
      cmd heading: 265.571415 deg,
      new cmd heading: 265.450147 deg.

2020-12-13T23:50:00.011Z,1607903400.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:00.795Z,1607903400.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:01.205Z,1607903401.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:02.042Z,1607903402.042 [Micromodem](INFO): Nmea in: $SNTTA,0.057697,,,0.146761,235001.96*5D

2020-12-13T23:50:02.226Z,1607903402.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 248.757894 deg, deltaT: 4.463862 s, approachRate: -0.631740 m/s, LOS rate: 0.135874 deg/s, posRepo size: 4
2020-12-13T23:50:02.228Z,1607903402.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 248.757894 deg,
      approachRate: -0.631740 m/s,
      LOS rate: 0.135874 deg/s,
      cmd update: 0.407621 deg/s,
      cmd heading: 262.834496 deg,
      new cmd heading: 262.490730 deg.

2020-12-13T23:50:02.779Z,1607903402.779 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-13T23:50:02.781Z,1607903402.781 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2020-12-13T23:50:04.207Z,1607903404.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:04.839Z,1607903404.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:05.241Z,1607903405.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:06.078Z,1607903406.078 [Micromodem](INFO): Nmea in: $SNTTA,0.055778,,,,235006.00*4A

2020-12-13T23:50:06.113Z,1607903406.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 247.667550 deg, deltaT: 4.032568 s, approachRate: -0.699308 m/s, LOS rate: -0.270385 deg/s, posRepo size: 4
2020-12-13T23:50:06.115Z,1607903406.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.519997 m,
      bearing: 247.667550 deg,
      approachRate: -0.699308 m/s,
      LOS rate: -0.270385 deg/s,
      cmd update: -0.811154 deg/s,
      cmd heading: 264.468367 deg,
      new cmd heading: 264.647347 deg.

2020-12-13T23:50:08.733Z,1607903408.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:09.287Z,1607903409.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:09.705Z,1607903409.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:10.108Z,1607903410.108 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:50:10.570Z,1607903410.570 [Micromodem](INFO): Nmea in: $SNTTA,0.054206,,,,235010.45*41

2020-12-13T23:50:10.726Z,1607903410.726 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:50:10.726Z,1607903410.726 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:50:10.973Z,1607903410.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 246.719356 deg, deltaT: 4.445222 s, approachRate: -0.593894 m/s, LOS rate: -0.213306 deg/s, posRepo size: 4
2020-12-13T23:50:10.975Z,1607903410.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.880005 m,
      bearing: 246.719356 deg,
      approachRate: -0.593894 m/s,
      LOS rate: -0.213306 deg/s,
      cmd update: -0.639919 deg/s,
      cmd heading: 260.842922 deg,
      new cmd heading: 260.189102 deg.

2020-12-13T23:50:11.966Z,1607903411.966 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:50:12.374Z,1607903412.374 [Micromodem](INFO): Nmea in: $CADRQ,235011,1,9,0,64,1*4A

2020-12-13T23:50:12.374Z,1607903412.374 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:50:12.763Z,1607903412.763 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:50:12.847Z,1607903412.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:13.170Z,1607903413.170 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:50:13.575Z,1607903413.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:14.403Z,1607903414.403 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:50:14.403Z,1607903414.403 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:50:14.783Z,1607903414.783 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235013.555607,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-13T23:50:14.784Z,1607903414.784 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,235013.555607,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-13T23:50:15.700Z,1607903415.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:18.573Z,1607903418.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:21.582Z,1607903421.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:24.203Z,1607903424.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:24.589Z,1607903424.589 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:24.999Z,1607903424.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:25.828Z,1607903425.828 [Micromodem](INFO): Nmea in: $SNTTA,0.047195,,,,235025.76*4C

2020-12-13T23:50:25.910Z,1607903425.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.620003 m, bearing: 249.172787 deg, deltaT: 15.291023 s, approachRate: -0.670982 m/s, LOS rate: 0.160449 deg/s, posRepo size: 4
2020-12-13T23:50:25.912Z,1607903425.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.620003 m,
      bearing: 249.172787 deg,
      approachRate: -0.670982 m/s,
      LOS rate: 0.160449 deg/s,
      cmd update: 0.481347 deg/s,
      cmd heading: 251.065763 deg,
      new cmd heading: 250.753461 deg.

2020-12-13T23:50:28.373Z,1607903428.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:28.959Z,1607903428.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:29.361Z,1607903429.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:30.206Z,1607903430.206 [Micromodem](INFO): Nmea in: $SNTTA,0.045175,,,,235030.12*46

2020-12-13T23:50:30.372Z,1607903430.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 245.608330 deg, deltaT: 4.429428 s, approachRate: -0.690834 m/s, LOS rate: -0.804722 deg/s, posRepo size: 4
2020-12-13T23:50:30.374Z,1607903430.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.560005 m,
      bearing: 245.608330 deg,
      approachRate: -0.690834 m/s,
      LOS rate: -0.804722 deg/s,
      cmd update: -2.414165 deg/s,
      cmd heading: 253.201828 deg,
      new cmd heading: 253.448351 deg.

2020-12-13T23:50:32.650Z,1607903432.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:33.399Z,1607903433.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:33.818Z,1607903433.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:34.658Z,1607903434.658 [Micromodem](INFO): Nmea in: $SNTTA,0.042939,,,,235034.57*44

2020-12-13T23:50:34.840Z,1607903434.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.200005 m, bearing: 247.215282 deg, deltaT: 4.396206 s, approachRate: -0.764296 m/s, LOS rate: 0.365532 deg/s, posRepo size: 4
2020-12-13T23:50:34.842Z,1607903434.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.200005 m,
      bearing: 247.215282 deg,
      approachRate: -0.764296 m/s,
      LOS rate: 0.365532 deg/s,
      cmd update: 1.096595 deg/s,
      cmd heading: 242.617514 deg,
      new cmd heading: 241.177962 deg.

2020-12-13T23:50:36.842Z,1607903436.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:37.456Z,1607903437.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:37.915Z,1607903437.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:38.686Z,1607903438.686 [Micromodem](INFO): Nmea in: $SNTTA,0.041268,,0.066199,,235038.63*5C

2020-12-13T23:50:38.747Z,1607903438.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 246.767959 deg, deltaT: 4.023655 s, approachRate: -0.611385 m/s, LOS rate: -0.111173 deg/s, posRepo size: 4
2020-12-13T23:50:38.749Z,1607903438.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 246.767959 deg,
      approachRate: -0.611385 m/s,
      LOS rate: -0.111173 deg/s,
      cmd update: -0.333520 deg/s,
      cmd heading: 247.044592 deg,
      new cmd heading: 247.555376 deg.

2020-12-13T23:50:41.232Z,1607903441.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:41.895Z,1607903441.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:42.297Z,1607903442.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:43.134Z,1607903443.134 [Micromodem](INFO): Nmea in: $SNTTA,0.039285,,0.085741,,235043.06*51

2020-12-13T23:50:43.311Z,1607903443.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.739998 m, bearing: 247.943872 deg, deltaT: 4.475543 s, approachRate: -0.670311 m/s, LOS rate: 0.262742 deg/s, posRepo size: 4
2020-12-13T23:50:43.314Z,1607903443.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.739998 m,
      bearing: 247.943872 deg,
      approachRate: -0.670311 m/s,
      LOS rate: 0.262742 deg/s,
      cmd update: 0.788226 deg/s,
      cmd heading: 245.551076 deg,
      new cmd heading: 245.366836 deg.

2020-12-13T23:50:45.631Z,1607903445.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:46.335Z,1607903446.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:46.752Z,1607903446.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:47.594Z,1607903447.594 [Micromodem](INFO): Nmea in: $SNTTA,0.037175,,,0.055843,235047.50*54

2020-12-13T23:50:47.776Z,1607903447.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 250.019867 deg, deltaT: 4.424933 s, approachRate: -0.718653 m/s, LOS rate: 0.469159 deg/s, posRepo size: 4
2020-12-13T23:50:47.794Z,1607903447.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 250.019867 deg,
      approachRate: -0.718653 m/s,
      LOS rate: 0.469159 deg/s,
      cmd update: 1.407476 deg/s,
      cmd heading: 249.038906 deg,
      new cmd heading: 249.505730 deg.

2020-12-13T23:50:49.795Z,1607903449.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:50.395Z,1607903450.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:50.817Z,1607903450.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:51.646Z,1607903451.646 [Micromodem](INFO): Nmea in: $SNTTA,0.035446,,,0.061546,235051.56*5D

2020-12-13T23:50:51.713Z,1607903451.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 249.837583 deg, deltaT: 4.040110 s, approachRate: -0.638598 m/s, LOS rate: -0.045119 deg/s, posRepo size: 4
2020-12-13T23:50:51.715Z,1607903451.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 249.837583 deg,
      approachRate: -0.638598 m/s,
      LOS rate: -0.045119 deg/s,
      cmd update: -0.135356 deg/s,
      cmd heading: 254.725295 deg,
      new cmd heading: 255.407106 deg.

2020-12-13T23:50:54.199Z,1607903454.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:54.843Z,1607903454.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:55.247Z,1607903455.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:50:56.086Z,1607903456.086 [Micromodem](INFO): Nmea in: $SNTTA,0.033490,,,,235056.01*4B

2020-12-13T23:50:56.268Z,1607903456.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.039997 m, bearing: 251.012403 deg, deltaT: 4.496542 s, approachRate: -0.653836 m/s, LOS rate: 0.261272 deg/s, posRepo size: 4
2020-12-13T23:50:56.271Z,1607903456.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.039997 m,
      bearing: 251.012403 deg,
      approachRate: -0.653836 m/s,
      LOS rate: 0.261272 deg/s,
      cmd update: 0.783816 deg/s,
      cmd heading: 254.116661 deg,
      new cmd heading: 254.042536 deg.

2020-12-13T23:50:58.576Z,1607903458.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:50:59.287Z,1607903459.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:50:59.709Z,1607903459.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:00.551Z,1607903460.551 [Micromodem](INFO): Nmea in: $SNTTA,0.031734,,,,235100.45*46

2020-12-13T23:51:00.770Z,1607903460.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.399998 m, bearing: 251.179442 deg, deltaT: 4.419283 s, approachRate: -0.597382 m/s, LOS rate: 0.037798 deg/s, posRepo size: 4
2020-12-13T23:51:00.772Z,1607903460.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.399998 m,
      bearing: 251.179442 deg,
      approachRate: -0.597382 m/s,
      LOS rate: 0.037798 deg/s,
      cmd update: 0.113393 deg/s,
      cmd heading: 257.580588 deg,
      new cmd heading: 258.074498 deg.

2020-12-13T23:51:02.831Z,1607903462.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:03.413Z,1607903463.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:03.826Z,1607903463.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:04.654Z,1607903464.654 [Micromodem](INFO): Nmea in: $SNTTA,0.029909,,,,235104.58*47

2020-12-13T23:51:04.693Z,1607903464.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.640003 m, bearing: 251.864756 deg, deltaT: 4.110610 s, approachRate: -0.671432 m/s, LOS rate: 0.166718 deg/s, posRepo size: 4
2020-12-13T23:51:04.695Z,1607903464.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 251.864756 deg,
      approachRate: -0.671432 m/s,
      LOS rate: 0.166718 deg/s,
      cmd update: 0.500155 deg/s,
      cmd heading: 258.046240 deg,
      new cmd heading: 258.096811 deg.

2020-12-13T23:51:07.222Z,1607903467.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:07.919Z,1607903467.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:08.273Z,1607903468.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:09.093Z,1607903469.093 [Micromodem](INFO): Nmea in: $SNTTA,0.027881,,,,235109.08*40

2020-12-13T23:51:09.280Z,1607903469.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 251.329023 deg, deltaT: 4.490508 s, approachRate: -0.668076 m/s, LOS rate: -0.119303 deg/s, posRepo size: 4
2020-12-13T23:51:09.282Z,1607903469.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.640003 m,
      bearing: 251.329023 deg,
      approachRate: -0.668076 m/s,
      LOS rate: -0.119303 deg/s,
      cmd update: -0.357910 deg/s,
      cmd heading: 260.292163 deg,
      new cmd heading: 260.563766 deg.

2020-12-13T23:51:11.570Z,1607903471.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:12.323Z,1607903472.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:12.721Z,1607903472.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:12.763Z,1607903472.763 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:51:13.586Z,1607903473.586 [Micromodem](INFO): Nmea in: $SNTTA,0.025946,,,,235113.49*46

2020-12-13T23:51:13.803Z,1607903473.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 251.714519 deg, deltaT: 4.431035 s, approachRate: -0.663503 m/s, LOS rate: 0.086999 deg/s, posRepo size: 4
2020-12-13T23:51:13.803Z,1607903473.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m.
2020-12-13T23:51:13.806Z,1607903473.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.699997 m,
      bearing: 251.714519 deg,
      approachRate: -0.663503 m/s,
      LOS rate: 0.086999 deg/s,
      cmd update: 0.260997 deg/s,
      cmd heading: 258.706296 deg,
      new cmd heading: 258.479025 deg.

2020-12-13T23:51:14.003Z,1607903474.003 [PowerOnly](INFO): Powering up loadControl
2020-12-13T23:51:15.812Z,1607903475.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:16.015Z,1607903476.015 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:51:16.413Z,1607903476.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:16.800Z,1607903476.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:16.956Z,1607903476.956 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:51:16.956Z,1607903476.956 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:51:17.236Z,1607903477.236 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:51:17.662Z,1607903477.662 [Micromodem](INFO): Nmea in: $CADRQ,235118,1,9,0,64,1*42

2020-12-13T23:51:17.662Z,1607903477.662 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:51:17.817Z,1607903477.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.060001 m, bearing: 253.950750 deg, deltaT: 4.079730 s, approachRate: -0.647101 m/s, LOS rate: 0.548132 deg/s, posRepo size: 4
2020-12-13T23:51:17.818Z,1607903477.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.06 m.
2020-12-13T23:51:17.820Z,1607903477.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.060001 m,
      bearing: 253.950750 deg,
      approachRate: -0.647101 m/s,
      LOS rate: 0.548132 deg/s,
      cmd update: 1.644397 deg/s,
      cmd heading: 259.772162 deg,
      new cmd heading: 259.918586 deg.

2020-12-13T23:51:18.046Z,1607903478.046 [Micromodem](INFO): Nmea in: $SNTTA,0.024160,,,,235117.58*4F

2020-12-13T23:51:18.046Z,1607903478.046 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.024160,,,,235117.58*4F

2020-12-13T23:51:19.257Z,1607903479.257 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:51:19.666Z,1607903479.666 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:51:19.787Z,1607903479.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:20.059Z,1607903480.059 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:51:20.479Z,1607903480.479 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235118.846246,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-13T23:51:20.483Z,1607903480.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:20.865Z,1607903480.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:20.921Z,1607903480.921 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-13T23:51:21.688Z,1607903481.688 [Micromodem](INFO): Nmea in: $SNTTA,0.022547,,,,235121.66*40

2020-12-13T23:51:21.789Z,1607903481.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 255.505137 deg, deltaT: 4.072901 s, approachRate: -0.603992 m/s, LOS rate: 0.381641 deg/s, posRepo size: 4
2020-12-13T23:51:21.789Z,1607903481.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.60 m.
2020-12-13T23:51:21.797Z,1607903481.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 255.505137 deg,
      approachRate: -0.603992 m/s,
      LOS rate: 0.381641 deg/s,
      cmd update: 1.144924 deg/s,
      cmd heading: 266.469190 deg,
      new cmd heading: 267.223365 deg.

2020-12-13T23:51:24.118Z,1607903484.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:24.584Z,1607903484.584 [DDM](ERROR): Could not parse whisker state
2020-12-13T23:51:24.903Z,1607903484.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:25.313Z,1607903485.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:26.154Z,1607903486.154 [Micromodem](INFO): Nmea in: $SNTTA,0.021204,,,,235126.07*43

2020-12-13T23:51:26.211Z,1607903486.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.559998 m, bearing: 258.033537 deg, deltaT: 4.467764 s, approachRate: -0.456605 m/s, LOS rate: 0.565921 deg/s, posRepo size: 4
2020-12-13T23:51:26.211Z,1607903486.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.56 m.
2020-12-13T23:51:26.214Z,1607903486.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.559998 m,
      bearing: 258.033537 deg,
      approachRate: -0.456605 m/s,
      LOS rate: 0.565921 deg/s,
      cmd update: 1.697762 deg/s,
      cmd heading: 271.584114 deg,
      new cmd heading: 272.064097 deg.

2020-12-13T23:51:28.772Z,1607903488.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:29.372Z,1607903489.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:29.773Z,1607903489.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:30.624Z,1607903490.624 [Micromodem](INFO): Nmea in: $SNTTA,0.019649,,,,235130.54*44

2020-12-13T23:51:30.659Z,1607903490.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 258.257020 deg, deltaT: 4.397939 s, approachRate: -0.504781 m/s, LOS rate: 0.050816 deg/s, posRepo size: 4
2020-12-13T23:51:30.660Z,1607903490.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.34 m.
2020-12-13T23:51:30.660Z,1607903490.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.34 m.
2020-12-13T23:51:30.661Z,1607903490.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-13T23:51:30.662Z,1607903490.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.340000 m,
      bearing: 258.257020 deg,
      approachRate: -0.504781 m/s,
      LOS rate: 0.050816 deg/s,
      cmd update: 0.152447 deg/s,
      cmd heading: 279.051953 deg,
      new cmd heading: 279.848063 deg.

2020-12-13T23:51:33.154Z,1607903493.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:33.815Z,1607903493.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:34.213Z,1607903494.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:35.051Z,1607903495.051 [Micromodem](INFO): Nmea in: $SNTTA,0.018267,,0.041180,,235134.98*5B

2020-12-13T23:51:35.223Z,1607903495.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 257.898080 deg, deltaT: 4.520870 s, approachRate: -0.491057 m/s, LOS rate: -0.079396 deg/s, posRepo size: 4
2020-12-13T23:51:35.225Z,1607903495.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.119997 m,
      bearing: 257.898080 deg,
      approachRate: -0.491057 m/s,
      LOS rate: -0.079396 deg/s,
      cmd update: -0.238189 deg/s,
      cmd heading: 279.740514 deg,
      new cmd heading: 279.819178 deg.

2020-12-13T23:51:37.538Z,1607903497.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:38.247Z,1607903498.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:38.665Z,1607903498.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:39.529Z,1607903499.529 [Micromodem](INFO): Nmea in: $SNTTA,0.016894,,0.061969,,235139.41*57

2020-12-13T23:51:39.728Z,1607903499.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 256.628403 deg, deltaT: 4.401617 s, approachRate: -0.449834 m/s, LOS rate: -0.288457 deg/s, posRepo size: 4
2020-12-13T23:51:39.734Z,1607903499.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.140001 m,
      bearing: 256.628403 deg,
      approachRate: -0.449834 m/s,
      LOS rate: -0.288457 deg/s,
      cmd update: -0.865371 deg/s,
      cmd heading: 278.691124 deg,
      new cmd heading: 278.544676 deg.

2020-12-13T23:51:41.773Z,1607903501.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:42.367Z,1607903502.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:42.776Z,1607903502.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:43.626Z,1607903503.626 [Micromodem](INFO): Nmea in: $SNTTA,0.015604,,0.027766,,235143.53*5E

2020-12-13T23:51:43.685Z,1607903503.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.219997 m, bearing: 256.154797 deg, deltaT: 4.101918 s, approachRate: -0.468075 m/s, LOS rate: -0.115459 deg/s, posRepo size: 4
2020-12-13T23:51:43.687Z,1607903503.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 256.154797 deg,
      approachRate: -0.468075 m/s,
      LOS rate: -0.115459 deg/s,
      cmd update: -0.346378 deg/s,
      cmd heading: 275.144872 deg,
      new cmd heading: 274.738527 deg.

2020-12-13T23:51:46.170Z,1607903506.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:46.815Z,1607903506.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:47.217Z,1607903507.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:48.050Z,1607903508.050 [Micromodem](INFO): Nmea in: $SNTTA,0.014414,0.033652,,,235147.98*5C

2020-12-13T23:51:48.212Z,1607903508.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 255.827304 deg, deltaT: 4.463180 s, approachRate: -0.430186 m/s, LOS rate: -0.073377 deg/s, posRepo size: 4
2020-12-13T23:51:48.230Z,1607903508.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 255.827304 deg,
      approachRate: -0.430186 m/s,
      LOS rate: -0.073377 deg/s,
      cmd update: -0.220130 deg/s,
      cmd heading: 273.597643 deg,
      new cmd heading: 273.412526 deg.

2020-12-13T23:51:48.873Z,1607903508.873 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-13T23:51:48.873Z,1607903508.873 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-13T23:51:48.873Z,1607903508.873 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-13T23:51:48.997Z,1607903508.997 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-13T23:51:49.341Z,1607903509.341 [RDI_Pathfinder](INFO): Powering down
2020-12-13T23:51:50.184Z,1607903510.184 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-13T23:51:50.184Z,1607903510.184 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-13T23:51:50.538Z,1607903510.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:51.255Z,1607903511.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:51.661Z,1607903511.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:52.521Z,1607903512.521 [Micromodem](INFO): Nmea in: $SNTTA,0.013030,,,,235152.42*45

2020-12-13T23:51:52.727Z,1607903512.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 255.596197 deg, deltaT: 4.440813 s, approachRate: -0.472886 m/s, LOS rate: -0.052041 deg/s, posRepo size: 4
2020-12-13T23:51:52.730Z,1607903512.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 255.596197 deg,
      approachRate: -0.472886 m/s,
      LOS rate: -0.052041 deg/s,
      cmd update: -0.156124 deg/s,
      cmd heading: 272.620087 deg,
      new cmd heading: 272.486037 deg.

2020-12-13T23:51:54.725Z,1607903514.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:55.329Z,1607903515.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:51:55.742Z,1607903515.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:51:56.574Z,1607903516.574 [Micromodem](INFO): Nmea in: $SNTTA,0.011494,,,,235156.49*42

2020-12-13T23:51:56.598Z,1607903516.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 254.369768 deg, deltaT: 4.024406 s, approachRate: -0.581452 m/s, LOS rate: -0.304748 deg/s, posRepo size: 4
2020-12-13T23:51:56.600Z,1607903516.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 254.369768 deg,
      approachRate: -0.581452 m/s,
      LOS rate: -0.304748 deg/s,
      cmd update: -0.914243 deg/s,
      cmd heading: 271.991727 deg,
      new cmd heading: 271.920788 deg.

2020-12-13T23:51:59.134Z,1607903519.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:51:59.763Z,1607903519.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:00.173Z,1607903520.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:01.038Z,1607903521.038 [Micromodem](INFO): Nmea in: $SNTTA,0.010158,,,,235200.93*41

2020-12-13T23:52:01.224Z,1607903521.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 254.742751 deg, deltaT: 4.486237 s, approachRate: -0.414602 m/s, LOS rate: 0.083139 deg/s, posRepo size: 4
2020-12-13T23:52:01.226Z,1607903521.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 254.742751 deg,
      approachRate: -0.414602 m/s,
      LOS rate: 0.083139 deg/s,
      cmd update: 0.249418 deg/s,
      cmd heading: 267.890218 deg,
      new cmd heading: 267.346747 deg.

2020-12-13T23:52:03.472Z,1607903523.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:04.253Z,1607903524.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:04.641Z,1607903524.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:05.482Z,1607903525.482 [Micromodem](INFO): Nmea in: $SNTTA,0.008824,,,,235205.42*43

2020-12-13T23:52:05.691Z,1607903525.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 254.148279 deg, deltaT: 4.465821 s, approachRate: -0.443368 m/s, LOS rate: -0.133116 deg/s, posRepo size: 4
2020-12-13T23:52:05.694Z,1607903525.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 254.148279 deg,
      approachRate: -0.443368 m/s,
      LOS rate: -0.133116 deg/s,
      cmd update: -0.399348 deg/s,
      cmd heading: 269.000090 deg,
      new cmd heading: 269.152780 deg.

2020-12-13T23:52:07.696Z,1607903527.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:08.363Z,1607903528.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:08.741Z,1607903528.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:09.607Z,1607903529.607 [Micromodem](INFO): Nmea in: $SNTTA,0.007207,,,0.117343,235209.53*56

2020-12-13T23:52:09.666Z,1607903529.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 253.072087 deg, deltaT: 4.091184 s, approachRate: -0.586628 m/s, LOS rate: -0.263051 deg/s, posRepo size: 4
2020-12-13T23:52:09.668Z,1607903529.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.619997 m,
      bearing: 253.072087 deg,
      approachRate: -0.586628 m/s,
      LOS rate: -0.263051 deg/s,
      cmd update: -0.789154 deg/s,
      cmd heading: 267.361498 deg,
      new cmd heading: 267.168704 deg.

2020-12-13T23:52:12.146Z,1607903532.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:12.801Z,1607903532.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:13.197Z,1607903533.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:14.038Z,1607903534.038 [Micromodem](INFO): Nmea in: $SNTTA,0.005755,,,,235213.97*48

2020-12-13T23:52:14.203Z,1607903534.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 251.989284 deg, deltaT: 4.492903 s, approachRate: -0.480758 m/s, LOS rate: -0.241003 deg/s, posRepo size: 4
2020-12-13T23:52:14.205Z,1607903534.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 251.989284 deg,
      approachRate: -0.480758 m/s,
      LOS rate: -0.241003 deg/s,
      cmd update: -0.723009 deg/s,
      cmd heading: 263.828543 deg,
      new cmd heading: 263.399314 deg.

2020-12-13T23:52:16.480Z,1607903536.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:17.231Z,1607903537.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:17.641Z,1607903537.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:18.480Z,1607903538.480 [Micromodem](INFO): Nmea in: $SNTTA,0.004609,,,,235218.40*40

2020-12-13T23:52:18.686Z,1607903538.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 251.446174 deg, deltaT: 4.525993 s, approachRate: -0.384447 m/s, LOS rate: -0.119998 deg/s, posRepo size: 4
2020-12-13T23:52:18.688Z,1607903538.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 251.446174 deg,
      approachRate: -0.384447 m/s,
      LOS rate: -0.119998 deg/s,
      cmd update: -0.359993 deg/s,
      cmd heading: 260.564888 deg,
      new cmd heading: 260.194524 deg.

2020-12-13T23:52:20.927Z,1607903540.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:21.691Z,1607903541.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:22.114Z,1607903542.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:22.129Z,1607903542.129 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:52:22.836Z,1607903542.836 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:52:22.836Z,1607903542.836 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:52:23.134Z,1607903543.134 [Micromodem](INFO): Nmea in: $SNTTA,0.003462,,,0.008199,235222.86*5C

2020-12-13T23:52:23.134Z,1607903543.134 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.003462,,,0.008199,235222.86*5C

2020-12-13T23:52:23.176Z,1607903543.176 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-13T23:52:23.176Z,1607903543.176 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:52:23.176Z,1607903543.176 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-13T23:52:23.177Z,1607903543.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:52:23.177Z,1607903543.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-13T23:52:23.177Z,1607903543.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 
2020-12-13T23:52:23.177Z,1607903543.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-13T23:52:23.177Z,1607903543.177 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-13T23:52:23.178Z,1607903543.178 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-13T23:52:23.180Z,1607903543.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 251.809513 deg, deltaT: 4.754064 s, approachRate: -0.366003 m/s, LOS rate: 0.076427 deg/s, posRepo size: 4
2020-12-13T23:52:23.182Z,1607903543.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 251.809513 deg,
      approachRate: -0.366003 m/s,
      LOS rate: 0.076427 deg/s,
      cmd update: 0.229281 deg/s,
      cmd heading: 258.842048 deg,
      new cmd heading: 258.762594 deg.

2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201213T235223: (41.552319, -70.708603)
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-13T23:52:23.599Z,1607903543.599 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-13T23:52:23.600Z,1607903543.600 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-13T23:52:23.968Z,1607903543.968 [UniversalFixResidualReporter](INFO): Fix residual: 2.0 %DT, over the last 843.1 m. Residual distance 16.9 m at bearing -42.3 degrees. Fix at (41.5525, -70.7092) with 0.0 m made good.
2020-12-13T23:52:24.372Z,1607903544.372 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:52:24.750Z,1607903544.750 [Micromodem](INFO): Nmea in: $CADRQ,235223,1,9,0,64,1*49

2020-12-13T23:52:24.750Z,1607903544.750 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:52:25.235Z,1607903545.235 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:52:25.644Z,1607903545.644 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:52:25.705Z,1607903545.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:26.449Z,1607903546.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:26.851Z,1607903546.851 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:52:26.851Z,1607903546.851 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:52:27.260Z,1607903547.260 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235225.932268,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-13T23:52:27.260Z,1607903547.260 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,235225.932268,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-13T23:52:28.562Z,1607903548.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:31.546Z,1607903551.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:34.278Z,1607903554.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:37.134Z,1607903557.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:37.499Z,1607903557.499 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:37.783Z,1607903557.783 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T23:42:37.7Z
2020-12-13T23:52:37.783Z,1607903557.783 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-13T23:52:37.783Z,1607903557.783 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:52:37.783Z,1607903557.783 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-13T23:52:37.783Z,1607903557.783 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:52:37.783Z,1607903557.783 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-13T23:52:37.945Z,1607903557.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:37.993Z,1607903557.993 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-13T23:52:37.993Z,1607903557.993 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-13T23:52:37.993Z,1607903557.993 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-13T23:52:37.994Z,1607903557.994 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-13T23:52:37.994Z,1607903557.994 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-13T23:52:38.763Z,1607903558.763 [Micromodem](INFO): Nmea in: $SNTTA,0.004204,,,,235238.66*4F

2020-12-13T23:52:38.787Z,1607903558.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 222.153624 deg, deltaT: 15.476447 s, approachRate: 0.081414 m/s, LOS rate: -1.916195 deg/s, posRepo size: 4
2020-12-13T23:52:38.789Z,1607903558.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 222.153624 deg,
      approachRate: 0.081414 m/s,
      LOS rate: -1.916195 deg/s,
      cmd update: -5.748584 deg/s,
      cmd heading: 262.388159 deg,
      new cmd heading: 262.471100 deg.

2020-12-13T23:52:41.348Z,1607903561.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:41.991Z,1607903561.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:42.402Z,1607903562.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:43.242Z,1607903563.242 [Micromodem](INFO): Nmea in: $SNTTA,0.005772,,,,235243.16*41

2020-12-13T23:52:43.264Z,1607903563.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 245.071941 deg, deltaT: 4.399511 s, approachRate: 0.504601 m/s, LOS rate: 5.209288 deg/s, posRepo size: 4
2020-12-13T23:52:43.266Z,1607903563.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 245.071941 deg,
      approachRate: 0.504601 m/s,
      LOS rate: 5.209288 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.036563 deg,
      new cmd heading: 234.572709 deg.

2020-12-13T23:52:45.706Z,1607903565.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:46.454Z,1607903566.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:46.845Z,1607903566.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:47.682Z,1607903567.682 [Micromodem](INFO): Nmea in: $SNTTA,0.006821,0.016057,0.009313,,235247.62*41

2020-12-13T23:52:47.730Z,1607903567.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 253.285080 deg, deltaT: 4.427095 s, approachRate: 0.786069 m/s, LOS rate: 1.855198 deg/s, posRepo size: 4
2020-12-13T23:52:47.732Z,1607903567.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 253.285080 deg,
      approachRate: 0.786069 m/s,
      LOS rate: 1.855198 deg/s,
      cmd update: 5.565595 deg/s,
      cmd heading: 290.161621 deg,
      new cmd heading: 295.776913 deg.

2020-12-13T23:52:48.491Z,1607903568.491 [PowerOnly](INFO): Powering down loadControl
2020-12-13T23:52:50.097Z,1607903570.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:50.883Z,1607903570.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:51.285Z,1607903571.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:52.150Z,1607903572.150 [Micromodem](INFO): Nmea in: $SNTTA,0.008164,,,,235252.05*4F

2020-12-13T23:52:52.175Z,1607903572.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.680001 m, bearing: 250.572101 deg, deltaT: 4.487500 s, approachRate: 0.387744 m/s, LOS rate: -0.604563 deg/s, posRepo size: 4
2020-12-13T23:52:52.177Z,1607903572.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.680001 m,
      bearing: 250.572101 deg,
      approachRate: 0.387744 m/s,
      LOS rate: -0.604563 deg/s,
      cmd update: -1.813690 deg/s,
      cmd heading: 315.091541 deg,
      new cmd heading: 317.503441 deg.

2020-12-13T23:52:54.632Z,1607903574.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:55.386Z,1607903575.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:52:55.863Z,1607903575.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:52:56.670Z,1607903576.670 [Micromodem](INFO): Nmea in: $SNTTA,0.011331,,,,235256.55*44

2020-12-13T23:52:56.717Z,1607903576.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 215.139402 deg, deltaT: 4.598789 s, approachRate: 0.717580 m/s, LOS rate: -7.704789 deg/s, posRepo size: 4
2020-12-13T23:52:56.717Z,1607903576.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.98 m. Rolling out.
2020-12-13T23:52:56.718Z,1607903576.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-13T23:52:59.147Z,1607903579.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:52:59.891Z,1607903579.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:00.321Z,1607903580.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:01.142Z,1607903581.142 [Micromodem](INFO): Nmea in: $SNTTA,0.011940,,,,235301.06*4D

2020-12-13T23:53:01.202Z,1607903581.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 245.105081 deg, deltaT: 4.392306 s, approachRate: 0.204903 m/s, LOS rate: 6.822311 deg/s, posRepo size: 4
2020-12-13T23:53:03.636Z,1607903583.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:04.375Z,1607903584.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:04.777Z,1607903584.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:05.606Z,1607903585.606 [Micromodem](INFO): Nmea in: $SNTTA,0.013917,,,,235305.54*4E

2020-12-13T23:53:05.670Z,1607903585.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 239.764830 deg, deltaT: 4.486024 s, approachRate: 0.682118 m/s, LOS rate: -1.190420 deg/s, posRepo size: 4
2020-12-13T23:53:08.042Z,1607903588.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:08.804Z,1607903588.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:09.241Z,1607903589.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:10.050Z,1607903590.050 [Micromodem](INFO): Nmea in: $SNTTA,0.014503,,,,235309.97*43

2020-12-13T23:53:10.092Z,1607903590.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 330.504166 deg, deltaT: 4.428726 s, approachRate: -0.013547 m/s, LOS rate: 20.488812 deg/s, posRepo size: 4
2020-12-13T23:53:12.725Z,1607903592.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:13.379Z,1607903593.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:13.784Z,1607903593.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:14.598Z,1607903594.598 [Micromodem](INFO): Nmea in: $SNTTA,0.015526,,,,235314.54*46

2020-12-13T23:53:14.643Z,1607903594.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 299.651300 deg, deltaT: 4.522021 s, approachRate: 0.358247 m/s, LOS rate: -6.822805 deg/s, posRepo size: 4
2020-12-13T23:53:17.168Z,1607903597.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:17.788Z,1607903597.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:18.202Z,1607903598.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:19.050Z,1607903599.050 [Micromodem](INFO): Nmea in: $SNTTA,0.016831,,0.229744,,235318.95*5F

2020-12-13T23:53:19.212Z,1607903599.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 284.432272 deg, deltaT: 4.507087 s, approachRate: 0.585745 m/s, LOS rate: -3.376688 deg/s, posRepo size: 4
2020-12-13T23:53:21.575Z,1607903601.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:22.346Z,1607903602.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:22.742Z,1607903602.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:23.558Z,1607903603.558 [Micromodem](INFO): Nmea in: $SNTTA,0.017325,,,,235323.51*40

2020-12-13T23:53:23.598Z,1607903603.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.580002 m, bearing: 321.256281 deg, deltaT: 4.611143 s, approachRate: 0.312287 m/s, LOS rate: 7.985874 deg/s, posRepo size: 4
2020-12-13T23:53:25.986Z,1607903605.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:26.775Z,1607903606.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:27.181Z,1607903607.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:28.014Z,1607903608.014 [Micromodem](INFO): Nmea in: $SNTTA,0.018546,,,,235327.94*41

2020-12-13T23:53:28.014Z,1607903608.014 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:53:28.036Z,1607903608.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 326.905230 deg, deltaT: 4.362845 s, approachRate: 0.398822 m/s, LOS rate: 1.294786 deg/s, posRepo size: 4
2020-12-13T23:53:28.539Z,1607903608.539 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:53:28.540Z,1607903608.540 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:53:29.234Z,1607903609.234 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:53:29.642Z,1607903609.642 [Micromodem](INFO): Nmea in: $CADRQ,235329,1,9,0,64,1*42

2020-12-13T23:53:29.642Z,1607903609.642 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:53:30.073Z,1607903610.073 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:53:30.475Z,1607903610.475 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:53:30.582Z,1607903610.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:31.267Z,1607903611.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:31.691Z,1607903611.691 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:53:31.691Z,1607903611.691 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:53:32.168Z,1607903612.168 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235330.826990,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-13T23:53:32.168Z,1607903612.168 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,235330.826990,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-13T23:53:33.441Z,1607903613.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:36.453Z,1607903616.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:39.127Z,1607903619.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:41.996Z,1607903621.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:42.376Z,1607903622.376 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:42.873Z,1607903622.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:43.694Z,1607903623.694 [Micromodem](INFO): Nmea in: $SNTTA,0.022874,,,,235343.54*4A

2020-12-13T23:53:43.761Z,1607903623.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.859997 m, bearing: 337.421536 deg, deltaT: 15.668114 s, approachRate: 0.417408 m/s, LOS rate: 0.671192 deg/s, posRepo size: 4
2020-12-13T23:53:45.835Z,1607903625.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:46.591Z,1607903626.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:46.997Z,1607903626.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:47.842Z,1607903627.842 [Micromodem](INFO): Nmea in: $SNTTA,0.024457,,,,235347.76*45

2020-12-13T23:53:47.900Z,1607903627.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 298.212807 deg, deltaT: 4.138153 s, approachRate: 0.492975 m/s, LOS rate: -9.474934 deg/s, posRepo size: 4
2020-12-13T23:53:50.266Z,1607903630.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:51.091Z,1607903631.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:51.490Z,1607903631.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:52.298Z,1607903632.298 [Micromodem](INFO): Nmea in: $SNTTA,0.025883,,,,235352.26*40

2020-12-13T23:53:52.370Z,1607903632.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 298.830202 deg, deltaT: 4.474628 s, approachRate: 0.469312 m/s, LOS rate: 0.137977 deg/s, posRepo size: 4
2020-12-13T23:53:54.772Z,1607903634.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:55.534Z,1607903635.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:53:55.921Z,1607903635.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:53:56.750Z,1607903636.750 [Micromodem](INFO): Nmea in: $SNTTA,0.027620,,,,235356.70*42

2020-12-13T23:53:56.805Z,1607903636.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 297.116398 deg, deltaT: 4.452613 s, approachRate: 0.579435 m/s, LOS rate: -0.384898 deg/s, posRepo size: 4
2020-12-13T23:53:59.166Z,1607903639.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:53:59.959Z,1607903639.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:00.385Z,1607903640.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:01.198Z,1607903641.198 [Micromodem](INFO): Nmea in: $SNTTA,0.029408,,,,235401.12*45

2020-12-13T23:54:01.232Z,1607903641.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 301.232352 deg, deltaT: 4.422931 s, approachRate: 0.610455 m/s, LOS rate: 0.930594 deg/s, posRepo size: 4
2020-12-13T23:54:03.775Z,1607903643.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:04.395Z,1607903644.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:04.801Z,1607903644.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:05.646Z,1607903645.646 [Micromodem](INFO): Nmea in: $SNTTA,0.030953,,,,235405.56*4A

2020-12-13T23:54:05.708Z,1607903645.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.619999 m, bearing: 305.962723 deg, deltaT: 4.410608 s, approachRate: 0.530539 m/s, LOS rate: 1.072499 deg/s, posRepo size: 4
2020-12-13T23:54:08.187Z,1607903648.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:08.854Z,1607903648.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:09.245Z,1607903649.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:10.090Z,1607903650.090 [Micromodem](INFO): Nmea in: $SNTTA,0.032695,,,,235410.02*48

2020-12-13T23:54:10.273Z,1607903650.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.199993 m, bearing: 301.764506 deg, deltaT: 4.490690 s, approachRate: 0.574521 m/s, LOS rate: -0.934871 deg/s, posRepo size: 4
2020-12-13T23:54:12.574Z,1607903652.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:13.287Z,1607903653.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:13.702Z,1607903653.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:14.558Z,1607903654.558 [Micromodem](INFO): Nmea in: $SNTTA,0.034495,,,,235414.45*4B

2020-12-13T23:54:14.758Z,1607903654.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.899994 m, bearing: 290.885927 deg, deltaT: 4.423206 s, approachRate: 0.610417 m/s, LOS rate: -2.459433 deg/s, posRepo size: 4
2020-12-13T23:54:16.763Z,1607903656.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:17.379Z,1607903657.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:17.761Z,1607903657.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:18.630Z,1607903658.630 [Micromodem](INFO): Nmea in: $SNTTA,0.036282,,,,235418.55*44

2020-12-13T23:54:18.697Z,1607903658.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 316.886435 deg, deltaT: 4.048060 s, approachRate: 0.652167 m/s, LOS rate: 6.422955 deg/s, posRepo size: 4
2020-12-13T23:54:21.186Z,1607903661.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:21.807Z,1607903661.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:22.209Z,1607903662.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:23.052Z,1607903663.052 [Micromodem](INFO): Nmea in: $SNTTA,0.038050,,,,235422.97*40

2020-12-13T23:54:23.213Z,1607903663.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 313.029728 deg, deltaT: 4.489020 s, approachRate: 0.588102 m/s, LOS rate: -0.859142 deg/s, posRepo size: 4
2020-12-13T23:54:25.537Z,1607903665.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:26.243Z,1607903666.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:26.657Z,1607903666.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:27.517Z,1607903667.517 [Micromodem](INFO): Nmea in: $SNTTA,0.039819,,,,235427.41*4A

2020-12-13T23:54:27.738Z,1607903667.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.820000 m, bearing: 306.291746 deg, deltaT: 4.422090 s, approachRate: 0.597002 m/s, LOS rate: -1.523710 deg/s, posRepo size: 4
2020-12-13T23:54:29.766Z,1607903669.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:30.371Z,1607903670.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:30.745Z,1607903670.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:31.598Z,1607903671.598 [Micromodem](INFO): Nmea in: $SNTTA,0.041399,,,,235431.54*45

2020-12-13T23:54:31.656Z,1607903671.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 310.206565 deg, deltaT: 4.077008 s, approachRate: 0.588669 m/s, LOS rate: 0.960219 deg/s, posRepo size: 4
2020-12-13T23:54:33.593Z,1607903673.593 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:54:34.122Z,1607903674.122 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:54:34.123Z,1607903674.123 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:54:34.346Z,1607903674.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:34.527Z,1607903674.527 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:54:34.915Z,1607903674.915 [Micromodem](INFO): Nmea in: $CADRQ,235435,1,9,0,64,1*48

2020-12-13T23:54:34.915Z,1607903674.915 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:54:35.344Z,1607903675.344 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:54:35.344Z,1607903675.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:35.722Z,1607903675.722 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:54:35.723Z,1607903675.723 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-13T23:54:37.019Z,1607903677.019 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:54:37.019Z,1607903677.019 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:54:37.056Z,1607903677.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:37.422Z,1607903677.422 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235436.100404,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-13T23:54:37.422Z,1607903677.422 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,235436.100404,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-13T23:54:39.881Z,1607903679.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:42.859Z,1607903682.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:45.570Z,1607903685.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:46.719Z,1607903686.719 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:47.129Z,1607903687.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:47.966Z,1607903687.966 [Micromodem](INFO): Nmea in: $SNTTA,0.048011,,,,235447.89*4E

2020-12-13T23:54:47.991Z,1607903687.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 314.129853 deg, deltaT: 16.421465 s, approachRate: 0.602870 m/s, LOS rate: 0.238912 deg/s, posRepo size: 4
2020-12-13T23:54:50.435Z,1607903690.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:51.164Z,1607903691.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:51.585Z,1607903691.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:52.411Z,1607903692.411 [Micromodem](INFO): Nmea in: $SNTTA,0.049883,,,,235452.33*49

2020-12-13T23:54:52.451Z,1607903692.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 311.414170 deg, deltaT: 4.416996 s, approachRate: 0.638441 m/s, LOS rate: -0.614826 deg/s, posRepo size: 4
2020-12-13T23:54:54.858Z,1607903694.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:54:55.607Z,1607903695.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:54:56.106Z,1607903696.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:54:56.902Z,1607903696.902 [Micromodem](INFO): Nmea in: $SNTTA,0.051836,,,,235456.77*4A

2020-12-13T23:54:56.964Z,1607903696.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 313.991965 deg, deltaT: 4.547493 s, approachRate: 0.554152 m/s, LOS rate: 0.566861 deg/s, posRepo size: 4
2020-12-13T23:54:59.368Z,1607903699.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:00.115Z,1607903700.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:00.553Z,1607903700.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:01.379Z,1607903701.379 [Micromodem](INFO): Nmea in: $SNTTA,0.053498,,,,235501.28*49

2020-12-13T23:55:01.419Z,1607903701.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 310.837975 deg, deltaT: 4.416475 s, approachRate: 0.665686 m/s, LOS rate: -0.714142 deg/s, posRepo size: 4
2020-12-13T23:55:03.809Z,1607903703.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:04.575Z,1607903704.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:04.966Z,1607903704.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:05.795Z,1607903705.795 [Micromodem](INFO): Nmea in: $SNTTA,0.055351,,,,235505.74*40

2020-12-13T23:55:05.847Z,1607903705.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 310.510153 deg, deltaT: 4.439530 s, approachRate: 0.621690 m/s, LOS rate: -0.073842 deg/s, posRepo size: 4
2020-12-13T23:55:08.398Z,1607903708.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:09.004Z,1607903709.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:09.422Z,1607903709.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:10.258Z,1607903710.258 [Micromodem](INFO): Nmea in: $SNTTA,0.057370,,0.069131,,235510.17*52

2020-12-13T23:55:10.284Z,1607903710.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 304.961881 deg, deltaT: 4.438357 s, approachRate: 0.608333 m/s, LOS rate: -1.250073 deg/s, posRepo size: 4
2020-12-13T23:55:12.821Z,1607903712.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:13.448Z,1607903713.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:13.853Z,1607903713.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:14.686Z,1607903714.686 [Micromodem](INFO): Nmea in: $SNTTA,0.059082,,0.075519,,235514.61*54

2020-12-13T23:55:14.875Z,1607903714.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 310.031630 deg, deltaT: 4.483748 s, approachRate: 0.642321 m/s, LOS rate: 1.130694 deg/s, posRepo size: 4
2020-12-13T23:55:17.115Z,1607903717.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:17.903Z,1607903717.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:18.330Z,1607903718.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:19.138Z,1607903719.138 [Micromodem](INFO): Nmea in: $SNTTA,0.060785,,,,235519.07*42

2020-12-13T23:55:19.324Z,1607903719.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.320000 m, bearing: 302.086235 deg, deltaT: 4.407900 s, approachRate: 0.585311 m/s, LOS rate: -1.802535 deg/s, posRepo size: 4
2020-12-13T23:55:21.391Z,1607903721.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:21.983Z,1607903721.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:22.397Z,1607903722.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:23.226Z,1607903723.226 [Micromodem](INFO): Nmea in: $SNTTA,0.062843,,,,235523.15*4F

2020-12-13T23:55:23.241Z,1607903723.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 307.046400 deg, deltaT: 4.115600 s, approachRate: 0.612304 m/s, LOS rate: 1.205211 deg/s, posRepo size: 4
2020-12-13T23:55:25.812Z,1607903725.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:26.433Z,1607903726.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:26.846Z,1607903726.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:27.676Z,1607903727.676 [Micromodem](INFO): Nmea in: $SNTTA,0.064379,,,,235527.60*4D

2020-12-13T23:55:27.861Z,1607903727.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 311.264179 deg, deltaT: 4.414444 s, approachRate: 0.638814 m/s, LOS rate: 0.955450 deg/s, posRepo size: 4
2020-12-13T23:55:30.086Z,1607903730.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:30.883Z,1607903730.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:31.312Z,1607903731.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:32.110Z,1607903732.110 [Micromodem](INFO): Nmea in: $SNTTA,0.066143,,,,235532.05*43

2020-12-13T23:55:32.281Z,1607903732.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.300003 m, bearing: 311.924412 deg, deltaT: 4.464682 s, approachRate: 0.591307 m/s, LOS rate: 0.147879 deg/s, posRepo size: 4
2020-12-13T23:55:34.312Z,1607903734.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:34.947Z,1607903734.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:35.373Z,1607903735.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:36.222Z,1607903736.222 [Micromodem](INFO): Nmea in: $SNTTA,0.067949,,,,235536.11*41

2020-12-13T23:55:36.255Z,1607903736.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 309.947072 deg, deltaT: 4.036709 s, approachRate: 0.683724 m/s, LOS rate: -0.489840 deg/s, posRepo size: 4
2020-12-13T23:55:38.777Z,1607903738.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:39.379Z,1607903739.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:39.787Z,1607903739.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:39.812Z,1607903739.812 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:55:40.347Z,1607903740.347 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:55:40.348Z,1607903740.348 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:55:40.650Z,1607903740.650 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:55:40.816Z,1607903740.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 311.058508 deg, deltaT: 4.660339 s, approachRate: 0.592232 m/s, LOS rate: 0.238488 deg/s, posRepo size: 4
2020-12-13T23:55:41.030Z,1607903741.030 [Micromodem](INFO): Nmea in: $CADRQ,235541,1,9,0,64,1*4A

2020-12-13T23:55:41.030Z,1607903741.030 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:55:41.431Z,1607903741.431 [Micromodem](INFO): Nmea in: $SNTTA,0.069811,,,,235540.54*43

2020-12-13T23:55:41.431Z,1607903741.431 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.069811,,,,235540.54*43

2020-12-13T23:55:42.653Z,1607903742.653 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:55:43.055Z,1607903743.055 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:55:43.071Z,1607903743.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:43.454Z,1607903743.454 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:55:43.848Z,1607903743.848 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235542.213757,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-13T23:55:43.849Z,1607903743.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:44.257Z,1607903744.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:45.090Z,1607903745.090 [Micromodem](INFO): Nmea in: $SNTTA,0.071705,,,,235545.01*45

2020-12-13T23:55:45.287Z,1607903745.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 309.792410 deg, deltaT: 4.300877 s, approachRate: 0.669632 m/s, LOS rate: -0.294381 deg/s, posRepo size: 4
2020-12-13T23:55:47.351Z,1607903747.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:47.939Z,1607903747.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:48.357Z,1607903748.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:49.162Z,1607903749.162 [Micromodem](INFO): Nmea in: $SNTTA,0.073382,,,,235549.10*40

2020-12-13T23:55:49.201Z,1607903749.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 312.510005 deg, deltaT: 4.041803 s, approachRate: 0.608639 m/s, LOS rate: 0.672372 deg/s, posRepo size: 4
2020-12-13T23:55:51.763Z,1607903751.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:52.383Z,1607903752.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:52.781Z,1607903752.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:53.606Z,1607903753.606 [Micromodem](INFO): Nmea in: $SNTTA,0.075177,,,,235553.55*44

2020-12-13T23:55:53.811Z,1607903753.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 309.521579 deg, deltaT: 4.439386 s, approachRate: 0.608192 m/s, LOS rate: -0.673162 deg/s, posRepo size: 4
2020-12-13T23:55:56.042Z,1607903756.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:55:56.823Z,1607903756.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:55:57.265Z,1607903757.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:55:58.054Z,1607903758.054 [Micromodem](INFO): Nmea in: $SNTTA,0.076864,,,,235557.99*48

2020-12-13T23:55:58.087Z,1607903758.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.440010 m, bearing: 310.109631 deg, deltaT: 4.596774 s, approachRate: 0.561265 m/s, LOS rate: 0.127927 deg/s, posRepo size: 4
2020-12-13T23:56:00.528Z,1607903760.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:01.251Z,1607903761.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:01.677Z,1607903761.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:02.514Z,1607903762.514 [Micromodem](INFO): Nmea in: $SNTTA,0.078759,,0.083103,,235602.42*55

2020-12-13T23:56:02.571Z,1607903762.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.260002 m, bearing: 310.896551 deg, deltaT: 4.302154 s, approachRate: 0.655484 m/s, LOS rate: 0.182913 deg/s, posRepo size: 4
2020-12-13T23:56:04.921Z,1607903764.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:05.703Z,1607903765.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:06.121Z,1607903766.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:06.966Z,1607903766.966 [Micromodem](INFO): Nmea in: $SNTTA,0.080601,,,,235606.87*44

2020-12-13T23:56:06.984Z,1607903766.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.960007 m, bearing: 313.506038 deg, deltaT: 4.483057 s, approachRate: 0.602269 m/s, LOS rate: 0.582078 deg/s, posRepo size: 4
2020-12-13T23:56:09.411Z,1607903769.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:10.171Z,1607903770.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:10.583Z,1607903770.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:11.410Z,1607903771.410 [Micromodem](INFO): Nmea in: $SNTTA,0.082346,,,,235611.33*49

2020-12-13T23:56:11.458Z,1607903771.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.600006 m, bearing: 315.387209 deg, deltaT: 4.386669 s, approachRate: 0.601823 m/s, LOS rate: 0.428838 deg/s, posRepo size: 4
2020-12-13T23:56:12.762Z,1607903772.762 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:56:13.866Z,1607903773.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:14.611Z,1607903774.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:15.017Z,1607903775.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:15.854Z,1607903775.854 [Micromodem](INFO): Nmea in: $SNTTA,0.084131,,,,235615.77*49

2020-12-13T23:56:15.908Z,1607903775.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 316.382477 deg, deltaT: 4.508529 s, approachRate: 0.598864 m/s, LOS rate: 0.220752 deg/s, posRepo size: 4
2020-12-13T23:56:18.342Z,1607903778.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:19.065Z,1607903779.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:19.576Z,1607903779.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:20.386Z,1607903780.386 [Micromodem](INFO): Nmea in: $SNTTA,0.085953,,,,235620.23*43

2020-12-13T23:56:20.464Z,1607903780.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.060013 m, bearing: 315.970152 deg, deltaT: 4.463113 s, approachRate: 0.618405 m/s, LOS rate: -0.092385 deg/s, posRepo size: 4
2020-12-13T23:56:22.475Z,1607903782.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:23.183Z,1607903783.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:23.713Z,1607903783.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:24.533Z,1607903784.533 [Micromodem](INFO): Nmea in: $SNTTA,0.087821,,,,235624.35*46

2020-12-13T23:56:24.606Z,1607903784.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 316.128284 deg, deltaT: 4.171813 s, approachRate: 0.661582 m/s, LOS rate: 0.037905 deg/s, posRepo size: 4
2020-12-13T23:56:26.651Z,1607903786.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:27.375Z,1607903787.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:27.773Z,1607903787.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:28.617Z,1607903788.617 [Micromodem](INFO): Nmea in: $SNTTA,0.089633,,,0.095521,235628.54*5A

2020-12-13T23:56:28.686Z,1607903788.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.580002 m, bearing: 311.523261 deg, deltaT: 4.070338 s, approachRate: 0.678075 m/s, LOS rate: -1.131361 deg/s, posRepo size: 4
2020-12-13T23:56:31.074Z,1607903791.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:31.801Z,1607903791.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:32.237Z,1607903792.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:33.070Z,1607903793.070 [Micromodem](INFO): Nmea in: $SNTTA,0.091491,,0.111204,,235632.97*50

2020-12-13T23:56:33.127Z,1607903793.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 310.633015 deg, deltaT: 4.469174 s, approachRate: 0.617563 m/s, LOS rate: -0.199197 deg/s, posRepo size: 4
2020-12-13T23:56:35.545Z,1607903795.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:36.282Z,1607903796.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:36.773Z,1607903796.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:37.598Z,1607903797.598 [Micromodem](INFO): Nmea in: $SNTTA,0.093423,,,,235637.45*48

2020-12-13T23:56:37.668Z,1607903797.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 311.502361 deg, deltaT: 4.524823 s, approachRate: 0.636490 m/s, LOS rate: 0.192128 deg/s, posRepo size: 4
2020-12-13T23:56:40.041Z,1607903800.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:40.823Z,1607903800.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:41.249Z,1607903801.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:42.074Z,1607903802.074 [Micromodem](INFO): Nmea in: $SNTTA,0.095281,,,,235641.99*40

2020-12-13T23:56:42.099Z,1607903802.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.099991 m, bearing: 311.009303 deg, deltaT: 4.475212 s, approachRate: 0.643543 m/s, LOS rate: -0.110175 deg/s, posRepo size: 4
2020-12-13T23:56:44.582Z,1607903804.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:45.267Z,1607903805.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:45.681Z,1607903805.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:45.693Z,1607903805.693 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:56:46.251Z,1607903806.251 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:56:46.252Z,1607903806.252 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:56:46.570Z,1607903806.570 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:56:46.624Z,1607903806.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 310.761805 deg, deltaT: 4.679576 s, approachRate: 0.564157 m/s, LOS rate: -0.052889 deg/s, posRepo size: 4
2020-12-13T23:56:46.940Z,1607903806.940 [Micromodem](INFO): Nmea in: $CADRQ,235647,1,9,0,64,1*4F

2020-12-13T23:56:46.941Z,1607903806.941 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:56:47.358Z,1607903807.358 [Micromodem](INFO): Nmea in: $SNTTA,0.097054,,,,235646.43*48

2020-12-13T23:56:47.359Z,1607903807.359 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.097054,,,,235646.43*48

2020-12-13T23:56:48.578Z,1607903808.578 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:56:48.978Z,1607903808.978 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:56:49.154Z,1607903809.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:49.354Z,1607903809.354 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:56:49.760Z,1607903809.760 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235648.123536,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-13T23:56:49.761Z,1607903809.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:50.160Z,1607903810.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:51.006Z,1607903811.006 [Micromodem](INFO): Nmea in: $SNTTA,0.098838,,,,235650.93*4F

2020-12-13T23:56:51.223Z,1607903811.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.500000 m, bearing: 296.699975 deg, deltaT: 4.303769 s, approachRate: 0.641297 m/s, LOS rate: -3.267329 deg/s, posRepo size: 4
2020-12-13T23:56:53.503Z,1607903813.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:54.235Z,1607903814.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:54.629Z,1607903814.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:55.478Z,1607903815.478 [Micromodem](INFO): Nmea in: $SNTTA,0.100782,,,,235655.40*4A

2020-12-13T23:56:55.690Z,1607903815.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.320007 m, bearing: 306.369802 deg, deltaT: 4.419342 s, approachRate: 0.638106 m/s, LOS rate: 2.188069 deg/s, posRepo size: 4
2020-12-13T23:56:57.687Z,1607903817.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:56:58.267Z,1607903818.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:56:58.669Z,1607903818.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:56:59.527Z,1607903819.527 [Micromodem](INFO): Nmea in: $SNTTA,0.102230,,0.104962,,235659.43*5D

2020-12-13T23:56:59.561Z,1607903819.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 315.072638 deg, deltaT: 4.014729 s, approachRate: 0.523072 m/s, LOS rate: 2.167727 deg/s, posRepo size: 4
2020-12-13T23:57:02.061Z,1607903822.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:02.707Z,1607903822.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:03.122Z,1607903823.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:03.954Z,1607903823.954 [Micromodem](INFO): Nmea in: $SNTTA,0.104046,,,,235703.87*48

2020-12-13T23:57:04.121Z,1607903824.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 314.910380 deg, deltaT: 4.512984 s, approachRate: 0.611571 m/s, LOS rate: -0.035954 deg/s, posRepo size: 4
2020-12-13T23:57:06.414Z,1607903826.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:07.147Z,1607903827.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:07.581Z,1607903827.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:08.406Z,1607903828.406 [Micromodem](INFO): Nmea in: $SNTTA,0.106040,,,,235708.31*4A

2020-12-13T23:57:08.650Z,1607903828.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.120010 m, bearing: 322.272367 deg, deltaT: 4.420290 s, approachRate: 0.665115 m/s, LOS rate: 1.665499 deg/s, posRepo size: 4
2020-12-13T23:57:10.700Z,1607903830.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:11.341Z,1607903831.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:11.725Z,1607903831.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:12.539Z,1607903832.539 [Micromodem](INFO): Nmea in: $SNTTA,0.107672,,,,235712.50*40

2020-12-13T23:57:12.957Z,1607903832.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.640015 m, bearing: 315.955262 deg, deltaT: 4.587174 s, approachRate: 0.549359 m/s, LOS rate: -1.377124 deg/s, posRepo size: 4
2020-12-13T23:57:15.126Z,1607903835.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:15.751Z,1607903835.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:16.166Z,1607903836.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:16.998Z,1607903836.998 [Micromodem](INFO): Nmea in: $SNTTA,0.109465,,,,235716.92*40

2020-12-13T23:57:17.167Z,1607903837.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.279999 m, bearing: 312.662674 deg, deltaT: 4.030576 s, approachRate: 0.654989 m/s, LOS rate: -0.816903 deg/s, posRepo size: 4
2020-12-13T23:57:19.435Z,1607903839.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:20.195Z,1607903840.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:20.610Z,1607903840.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:21.449Z,1607903841.449 [Micromodem](INFO): Nmea in: $SNTTA,0.111270,,,,235721.36*41

2020-12-13T23:57:21.667Z,1607903841.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.979996 m, bearing: 311.420973 deg, deltaT: 4.410818 s, approachRate: 0.612131 m/s, LOS rate: -0.281513 deg/s, posRepo size: 4
2020-12-13T23:57:23.663Z,1607903843.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:24.247Z,1607903844.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:24.669Z,1607903844.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:25.495Z,1607903845.495 [Micromodem](INFO): Nmea in: $SNTTA,0.112961,,,,235725.41*4D

2020-12-13T23:57:25.578Z,1607903845.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 311.544736 deg, deltaT: 4.032779 s, approachRate: 0.639762 m/s, LOS rate: 0.030689 deg/s, posRepo size: 4
2020-12-13T23:57:28.093Z,1607903848.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:28.695Z,1607903848.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:29.097Z,1607903849.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:29.947Z,1607903849.947 [Micromodem](INFO): Nmea in: $SNTTA,0.114889,,,,235729.86*4B

2020-12-13T23:57:30.120Z,1607903850.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 312.455009 deg, deltaT: 4.494426 s, approachRate: 0.000000 m/s, LOS rate: 0.202534 deg/s, posRepo size: 4
2020-12-13T23:57:32.388Z,1607903852.388 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:57:32.429Z,1607903852.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:33.137Z,1607903853.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:33.573Z,1607903853.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:34.399Z,1607903854.399 [Micromodem](INFO): Nmea in: $SNTTA,0.116625,,,,235734.30*40

2020-12-13T23:57:34.634Z,1607903854.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 313.701327 deg, deltaT: 4.411848 s, approachRate: 0.000000 m/s, LOS rate: 0.282493 deg/s, posRepo size: 4
2020-12-13T23:57:36.688Z,1607903856.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:37.272Z,1607903857.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:37.697Z,1607903857.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:38.538Z,1607903858.538 [Micromodem](INFO): Nmea in: $SNTTA,0.118264,,,,235738.44*40

2020-12-13T23:57:38.586Z,1607903858.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 309.182282 deg, deltaT: 4.130364 s, approachRate: 0.000000 m/s, LOS rate: -1.094103 deg/s, posRepo size: 4
2020-12-13T23:57:41.071Z,1607903861.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:41.711Z,1607903861.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:42.127Z,1607903862.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:42.967Z,1607903862.967 [Micromodem](INFO): Nmea in: $SNTTA,0.120236,,,,235742.87*4E

2020-12-13T23:57:43.136Z,1607903863.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 308.819681 deg, deltaT: 4.477883 s, approachRate: 2.438648 m/s, LOS rate: -0.080976 deg/s, posRepo size: 4
2020-12-13T23:57:45.428Z,1607903865.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:46.184Z,1607903866.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:46.682Z,1607903866.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:47.497Z,1607903867.497 [Micromodem](INFO): Nmea in: $SNTTA,0.122002,,,,235747.35*45

2020-12-13T23:57:47.581Z,1607903867.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.059998 m, bearing: 307.175245 deg, deltaT: 4.660480 s, approachRate: 0.553591 m/s, LOS rate: -0.352847 deg/s, posRepo size: 4
2020-12-13T23:57:49.908Z,1607903869.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:50.699Z,1607903870.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:51.105Z,1607903871.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:57:51.539Z,1607903871.539 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:57:51.950Z,1607903871.950 [Micromodem](INFO): Nmea in: $SNTTA,0.123966,,,,235751.86*40

2020-12-13T23:57:52.093Z,1607903872.093 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:57:52.093Z,1607903872.093 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:57:52.151Z,1607903872.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.059998 m, bearing: 313.506885 deg, deltaT: 4.348828 s, approachRate: 0.689841 m/s, LOS rate: 1.455942 deg/s, posRepo size: 4
2020-12-13T23:57:53.146Z,1607903873.146 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:57:53.562Z,1607903873.562 [Micromodem](INFO): Nmea in: $CADRQ,235753,1,9,0,64,1*4B

2020-12-13T23:57:53.562Z,1607903873.562 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:57:53.997Z,1607903873.997 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:57:54.387Z,1607903874.387 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:57:54.416Z,1607903874.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:55.195Z,1607903875.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:57:55.615Z,1607903875.615 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:57:55.615Z,1607903875.615 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-13T23:57:56.080Z,1607903876.080 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235754.746947,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-13T23:57:56.080Z,1607903876.080 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201213,235754.746947,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-13T23:57:56.950Z,1607903876.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:57:59.892Z,1607903879.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:02.614Z,1607903882.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:05.417Z,1607903885.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:05.502Z,1607903885.502 [CTD_Seabird](ERROR): Failed to parse device response: 5.91,7.6686,3.275.78
2020-12-13T23:58:06.610Z,1607903886.610 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:07.013Z,1607903887.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:07.845Z,1607903887.845 [Micromodem](INFO): Nmea in: $SNTTA,0.130554,0.142935,,,235807.77*5B

2020-12-13T23:58:08.447Z,1607903888.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 306.760625 deg, deltaT: 16.294595 s, approachRate: 0.607564 m/s, LOS rate: -0.414018 deg/s, posRepo size: 4
2020-12-13T23:58:10.706Z,1607903890.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:11.463Z,1607903891.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:11.864Z,1607903891.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:12.711Z,1607903892.711 [Micromodem](INFO): Nmea in: $SNTTA,0.132587,,,,235812.63*40

2020-12-13T23:58:13.127Z,1607903893.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.020004 m, bearing: 307.131286 deg, deltaT: 5.015367 s, approachRate: 0.610124 m/s, LOS rate: 0.073905 deg/s, posRepo size: 4
2020-12-13T23:58:15.581Z,1607903895.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:16.329Z,1607903896.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:16.721Z,1607903896.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:17.563Z,1607903897.563 [Micromodem](INFO): Nmea in: $SNTTA,0.134692,,,,235817.49*4C

2020-12-13T23:58:17.948Z,1607903897.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.139984 m, bearing: 308.978142 deg, deltaT: 4.707279 s, approachRate: 0.662799 m/s, LOS rate: 0.392340 deg/s, posRepo size: 4
2020-12-13T23:58:20.442Z,1607903900.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:21.162Z,1607903901.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:21.701Z,1607903901.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:22.513Z,1607903902.513 [Micromodem](INFO): Nmea in: $SNTTA,0.137351,,,,235822.33*4E

2020-12-13T23:58:22.618Z,1607903902.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.079987 m, bearing: 314.472018 deg, deltaT: 4.512193 s, approachRate: 0.651568 m/s, LOS rate: 1.217562 deg/s, posRepo size: 4
2020-12-13T23:58:24.949Z,1607903904.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:25.767Z,1607903905.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:26.161Z,1607903906.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:26.977Z,1607903906.977 [Micromodem](INFO): Nmea in: $SNTTA,0.139231,,,,235826.93*49

2020-12-13T23:58:27.626Z,1607903907.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.099991 m, bearing: 308.806977 deg, deltaT: 4.897713 s, approachRate: 0.820792 m/s, LOS rate: -1.156671 deg/s, posRepo size: 4
2020-12-13T23:58:29.864Z,1607903909.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:30.643Z,1607903910.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:31.053Z,1607903911.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:31.897Z,1607903911.897 [Micromodem](INFO): Nmea in: $SNTTA,0.140551,,,,235831.81*43

2020-12-13T23:58:32.289Z,1607903912.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.959991 m, bearing: 308.240072 deg, deltaT: 5.035994 s, approachRate: 0.369341 m/s, LOS rate: -0.112571 deg/s, posRepo size: 4
2020-12-13T23:58:34.731Z,1607903914.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:35.510Z,1607903915.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:35.893Z,1607903915.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:36.703Z,1607903916.703 [Micromodem](INFO): Nmea in: $SNTTA,0.142817,,0.152861,,235836.68*59

2020-12-13T23:58:37.567Z,1607903917.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:39.134Z,1607903919.134 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:58:40.616Z,1607903920.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:41.184Z,1607903921.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:41.589Z,1607903921.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:42.424Z,1607903922.424 [Micromodem](INFO): Nmea in: $SNTTA,0.144884,,,,235842.35*49

2020-12-13T23:58:42.838Z,1607903922.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.379990 m, bearing: 308.680646 deg, deltaT: 10.440915 s, approachRate: 0.614888 m/s, LOS rate: 0.042197 deg/s, posRepo size: 4
2020-12-13T23:58:45.019Z,1607903925.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:45.635Z,1607903925.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:46.042Z,1607903926.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:46.861Z,1607903926.861 [Micromodem](INFO): Nmea in: $SNTTA,0.146816,,,,235846.80*4A

2020-12-13T23:58:47.272Z,1607903927.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.320007 m, bearing: 314.766891 deg, deltaT: 4.530830 s, approachRate: 0.648892 m/s, LOS rate: 1.343296 deg/s, posRepo size: 4
2020-12-13T23:58:49.720Z,1607903929.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:50.494Z,1607903930.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:50.894Z,1607903930.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:51.743Z,1607903931.743 [Micromodem](INFO): Nmea in: $SNTTA,0.149522,,,,235851.66*41

2020-12-13T23:58:52.628Z,1607903932.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:53.786Z,1607903933.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:58:55.457Z,1607903935.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:56.218Z,1607903936.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:58:56.609Z,1607903936.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:58:57.443Z,1607903937.443 [Micromodem](INFO): Nmea in: $SNTTA,0.151359,,,,235857.38*4F

2020-12-13T23:58:57.444Z,1607903937.444 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-13T23:58:57.946Z,1607903937.946 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-13T23:58:57.946Z,1607903937.946 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-13T23:58:58.143Z,1607903938.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:58:58.714Z,1607903938.714 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-13T23:58:59.115Z,1607903939.115 [Micromodem](INFO): Nmea in: $CADRQ,235859,1,9,0,64,1*4E

2020-12-13T23:58:59.115Z,1607903939.115 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-13T23:58:59.542Z,1607903939.542 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:58:59.543Z,1607903939.543 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-13T23:58:59.934Z,1607903939.934 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-13T23:59:00.756Z,1607903940.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:01.159Z,1607903941.159 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-13T23:59:01.572Z,1607903941.572 [Micromodem](INFO): Nmea in: $CAXST,6,20201213,235900.296330,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-13T23:59:01.573Z,1607903941.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:01.953Z,1607903941.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:02.758Z,1607903942.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235902.74*52

2020-12-13T23:59:03.631Z,1607903943.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:05.178Z,1607903945.178 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-13T23:59:06.639Z,1607903946.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:07.211Z,1607903947.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:07.621Z,1607903947.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:08.461Z,1607903948.461 [Micromodem](INFO): Nmea in: $SNTTA,0.156030,,,,235908.37*40

2020-12-13T23:59:08.874Z,1607903948.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.179977 m, bearing: 308.131608 deg, deltaT: 21.484006 s, approachRate: 0.645130 m/s, LOS rate: -0.308848 deg/s, posRepo size: 4
2020-12-13T23:59:11.333Z,1607903951.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:11.688Z,1607903951.688 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:59:12.067Z,1607903952.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:12.496Z,1607903952.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:13.305Z,1607903953.305 [Micromodem](INFO): Nmea in: $SNTTA,0.158558,,,,235913.23*4A

2020-12-13T23:59:13.766Z,1607903953.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.119995 m, bearing: 313.723265 deg, deltaT: 4.849896 s, approachRate: 0.606202 m/s, LOS rate: 1.152944 deg/s, posRepo size: 4
2020-12-13T23:59:16.119Z,1607903956.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:16.915Z,1607903956.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:17.365Z,1607903957.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:18.163Z,1607903958.163 [Micromodem](INFO): Nmea in: $SNTTA,0.160209,,,,235918.08*40

2020-12-13T23:59:18.645Z,1607903958.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.359985 m, bearing: 312.083009 deg, deltaT: 4.854159 s, approachRate: 0.667467 m/s, LOS rate: -0.337907 deg/s, posRepo size: 4
2020-12-13T23:59:20.995Z,1607903960.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:21.783Z,1607903961.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:22.197Z,1607903962.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:23.020Z,1607903963.020 [Micromodem](INFO): Nmea in: $SNTTA,0.162118,,,,235922.95*4C

2020-12-13T23:59:23.630Z,1607903963.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.299988 m, bearing: 309.892322 deg, deltaT: 4.819799 s, approachRate: 0.609984 m/s, LOS rate: -0.454518 deg/s, posRepo size: 4
2020-12-13T23:59:25.639Z,1607903965.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:26.223Z,1607903966.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:26.625Z,1607903966.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:26.664Z,1607903966.664 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:59:27.465Z,1607903967.465 [Micromodem](INFO): Nmea in: $SNTTA,0.164082,,,,235927.39*4B

2020-12-13T23:59:27.984Z,1607903967.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.239990 m, bearing: 315.670416 deg, deltaT: 4.493902 s, approachRate: 0.654220 m/s, LOS rate: 1.285763 deg/s, posRepo size: 4
2020-12-13T23:59:30.291Z,1607903970.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:31.071Z,1607903971.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:31.485Z,1607903971.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:31.538Z,1607903971.538 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:59:32.341Z,1607903972.341 [Micromodem](INFO): Nmea in: $SNTTA,0.166159,,,,235932.24*46

2020-12-13T23:59:32.746Z,1607903972.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.359985 m, bearing: 312.382909 deg, deltaT: 4.832779 s, approachRate: 0.645590 m/s, LOS rate: -0.680252 deg/s, posRepo size: 4
2020-12-13T23:59:35.143Z,1607903975.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:35.923Z,1607903975.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:36.351Z,1607903976.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:36.583Z,1607903976.583 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-13T23:59:37.177Z,1607903977.177 [Micromodem](INFO): Nmea in: $SNTTA,0.168201,,,,235937.09*4C

2020-12-13T23:59:37.668Z,1607903977.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.419983 m, bearing: 313.320639 deg, deltaT: 4.812006 s, approachRate: 0.635909 m/s, LOS rate: 0.194873 deg/s, posRepo size: 4
2020-12-13T23:59:40.044Z,1607903980.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:40.831Z,1607903980.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:41.237Z,1607903981.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:41.645Z,1607903981.645 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-13T23:59:42.065Z,1607903982.065 [Micromodem](INFO): Nmea in: $SNTTA,0.357160,,,,235942.00*4D

2020-12-13T23:59:42.538Z,1607903982.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.599991 m, bearing: 310.061437 deg, deltaT: 4.913869 s, approachRate: 0.647150 m/s, LOS rate: -0.663266 deg/s, posRepo size: 4
2020-12-13T23:59:45.078Z,1607903985.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:45.683Z,1607903985.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:46.082Z,1607903986.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:46.504Z,1607903986.504 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-13T23:59:46.909Z,1607903986.909 [Micromodem](INFO): Nmea in: $SNTTA,0.172391,,,,235946.85*4D

2020-12-13T23:59:47.352Z,1607903987.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.660004 m, bearing: 309.952345 deg, deltaT: 4.846515 s, approachRate: 0.631384 m/s, LOS rate: -0.022509 deg/s, posRepo size: 4
2020-12-13T23:59:49.568Z,1607903989.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:50.135Z,1607903990.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:50.565Z,1607903990.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:51.399Z,1607903991.399 [Micromodem](INFO): Nmea in: $SNTTA,0.174138,,,,235951.30*42

2020-12-13T23:59:51.848Z,1607903991.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.359985 m, bearing: 312.410776 deg, deltaT: 4.698003 s, approachRate: 0.574708 m/s, LOS rate: 0.523293 deg/s, posRepo size: 4
2020-12-13T23:59:54.258Z,1607903994.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:55.039Z,1607903995.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-13T23:59:55.449Z,1607903995.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-13T23:59:56.281Z,1607903996.281 [Micromodem](INFO): Nmea in: $SNTTA,0.176215,,,,235956.20*4A

2020-12-13T23:59:56.682Z,1607903996.682 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-13T23:59:56.716Z,1607903996.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.419983 m, bearing: 314.970157 deg, deltaT: 4.717462 s, approachRate: 0.648653 m/s, LOS rate: 0.542534 deg/s, posRepo size: 4
2020-12-13T23:59:59.148Z,1607903999.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-13T23:59:59.900Z,1607903999.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:00.312Z,1607904000.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:01.129Z,1607904001.129 [Micromodem](INFO): Nmea in: $SNTTA,0.178230,,0.186319,,000001.06*52

2020-12-14T00:00:01.567Z,1607904001.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.419983 m, bearing: 311.390018 deg, deltaT: 4.776773 s, approachRate: 0.628039 m/s, LOS rate: -0.749489 deg/s, posRepo size: 4
2020-12-14T00:00:03.181Z,1607904003.181 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:00:03.786Z,1607904003.786 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:00:03.787Z,1607904003.787 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:00:03.888Z,1607904003.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:04.065Z,1607904004.065 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:00:04.475Z,1607904004.475 [Micromodem](INFO): Nmea in: $CADRQ,000004,1,9,0,64,1*4A

2020-12-14T00:00:04.476Z,1607904004.476 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:00:04.919Z,1607904004.919 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:00:04.919Z,1607904004.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:05.326Z,1607904005.326 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:00:05.327Z,1607904005.327 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:00:06.536Z,1607904006.536 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:00:06.537Z,1607904006.537 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:00:06.622Z,1607904006.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:06.931Z,1607904006.931 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000005.659537,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:00:06.932Z,1607904006.932 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000005.659537,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:00:09.137Z,1607904009.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:11.780Z,1607904011.780 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:00:11.795Z,1607904011.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:14.654Z,1607904014.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:16.226Z,1607904016.226 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:16.625Z,1607904016.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:17.457Z,1607904017.457 [Micromodem](INFO): Nmea in: $SNTTA,0.185043,,,,000017.39*47

2020-12-14T00:00:17.898Z,1607904017.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.679993 m, bearing: 311.509273 deg, deltaT: 16.550682 s, approachRate: 0.619915 m/s, LOS rate: 0.007205 deg/s, posRepo size: 4
2020-12-14T00:00:20.351Z,1607904020.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:21.091Z,1607904021.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:21.515Z,1607904021.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:22.341Z,1607904022.341 [Micromodem](INFO): Nmea in: $SNTTA,0.187156,,,,000022.26*48

2020-12-14T00:00:22.757Z,1607904022.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.859985 m, bearing: 310.105669 deg, deltaT: 4.670978 s, approachRate: 0.680798 m/s, LOS rate: -0.300495 deg/s, posRepo size: 4
2020-12-14T00:00:25.197Z,1607904025.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:25.943Z,1607904025.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:26.401Z,1607904026.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:27.190Z,1607904027.190 [Micromodem](INFO): Nmea in: $SNTTA,0.189084,,,,000027.11*49

2020-12-14T00:00:28.032Z,1607904028.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:29.590Z,1607904029.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:00:30.640Z,1607904030.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:31.211Z,1607904031.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:31.609Z,1607904031.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:32.443Z,1607904032.443 [Micromodem](INFO): Nmea in: $SNTTA,0.191334,,,,000032.38*47

2020-12-14T00:00:32.876Z,1607904032.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.160004 m, bearing: 304.374512 deg, deltaT: 10.103967 s, approachRate: 0.623519 m/s, LOS rate: -0.567219 deg/s, posRepo size: 4
2020-12-14T00:00:35.051Z,1607904035.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:35.663Z,1607904035.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:36.069Z,1607904036.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:36.887Z,1607904036.887 [Micromodem](INFO): Nmea in: $SNTTA,0.193222,,,,000036.83*47

2020-12-14T00:00:37.720Z,1607904037.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:39.286Z,1607904039.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:00:40.563Z,1607904040.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:41.324Z,1607904041.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:41.849Z,1607904041.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:42.664Z,1607904042.664 [Micromodem](INFO): Nmea in: $SNTTA,0.195834,,,,000042.49*49

2020-12-14T00:00:43.092Z,1607904043.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.879974 m, bearing: 307.649069 deg, deltaT: 10.265130 s, approachRate: 0.654641 m/s, LOS rate: 0.318998 deg/s, posRepo size: 4
2020-12-14T00:00:45.607Z,1607904045.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:46.319Z,1607904046.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:46.709Z,1607904046.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:47.542Z,1607904047.542 [Micromodem](INFO): Nmea in: $SNTTA,0.197959,,,,000047.48*45

2020-12-14T00:00:48.084Z,1607904048.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.059998 m, bearing: 308.075245 deg, deltaT: 4.869880 s, approachRate: 0.652998 m/s, LOS rate: 0.087513 deg/s, posRepo size: 4
2020-12-14T00:00:50.369Z,1607904050.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:51.131Z,1607904051.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:51.569Z,1607904051.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:52.380Z,1607904052.380 [Micromodem](INFO): Nmea in: $SNTTA,0.199955,,,,000052.29*44

2020-12-14T00:00:52.806Z,1607904052.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.059998 m, bearing: 310.286287 deg, deltaT: 4.807866 s, approachRate: 0.623977 m/s, LOS rate: 0.459880 deg/s, posRepo size: 4
2020-12-14T00:00:52.807Z,1607904052.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 300.06 m. Resuming terminal guidance.
2020-12-14T00:00:52.807Z,1607904052.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-14T00:00:55.215Z,1607904055.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:55.995Z,1607904055.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:00:56.437Z,1607904056.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:00:57.289Z,1607904057.289 [Micromodem](INFO): Nmea in: $SNTTA,0.201988,,,,000057.16*4F

2020-12-14T00:00:57.723Z,1607904057.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:00:59.271Z,1607904059.271 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:00.583Z,1607904060.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:01.322Z,1607904061.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:01.710Z,1607904061.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:02.531Z,1607904062.531 [Micromodem](INFO): Nmea in: $SNTTA,0.204915,,,,000102.49*45

2020-12-14T00:01:03.080Z,1607904063.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.779968 m, bearing: 311.322427 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-14T00:01:03.081Z,1607904063.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 311.322427deg and heading rate command to 0 deg/s.
2020-12-14T00:01:05.399Z,1607904065.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:06.143Z,1607904066.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:06.577Z,1607904066.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:07.391Z,1607904067.391 [Micromodem](INFO): Nmea in: $SNTTA,0.206549,,,,000107.31*48

2020-12-14T00:01:08.209Z,1607904068.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:09.003Z,1607904069.003 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:01:09.585Z,1607904069.585 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:01:09.585Z,1607904069.585 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:01:09.959Z,1607904069.959 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:09.962Z,1607904069.962 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:01:10.379Z,1607904070.379 [Micromodem](INFO): Nmea in: $CADRQ,000110,1,9,0,64,1*4E

2020-12-14T00:01:10.379Z,1607904070.379 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:01:10.767Z,1607904070.767 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:01:10.843Z,1607904070.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:11.176Z,1607904071.176 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:01:11.575Z,1607904071.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:12.411Z,1607904072.411 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:01:12.411Z,1607904072.411 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:01:12.792Z,1607904072.792 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000111.562914,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T00:01:12.792Z,1607904072.792 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000111.562914,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T00:01:13.788Z,1607904073.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:16.477Z,1607904076.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:19.281Z,1607904079.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:22.244Z,1607904082.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:22.886Z,1607904082.886 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:23.307Z,1607904083.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:24.120Z,1607904084.120 [Micromodem](INFO): Nmea in: $SNTTA,0.213758,,,,000124.05*48

2020-12-14T00:01:24.927Z,1607904084.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:25.739Z,1607904085.739 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T00:01:26.529Z,1607904086.529 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:27.786Z,1607904087.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:28.563Z,1607904088.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:28.949Z,1607904088.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:29.769Z,1607904089.769 [Micromodem](INFO): Nmea in: $SNTTA,0.216124,,,,000129.73*4C

2020-12-14T00:01:30.618Z,1607904090.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:32.182Z,1607904092.182 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:33.149Z,1607904093.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:33.803Z,1607904093.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:34.206Z,1607904094.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:35.023Z,1607904095.023 [Micromodem](INFO): Nmea in: $SNTTA,0.218350,,,,000134.97*45

2020-12-14T00:01:35.845Z,1607904095.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:37.432Z,1607904097.432 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:38.701Z,1607904098.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:39.449Z,1607904099.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:39.945Z,1607904099.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:40.748Z,1607904100.748 [Micromodem](INFO): Nmea in: $SNTTA,0.220642,,,,000140.61*42

2020-12-14T00:01:41.735Z,1607904101.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:42.766Z,1607904102.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:44.427Z,1607904104.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:45.187Z,1607904105.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:45.597Z,1607904105.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:46.433Z,1607904106.433 [Micromodem](INFO): Nmea in: $SNTTA,0.223276,,,,000146.35*45

2020-12-14T00:01:47.276Z,1607904107.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:48.517Z,1607904108.517 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:50.138Z,1607904110.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:50.903Z,1607904110.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:51.340Z,1607904111.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:52.143Z,1607904112.143 [Micromodem](INFO): Nmea in: $SNTTA,0.225580,,,,000152.07*49

2020-12-14T00:01:52.754Z,1607904112.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:54.587Z,1607904114.587 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:01:55.418Z,1607904115.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:56.168Z,1607904116.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:01:56.585Z,1607904116.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:01:57.405Z,1607904117.405 [Micromodem](INFO): Nmea in: $SNTTA,0.227769,,,,000157.33*4C

2020-12-14T00:01:58.212Z,1607904118.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:01:59.818Z,1607904119.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:02:01.198Z,1607904121.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:01.835Z,1607904121.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:02.233Z,1607904122.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:03.060Z,1607904123.060 [Micromodem](INFO): Nmea in: $SNTTA,0.230358,,,,000203.00*4E

2020-12-14T00:02:03.886Z,1607904123.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:05.470Z,1607904125.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:02:06.749Z,1607904126.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:07.529Z,1607904127.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:07.985Z,1607904127.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:08.789Z,1607904128.789 [Micromodem](INFO): Nmea in: $SNTTA,0.232825,,,,000208.69*49

2020-12-14T00:02:09.215Z,1607904129.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.379974 m, bearing: 322.337118 deg, deltaT: 66.225978 s, approachRate: 0.643252 m/s, LOS rate: 0.166320 deg/s, posRepo size: 2
2020-12-14T00:02:09.217Z,1607904129.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.379974 m,
      bearing: 322.337118 deg,
      approachRate: 0.643252 m/s,
      LOS rate: 0.166320 deg/s,
      cmd update: 0.498959 deg/s,
      cmd heading: 311.322427 deg,
      new cmd heading: 311.322427 deg.

2020-12-14T00:02:11.691Z,1607904131.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:12.425Z,1607904132.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:12.833Z,1607904132.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:13.679Z,1607904133.679 [Micromodem](INFO): Nmea in: $SNTTA,0.234742,,,,000213.59*48

2020-12-14T00:02:14.197Z,1607904134.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:14.846Z,1607904134.846 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:02:15.405Z,1607904135.405 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:02:15.406Z,1607904135.406 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:02:15.710Z,1607904135.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:02:15.712Z,1607904135.712 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:02:16.120Z,1607904136.120 [Micromodem](INFO): Nmea in: $CADRQ,000216,1,9,0,64,1*4B

2020-12-14T00:02:16.120Z,1607904136.120 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:02:16.567Z,1607904136.567 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:02:16.931Z,1607904136.931 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:02:16.967Z,1607904136.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:17.739Z,1607904137.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:18.159Z,1607904138.159 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:02:18.159Z,1607904138.159 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:02:18.572Z,1607904138.572 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000217.304546,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T00:02:18.572Z,1607904138.572 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000217.304546,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T00:02:19.790Z,1607904139.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:22.627Z,1607904142.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:25.482Z,1607904145.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:26.786Z,1607904146.786 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T00:02:28.253Z,1607904148.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:29.038Z,1607904149.038 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:29.450Z,1607904149.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:30.281Z,1607904150.281 [Micromodem](INFO): Nmea in: $SNTTA,0.241931,,,,000230.20*4F

2020-12-14T00:02:30.746Z,1607904150.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 362.939972 m, bearing: 331.630164 deg, deltaT: 21.480339 s, approachRate: 0.631275 m/s, LOS rate: 0.432630 deg/s, posRepo size: 3
2020-12-14T00:02:30.748Z,1607904150.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.939972 m,
      bearing: 331.630164 deg,
      approachRate: 0.631275 m/s,
      LOS rate: 0.432630 deg/s,
      cmd update: 1.297891 deg/s,
      cmd heading: 322.027087 deg,
      new cmd heading: 322.242937 deg.

2020-12-14T00:02:33.238Z,1607904153.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:33.891Z,1607904153.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:34.289Z,1607904154.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:35.131Z,1607904155.131 [Micromodem](INFO): Nmea in: $SNTTA,0.243606,,,,000235.05*44

2020-12-14T00:02:35.961Z,1607904155.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:37.541Z,1607904157.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:02:38.405Z,1607904158.405 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-13T23:52:37.0Z
2020-12-14T00:02:38.405Z,1607904158.405 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:02:38.405Z,1607904158.405 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:02:38.405Z,1607904158.405 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:02:38.405Z,1607904158.405 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:02:38.405Z,1607904158.405 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T00:02:38.802Z,1607904158.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:38.803Z,1607904158.803 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:02:38.803Z,1607904158.803 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:02:38.803Z,1607904158.803 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:02:38.803Z,1607904158.803 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:02:38.803Z,1607904158.803 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:02:39.574Z,1607904159.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:40.009Z,1607904160.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:40.825Z,1607904160.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000240.74*5B

2020-12-14T00:02:41.267Z,1607904161.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 369.119965 m, bearing: 322.457465 deg, deltaT: 10.558857 s, approachRate: 0.585290 m/s, LOS rate: -0.868721 deg/s, posRepo size: 4
2020-12-14T00:02:41.271Z,1607904161.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.119965 m,
      bearing: 322.457465 deg,
      approachRate: 0.585290 m/s,
      LOS rate: -0.868721 deg/s,
      cmd update: -2.606162 deg/s,
      cmd heading: 335.765575 deg,
      new cmd heading: 336.248872 deg.

2020-12-14T00:02:43.732Z,1607904163.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:44.470Z,1607904164.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:44.873Z,1607904164.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:45.682Z,1607904165.682 [Micromodem](INFO): Nmea in: $SNTTA,0.247678,,,,000245.63*4E

2020-12-14T00:02:46.244Z,1607904166.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 371.580017 m, bearing: 325.412642 deg, deltaT: 4.886025 s, approachRate: 0.503487 m/s, LOS rate: 0.604822 deg/s, posRepo size: 4
2020-12-14T00:02:46.246Z,1607904166.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.580017 m,
      bearing: 325.412642 deg,
      approachRate: 0.503487 m/s,
      LOS rate: 0.604822 deg/s,
      cmd update: 1.814467 deg/s,
      cmd heading: 323.042397 deg,
      new cmd heading: 321.823286 deg.

2020-12-14T00:02:46.571Z,1607904166.571 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:02:48.566Z,1607904168.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:49.310Z,1607904169.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:49.705Z,1607904169.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:50.551Z,1607904170.551 [Micromodem](INFO): Nmea in: $SNTTA,0.249755,,,,000250.47*4C

2020-12-14T00:02:51.366Z,1607904171.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:51.755Z,1607904171.755 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T00:02:52.981Z,1607904172.981 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:02:54.167Z,1607904174.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:54.959Z,1607904174.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:02:55.394Z,1607904175.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:02:56.195Z,1607904176.195 [Micromodem](INFO): Nmea in: $SNTTA,0.251920,,,,000256.13*4E

2020-12-14T00:02:57.138Z,1607904177.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:02:58.590Z,1607904178.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:02:59.842Z,1607904179.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:00.619Z,1607904180.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:01.021Z,1607904181.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:01.865Z,1607904181.865 [Micromodem](INFO): Nmea in: $SNTTA,0.253508,,,,000301.78*44

2020-12-14T00:03:01.873Z,1607904181.873 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T00:03:02.278Z,1607904182.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 380.339996 m, bearing: 347.308098 deg, deltaT: 16.105289 s, approachRate: 0.543919 m/s, LOS rate: 1.359520 deg/s, posRepo size: 4
2020-12-14T00:03:02.280Z,1607904182.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 380.339996 m,
      bearing: 347.308098 deg,
      approachRate: 0.543919 m/s,
      LOS rate: 1.359520 deg/s,
      cmd update: 4.078559 deg/s,
      cmd heading: 352.272262 deg,
      new cmd heading: 352.981787 deg.

2020-12-14T00:03:04.739Z,1607904184.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:05.463Z,1607904185.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:05.949Z,1607904185.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:06.760Z,1607904186.760 [Micromodem](INFO): Nmea in: $SNTTA,0.254992,,,,000306.63*41

2020-12-14T00:03:07.198Z,1607904187.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 382.559998 m, bearing: 343.525266 deg, deltaT: 4.925866 s, approachRate: 0.450682 m/s, LOS rate: -0.767953 deg/s, posRepo size: 4
2020-12-14T00:03:07.200Z,1607904187.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.559998 m,
      bearing: 343.525266 deg,
      approachRate: 0.450682 m/s,
      LOS rate: -0.767953 deg/s,
      cmd update: -2.303858 deg/s,
      cmd heading: 12.362014 deg,
      new cmd heading: 13.937390 deg.

2020-12-14T00:03:09.754Z,1607904189.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:10.384Z,1607904190.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:10.789Z,1607904190.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:11.621Z,1607904191.621 [Micromodem](INFO): Nmea in: $SNTTA,0.255819,,,,000311.55*41

2020-12-14T00:03:11.799Z,1607904191.799 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T00:03:12.049Z,1607904192.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 383.700012 m, bearing: 69.064100 deg, deltaT: 5.000561 s, approachRate: 0.227977 m/s, LOS rate: 17.105850 deg/s, posRepo size: 4
2020-12-14T00:03:12.050Z,1607904192.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.105850 deg/s. Setting heading cmd to target bearing of 69.064100deg and heading rate command to 0 deg/s.
2020-12-14T00:03:14.466Z,1607904194.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:15.233Z,1607904195.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:15.633Z,1607904195.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:16.457Z,1607904196.457 [Micromodem](INFO): Nmea in: $SNTTA,0.256295,,,,000316.40*4F

2020-12-14T00:03:16.895Z,1607904196.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 384.420013 m, bearing: 57.641435 deg, deltaT: 4.722461 s, approachRate: 0.152463 m/s, LOS rate: -2.418795 deg/s, posRepo size: 4
2020-12-14T00:03:16.897Z,1607904196.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 384.420013 m,
      bearing: 57.641435 deg,
      approachRate: 0.152463 m/s,
      LOS rate: -2.418795 deg/s,
      cmd update: -7.256384 deg/s,
      cmd heading: 69.064100 deg,
      new cmd heading: 69.064100 deg.

2020-12-14T00:03:19.347Z,1607904199.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:20.079Z,1607904200.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:20.500Z,1607904200.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:20.514Z,1607904200.514 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:03:21.024Z,1607904201.024 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:03:21.025Z,1607904201.025 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:03:21.340Z,1607904201.340 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:03:21.691Z,1607904201.691 [Micromodem](INFO): Nmea in: $CADRQ,000322,1,9,0,64,1*4D

2020-12-14T00:03:21.691Z,1607904201.691 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:03:22.095Z,1607904202.095 [Micromodem](INFO): Nmea in: $SNTTA,0.256760,,,,000321.24*46

2020-12-14T00:03:22.095Z,1607904202.095 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.256760,,,,000321.24*46

2020-12-14T00:03:22.168Z,1607904202.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:23.337Z,1607904203.337 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:03:23.728Z,1607904203.728 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:03:23.745Z,1607904203.745 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:03:24.115Z,1607904204.115 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:03:24.538Z,1607904204.538 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000322.872325,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T00:03:24.735Z,1607904204.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:25.351Z,1607904205.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:25.749Z,1607904205.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:26.613Z,1607904206.613 [Micromodem](INFO): Nmea in: $SNTTA,0.256829,,,,000326.52*42

2020-12-14T00:03:26.974Z,1607904206.974 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,0003.0.32731*1D
 expected 68
2020-12-14T00:03:26.992Z,1607904206.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 385.199982 m, bearing: 359.607056 deg, deltaT: 10.139502 s, approachRate: 0.076924 m/s, LOS rate: -5.723594 deg/s, posRepo size: 4
2020-12-14T00:03:26.994Z,1607904206.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.199982 m,
      bearing: 359.607056 deg,
      approachRate: 0.076924 m/s,
      LOS rate: -5.723594 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 355.157628 deg,
      new cmd heading: 352.826065 deg.

2020-12-14T00:03:29.415Z,1607904209.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:30.183Z,1607904210.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:30.589Z,1607904210.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:31.419Z,1607904211.419 [Micromodem](INFO): Nmea in: $SNTTA,0.256589,,,,000331.35*42

2020-12-14T00:03:31.842Z,1607904211.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 384.899994 m, bearing: 82.208539 deg, deltaT: 4.799942 s, approachRate: -0.062498 m/s, LOS rate: 17.208851 deg/s, posRepo size: 4
2020-12-14T00:03:31.843Z,1607904211.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.208851 deg/s. Setting heading cmd to target bearing of 82.208539deg and heading rate command to 0 deg/s.
2020-12-14T00:03:34.246Z,1607904214.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:35.027Z,1607904215.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:35.457Z,1607904215.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:36.379Z,1607904216.379 [Micromodem](INFO): Nmea in: $SNTTA,0.257209,,,,000336.19*45

2020-12-14T00:03:36.820Z,1607904216.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 385.859985 m, bearing: 31.670812 deg, deltaT: 4.929176 s, approachRate: 0.194757 m/s, LOS rate: -10.252774 deg/s, posRepo size: 4
2020-12-14T00:03:36.822Z,1607904216.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.859985 m,
      bearing: 31.670812 deg,
      approachRate: 0.194757 m/s,
      LOS rate: -10.252774 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 82.208539 deg,
      new cmd heading: 82.208539 deg.

2020-12-14T00:03:39.179Z,1607904219.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:39.979Z,1607904219.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:40.381Z,1607904220.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:41.205Z,1607904221.205 [Micromodem](INFO): Nmea in: $SNTTA,0.258568,,,,000341.14*47

2020-12-14T00:03:41.678Z,1607904221.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 387.959991 m, bearing: 329.347214 deg, deltaT: 4.815689 s, approachRate: 0.436076 m/s, LOS rate: -12.941784 deg/s, posRepo size: 4
2020-12-14T00:03:41.679Z,1607904221.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.941784 deg/s. Setting heading cmd to target bearing of 329.347214deg and heading rate command to 0 deg/s.
2020-12-14T00:03:44.225Z,1607904224.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:44.831Z,1607904224.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:45.229Z,1607904225.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:46.069Z,1607904226.069 [Micromodem](INFO): Nmea in: $SNTTA,0.259965,,,,000345.99*46

2020-12-14T00:03:46.483Z,1607904226.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 390.179993 m, bearing: 10.611378 deg, deltaT: 4.896502 s, approachRate: 0.453385 m/s, LOS rate: 8.427275 deg/s, posRepo size: 4
2020-12-14T00:03:46.485Z,1607904226.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.179993 m,
      bearing: 10.611378 deg,
      approachRate: 0.453385 m/s,
      LOS rate: 8.427275 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.347214 deg,
      new cmd heading: 329.347214 deg.

2020-12-14T00:03:47.666Z,1607904227.666 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:03:48.703Z,1607904228.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:49.267Z,1607904229.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:49.681Z,1607904229.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:50.530Z,1607904230.530 [Micromodem](INFO): Nmea in: $SNTTA,0.260716,,,,000350.43*45

2020-12-14T00:03:50.916Z,1607904230.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 391.079987 m, bearing: 35.715500 deg, deltaT: 4.611731 s, approachRate: 0.195153 m/s, LOS rate: 5.443535 deg/s, posRepo size: 4
2020-12-14T00:03:50.918Z,1607904230.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 391.079987 m,
      bearing: 35.715500 deg,
      approachRate: 0.195153 m/s,
      LOS rate: 5.443535 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.543975 deg,
      new cmd heading: 27.006483 deg.

2020-12-14T00:03:53.353Z,1607904233.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:54.125Z,1607904234.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:54.557Z,1607904234.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:03:55.375Z,1607904235.375 [Micromodem](INFO): Nmea in: $SNTTA,0.261956,,,,000355.29*47

2020-12-14T00:03:55.767Z,1607904235.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 393.059998 m, bearing: 24.173134 deg, deltaT: 4.673257 s, approachRate: 0.423690 m/s, LOS rate: -2.469876 deg/s, posRepo size: 4
2020-12-14T00:03:55.769Z,1607904235.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 393.059998 m,
      bearing: 24.173134 deg,
      approachRate: 0.423690 m/s,
      LOS rate: -2.469876 deg/s,
      cmd update: -7.409628 deg/s,
      cmd heading: 80.814809 deg,
      new cmd heading: 85.212365 deg.

2020-12-14T00:03:58.209Z,1607904238.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:03:58.971Z,1607904238.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:03:59.389Z,1607904239.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:00.222Z,1607904240.222 [Micromodem](INFO): Nmea in: $SNTTA,0.263765,,,,000400.13*45

2020-12-14T00:04:00.621Z,1607904240.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 395.640015 m, bearing: 46.064100 deg, deltaT: 4.836173 s, approachRate: 0.533483 m/s, LOS rate: 4.526506 deg/s, posRepo size: 4
2020-12-14T00:04:00.623Z,1607904240.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 395.640015 m,
      bearing: 46.064100 deg,
      approachRate: 0.533483 m/s,
      LOS rate: 4.526506 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 44.980758 deg,
      new cmd heading: 42.134682 deg.

2020-12-14T00:04:03.068Z,1607904243.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:03.831Z,1607904243.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:04.247Z,1607904244.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:05.089Z,1607904245.089 [Micromodem](INFO): Nmea in: $SNTTA,0.263998,,,,000404.99*4F

2020-12-14T00:04:05.530Z,1607904245.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 396.000000 m, bearing: 79.304329 deg, deltaT: 4.876188 s, approachRate: 0.073825 m/s, LOS rate: 6.816847 deg/s, posRepo size: 4
2020-12-14T00:04:05.532Z,1607904245.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 396.000000 m,
      bearing: 79.304329 deg,
      approachRate: 0.073825 m/s,
      LOS rate: 6.816847 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 103.475323 deg,
      new cmd heading: 108.434455 deg.

2020-12-14T00:04:08.447Z,1607904248.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:09.068Z,1607904249.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:09.473Z,1607904249.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:10.309Z,1607904250.309 [Micromodem](INFO): Nmea in: $SNTTA,0.257835,,,,000410.23*4A

2020-12-14T00:04:10.783Z,1607904250.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 396.059998 m, bearing: 14.094390 deg, deltaT: 5.461418 s, approachRate: 0.010986 m/s, LOS rate: -11.940112 deg/s, posRepo size: 4
2020-12-14T00:04:10.784Z,1607904250.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.940112 deg/s. Setting heading cmd to target bearing of 14.094390deg and heading rate command to 0 deg/s.
2020-12-14T00:04:13.179Z,1607904253.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:13.967Z,1607904253.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:14.385Z,1607904254.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:15.213Z,1607904255.213 [Micromodem](INFO): Nmea in: $SNTTA,0.263437,,,,000415.13*45

2020-12-14T00:04:15.637Z,1607904255.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 395.099976 m, bearing: 100.687124 deg, deltaT: 4.653054 s, approachRate: -0.206321 m/s, LOS rate: 18.609872 deg/s, posRepo size: 4
2020-12-14T00:04:15.638Z,1607904255.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.609872 deg/s. Setting heading cmd to target bearing of 100.687124deg and heading rate command to 0 deg/s.
2020-12-14T00:04:18.066Z,1607904258.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:18.815Z,1607904258.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:19.237Z,1607904259.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:20.055Z,1607904260.055 [Micromodem](INFO): Nmea in: $SNTTA,0.262193,,,,000419.98*40

2020-12-14T00:04:20.489Z,1607904260.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 393.059998 m, bearing: 123.276281 deg, deltaT: 4.843062 s, approachRate: -0.421217 m/s, LOS rate: 4.664230 deg/s, posRepo size: 4
2020-12-14T00:04:20.496Z,1607904260.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 393.059998 m,
      bearing: 123.276281 deg,
      approachRate: -0.421217 m/s,
      LOS rate: 4.664230 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 100.687124 deg,
      new cmd heading: 100.687124 deg.

2020-12-14T00:04:22.934Z,1607904262.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:23.751Z,1607904263.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:24.149Z,1607904264.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:24.981Z,1607904264.981 [Micromodem](INFO): Nmea in: $SNTTA,0.260197,,,,000424.91*41

2020-12-14T00:04:25.426Z,1607904265.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 390.059967 m, bearing: 123.975611 deg, deltaT: 4.946639 s, approachRate: -0.606479 m/s, LOS rate: 0.141375 deg/s, posRepo size: 4
2020-12-14T00:04:25.429Z,1607904265.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.059967 m,
      bearing: 123.975611 deg,
      approachRate: -0.606479 m/s,
      LOS rate: 0.141375 deg/s,
      cmd update: 0.424124 deg/s,
      cmd heading: 160.046494 deg,
      new cmd heading: 164.941330 deg.

2020-12-14T00:04:26.193Z,1607904266.193 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:04:26.738Z,1607904266.738 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:04:26.739Z,1607904266.739 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:04:26.998Z,1607904266.998 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:04:27.395Z,1607904267.395 [Micromodem](INFO): Nmea in: $CADRQ,000427,1,9,0,64,1*4F

2020-12-14T00:04:27.395Z,1607904267.395 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:04:27.551Z,1607904267.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:27.788Z,1607904267.788 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:04:28.195Z,1607904268.195 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:04:28.196Z,1607904268.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:29.421Z,1607904269.421 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:04:29.421Z,1607904269.421 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:04:29.796Z,1607904269.796 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000428.577090,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T00:04:29.796Z,1607904269.796 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000428.577090,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T00:04:30.227Z,1607904270.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:33.055Z,1607904273.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:35.564Z,1607904275.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:38.362Z,1607904278.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:39.541Z,1607904279.541 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:39.929Z,1607904279.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:40.749Z,1607904280.750 [Micromodem](INFO): Nmea in: $SNTTA,0.252748,,,,000440.70*49

2020-12-14T00:04:41.174Z,1607904281.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 378.899963 m, bearing: 128.202733 deg, deltaT: 15.931586 s, approachRate: -0.700495 m/s, LOS rate: 0.265330 deg/s, posRepo size: 4
2020-12-14T00:04:41.176Z,1607904281.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 378.899963 m,
      bearing: 128.202733 deg,
      approachRate: -0.700495 m/s,
      LOS rate: 0.265330 deg/s,
      cmd update: 0.795989 deg/s,
      cmd heading: 166.796658 deg,
      new cmd heading: 166.898332 deg.

2020-12-14T00:04:43.626Z,1607904283.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:44.393Z,1607904284.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:44.777Z,1607904284.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:45.605Z,1607904285.605 [Micromodem](INFO): Nmea in: $SNTTA,0.250228,,,,000445.56*49

2020-12-14T00:04:46.026Z,1607904286.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 375.119995 m, bearing: 127.968785 deg, deltaT: 4.711103 s, approachRate: -0.802353 m/s, LOS rate: -0.049659 deg/s, posRepo size: 4
2020-12-14T00:04:46.028Z,1607904286.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.119995 m,
      bearing: 127.968785 deg,
      approachRate: -0.802353 m/s,
      LOS rate: -0.049659 deg/s,
      cmd update: -0.148976 deg/s,
      cmd heading: 170.559442 deg,
      new cmd heading: 170.850932 deg.

2020-12-14T00:04:48.482Z,1607904288.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:49.215Z,1607904289.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:49.753Z,1607904289.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:50.569Z,1607904290.569 [Micromodem](INFO): Nmea in: $SNTTA,0.248077,,,,000450.38*44

2020-12-14T00:04:50.981Z,1607904290.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 371.880005 m, bearing: 125.992634 deg, deltaT: 4.994490 s, approachRate: -0.648713 m/s, LOS rate: -0.395666 deg/s, posRepo size: 4
2020-12-14T00:04:50.983Z,1607904290.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.880005 m,
      bearing: 125.992634 deg,
      approachRate: -0.648713 m/s,
      LOS rate: -0.395666 deg/s,
      cmd update: -1.186999 deg/s,
      cmd heading: 169.817764 deg,
      new cmd heading: 169.766744 deg.

2020-12-14T00:04:53.598Z,1607904293.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:54.179Z,1607904294.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:54.593Z,1607904294.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:04:55.427Z,1607904295.427 [Micromodem](INFO): Nmea in: $SNTTA,0.246050,,,,000455.34*46

2020-12-14T00:04:55.862Z,1607904295.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 368.820007 m, bearing: 125.167233 deg, deltaT: 5.005108 s, approachRate: -0.611375 m/s, LOS rate: -0.164912 deg/s, posRepo size: 4
2020-12-14T00:04:55.864Z,1607904295.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 368.820007 m,
      bearing: 125.167233 deg,
      approachRate: -0.611375 m/s,
      LOS rate: -0.164912 deg/s,
      cmd update: -0.494735 deg/s,
      cmd heading: 163.857751 deg,
      new cmd heading: 163.616569 deg.

2020-12-14T00:04:58.282Z,1607904298.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:04:59.047Z,1607904299.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:04:59.477Z,1607904299.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:00.315Z,1607904300.315 [Micromodem](INFO): Nmea in: $SNTTA,0.243678,,,,000500.21*4A

2020-12-14T00:05:00.729Z,1607904300.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 365.220001 m, bearing: 125.038156 deg, deltaT: 4.724043 s, approachRate: -0.762060 m/s, LOS rate: -0.027323 deg/s, posRepo size: 4
2020-12-14T00:05:00.731Z,1607904300.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.220001 m,
      bearing: 125.038156 deg,
      approachRate: -0.762060 m/s,
      LOS rate: -0.027323 deg/s,
      cmd update: -0.081970 deg/s,
      cmd heading: 161.522594 deg,
      new cmd heading: 161.359247 deg.

2020-12-14T00:05:03.154Z,1607904303.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:03.907Z,1607904303.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:04.336Z,1607904304.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:05.162Z,1607904305.162 [Micromodem](INFO): Nmea in: $SNTTA,0.241330,,,,000505.07*40

2020-12-14T00:05:05.598Z,1607904305.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.799988 m, bearing: 124.472862 deg, deltaT: 4.800935 s, approachRate: -0.712364 m/s, LOS rate: -0.117747 deg/s, posRepo size: 4
2020-12-14T00:05:05.601Z,1607904305.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.799988 m,
      bearing: 124.472862 deg,
      approachRate: -0.712364 m/s,
      LOS rate: -0.117747 deg/s,
      cmd update: -0.353240 deg/s,
      cmd heading: 161.128731 deg,
      new cmd heading: 161.094855 deg.

2020-12-14T00:05:08.006Z,1607904308.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:08.785Z,1607904308.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:09.193Z,1607904309.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:10.028Z,1607904310.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000509.95*5E

2020-12-14T00:05:10.455Z,1607904310.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.259979 m, bearing: 123.709220 deg, deltaT: 4.858838 s, approachRate: -0.728571 m/s, LOS rate: -0.157166 deg/s, posRepo size: 4
2020-12-14T00:05:10.457Z,1607904310.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.259979 m,
      bearing: 123.709220 deg,
      approachRate: -0.728571 m/s,
      LOS rate: -0.157166 deg/s,
      cmd update: -0.471497 deg/s,
      cmd heading: 159.412399 deg,
      new cmd heading: 159.266788 deg.

2020-12-14T00:05:13.012Z,1607904313.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:13.636Z,1607904313.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:14.037Z,1607904314.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:14.865Z,1607904314.865 [Micromodem](INFO): Nmea in: $SNTTA,0.236565,,,,000514.80*49

2020-12-14T00:05:15.287Z,1607904315.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.600006 m, bearing: 123.693893 deg, deltaT: 5.003120 s, approachRate: -0.731538 m/s, LOS rate: -0.003063 deg/s, posRepo size: 4
2020-12-14T00:05:15.311Z,1607904315.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.600006 m,
      bearing: 123.693893 deg,
      approachRate: -0.731538 m/s,
      LOS rate: -0.003063 deg/s,
      cmd update: -0.009190 deg/s,
      cmd heading: 157.053539 deg,
      new cmd heading: 156.941318 deg.

2020-12-14T00:05:17.726Z,1607904317.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:18.498Z,1607904318.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:18.885Z,1607904318.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:19.765Z,1607904319.765 [Micromodem](INFO): Nmea in: $SNTTA,0.234246,,,,000519.66*48

2020-12-14T00:05:20.208Z,1607904320.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 351.119995 m, bearing: 123.217569 deg, deltaT: 4.756719 s, approachRate: -0.731599 m/s, LOS rate: -0.100137 deg/s, posRepo size: 4
2020-12-14T00:05:20.210Z,1607904320.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.119995 m,
      bearing: 123.217569 deg,
      approachRate: -0.731599 m/s,
      LOS rate: -0.100137 deg/s,
      cmd update: -0.300411 deg/s,
      cmd heading: 157.009820 deg,
      new cmd heading: 157.006098 deg.

2020-12-14T00:05:22.725Z,1607904322.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:23.480Z,1607904323.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:23.865Z,1607904323.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:24.696Z,1607904324.696 [Micromodem](INFO): Nmea in: $SNTTA,0.232049,,,,000524.64*4F

2020-12-14T00:05:25.124Z,1607904325.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.940002 m, bearing: 123.663867 deg, deltaT: 4.977734 s, approachRate: -0.638843 m/s, LOS rate: 0.089659 deg/s, posRepo size: 4
2020-12-14T00:05:25.126Z,1607904325.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.940002 m,
      bearing: 123.663867 deg,
      approachRate: -0.638843 m/s,
      LOS rate: 0.089659 deg/s,
      cmd update: 0.268977 deg/s,
      cmd heading: 155.515680 deg,
      new cmd heading: 155.411263 deg.

2020-12-14T00:05:27.722Z,1607904327.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:28.337Z,1607904328.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:28.732Z,1607904328.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:29.547Z,1607904329.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000529.50*55

2020-12-14T00:05:29.971Z,1607904329.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.919983 m, bearing: 122.062311 deg, deltaT: 4.800671 s, approachRate: -0.837387 m/s, LOS rate: -0.333611 deg/s, posRepo size: 4
2020-12-14T00:05:29.974Z,1607904329.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.919983 m,
      bearing: 122.062311 deg,
      approachRate: -0.837387 m/s,
      LOS rate: -0.333611 deg/s,
      cmd update: -1.000833 deg/s,
      cmd heading: 156.808038 deg,
      new cmd heading: 156.913013 deg.

2020-12-14T00:05:31.969Z,1607904331.969 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:05:32.148Z,1607904332.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:32.572Z,1607904332.572 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:05:32.578Z,1607904332.578 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:05:32.811Z,1607904332.811 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:05:32.812Z,1607904332.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:33.234Z,1607904333.234 [Micromodem](INFO): Nmea in: $CADRQ,000533,1,9,0,64,1*4B

2020-12-14T00:05:33.234Z,1607904333.234 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,000533,1,9,0,64,1*4B

2020-12-14T00:05:33.617Z,1607904333.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:34.041Z,1607904334.041 [Micromodem](INFO): Nmea in: $SNTTA,0.227394,,,,000533.98*4D

2020-12-14T00:05:34.483Z,1607904334.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.859985 m, bearing: 121.887321 deg, deltaT: 4.647295 s, approachRate: -0.658447 m/s, LOS rate: -0.037654 deg/s, posRepo size: 4
2020-12-14T00:05:34.489Z,1607904334.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.859985 m,
      bearing: 121.887321 deg,
      approachRate: -0.658447 m/s,
      LOS rate: -0.037654 deg/s,
      cmd update: -0.112962 deg/s,
      cmd heading: 152.159536 deg,
      new cmd heading: 151.902549 deg.

2020-12-14T00:05:36.868Z,1607904336.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:37.663Z,1607904337.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:38.061Z,1607904338.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:38.925Z,1607904338.925 [Micromodem](INFO): Nmea in: $SNTTA,0.225107,,,,000538.83*46

2020-12-14T00:05:39.365Z,1607904339.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.019989 m, bearing: 121.691841 deg, deltaT: 4.711069 s, approachRate: -0.815101 m/s, LOS rate: -0.041494 deg/s, posRepo size: 4
2020-12-14T00:05:39.367Z,1607904339.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.019989 m,
      bearing: 121.691841 deg,
      approachRate: -0.815101 m/s,
      LOS rate: -0.041494 deg/s,
      cmd update: -0.124481 deg/s,
      cmd heading: 151.627059 deg,
      new cmd heading: 151.579014 deg.

2020-12-14T00:05:41.795Z,1607904341.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:42.571Z,1607904342.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:42.953Z,1607904342.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:43.774Z,1607904343.774 [Micromodem](INFO): Nmea in: $SNTTA,0.222343,,,,000543.73*40

2020-12-14T00:05:44.196Z,1607904344.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.239990 m, bearing: 120.149858 deg, deltaT: 4.917838 s, approachRate: -0.768630 m/s, LOS rate: -0.313549 deg/s, posRepo size: 4
2020-12-14T00:05:44.198Z,1607904344.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.239990 m,
      bearing: 120.149858 deg,
      approachRate: -0.768630 m/s,
      LOS rate: -0.313549 deg/s,
      cmd update: -0.940647 deg/s,
      cmd heading: 151.015383 deg,
      new cmd heading: 150.972727 deg.

2020-12-14T00:05:45.803Z,1607904345.803 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T00:05:46.705Z,1607904346.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:47.399Z,1607904347.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:47.809Z,1607904347.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:48.629Z,1607904348.629 [Micromodem](INFO): Nmea in: $SNTTA,0.219811,,,,000548.56*48

2020-12-14T00:05:49.038Z,1607904349.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 329.459991 m, bearing: 121.235612 deg, deltaT: 4.851340 s, approachRate: -0.779166 m/s, LOS rate: 0.223805 deg/s, posRepo size: 4
2020-12-14T00:05:49.040Z,1607904349.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.459991 m,
      bearing: 121.235612 deg,
      approachRate: -0.779166 m/s,
      LOS rate: 0.223805 deg/s,
      cmd update: 0.671415 deg/s,
      cmd heading: 146.455756 deg,
      new cmd heading: 146.138935 deg.

2020-12-14T00:05:51.717Z,1607904351.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:52.272Z,1607904352.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:52.681Z,1607904352.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:53.544Z,1607904353.544 [Micromodem](INFO): Nmea in: $SNTTA,0.217380,,,,000553.44*4C

2020-12-14T00:05:53.958Z,1607904353.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.859985 m, bearing: 120.556787 deg, deltaT: 5.045713 s, approachRate: -0.713478 m/s, LOS rate: -0.134535 deg/s, posRepo size: 4
2020-12-14T00:05:53.959Z,1607904353.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.859985 m,
      bearing: 120.556787 deg,
      approachRate: -0.713478 m/s,
      LOS rate: -0.134535 deg/s,
      cmd update: -0.403605 deg/s,
      cmd heading: 149.848931 deg,
      new cmd heading: 149.985184 deg.

2020-12-14T00:05:56.425Z,1607904356.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:05:57.143Z,1607904357.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:05:57.584Z,1607904357.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:05:58.383Z,1607904358.383 [Micromodem](INFO): Nmea in: $SNTTA,0.215063,,,,000558.31*49

2020-12-14T00:05:59.210Z,1607904359.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:00.779Z,1607904360.779 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:06:02.011Z,1607904362.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:02.803Z,1607904362.803 [Micromodem](INFO): Nmea in: $CAERR,000603,DATA_TIMEOUT,1*4B

2020-12-14T00:06:02.804Z,1607904362.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:03.472Z,1607904363.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:04.150Z,1607904364.150 [Micromodem](INFO): Nmea in: $SNTTA,0.211940,,,,000603.97*44

2020-12-14T00:06:04.626Z,1607904364.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.699982 m, bearing: 120.418598 deg, deltaT: 10.598271 s, approachRate: -0.769937 m/s, LOS rate: -0.013039 deg/s, posRepo size: 4
2020-12-14T00:06:04.628Z,1607904364.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.699982 m,
      bearing: 120.418598 deg,
      approachRate: -0.769937 m/s,
      LOS rate: -0.013039 deg/s,
      cmd update: -0.039116 deg/s,
      cmd heading: 145.571419 deg,
      new cmd heading: 145.461289 deg.

2020-12-14T00:06:06.999Z,1607904366.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:07.795Z,1607904367.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:08.201Z,1607904368.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:09.025Z,1607904369.025 [Micromodem](INFO): Nmea in: $SNTTA,0.209592,,,,000608.96*44

2020-12-14T00:06:09.491Z,1607904369.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.979980 m, bearing: 118.612205 deg, deltaT: 4.687047 s, approachRate: -0.793677 m/s, LOS rate: -0.385401 deg/s, posRepo size: 4
2020-12-14T00:06:09.506Z,1607904369.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.979980 m,
      bearing: 118.612205 deg,
      approachRate: -0.793677 m/s,
      LOS rate: -0.385401 deg/s,
      cmd update: -1.156204 deg/s,
      cmd heading: 145.388080 deg,
      new cmd heading: 145.370583 deg.

2020-12-14T00:06:11.894Z,1607904371.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:12.665Z,1607904372.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:13.105Z,1607904373.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:13.921Z,1607904373.921 [Micromodem](INFO): Nmea in: $SNTTA,0.207056,,,,000613.83*49

2020-12-14T00:06:14.363Z,1607904374.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.139984 m, bearing: 118.311389 deg, deltaT: 4.944961 s, approachRate: -0.776547 m/s, LOS rate: -0.060833 deg/s, posRepo size: 4
2020-12-14T00:06:14.366Z,1607904374.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.139984 m,
      bearing: 118.311389 deg,
      approachRate: -0.776547 m/s,
      LOS rate: -0.060833 deg/s,
      cmd update: -0.182498 deg/s,
      cmd heading: 139.670859 deg,
      new cmd heading: 139.232851 deg.

2020-12-14T00:06:16.811Z,1607904376.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:17.574Z,1607904377.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:17.945Z,1607904377.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:18.778Z,1607904378.778 [Micromodem](INFO): Nmea in: $SNTTA,0.204275,,,,000618.74*4A

2020-12-14T00:06:19.355Z,1607904379.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.239990 m, bearing: 118.460328 deg, deltaT: 4.863825 s, approachRate: -0.801837 m/s, LOS rate: 0.030622 deg/s, posRepo size: 4
2020-12-14T00:06:19.357Z,1607904379.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.239990 m,
      bearing: 118.460328 deg,
      approachRate: -0.801837 m/s,
      LOS rate: 0.030622 deg/s,
      cmd update: 0.091865 deg/s,
      cmd heading: 138.785168 deg,
      new cmd heading: 138.690837 deg.

2020-12-14T00:06:21.632Z,1607904381.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:22.391Z,1607904382.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:22.805Z,1607904382.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:23.620Z,1607904383.620 [Micromodem](INFO): Nmea in: $SNTTA,0.201750,,,,000623.56*45

2020-12-14T00:06:24.036Z,1607904384.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.459991 m, bearing: 118.475136 deg, deltaT: 4.977637 s, approachRate: -0.759396 m/s, LOS rate: 0.002975 deg/s, posRepo size: 4
2020-12-14T00:06:24.038Z,1607904384.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.459991 m,
      bearing: 118.475136 deg,
      approachRate: -0.759396 m/s,
      LOS rate: 0.002975 deg/s,
      cmd update: 0.008925 deg/s,
      cmd heading: 139.243064 deg,
      new cmd heading: 139.262735 deg.

2020-12-14T00:06:26.469Z,1607904386.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:27.239Z,1607904387.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:27.642Z,1607904387.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:28.507Z,1607904388.507 [Micromodem](INFO): Nmea in: $SNTTA,0.199047,,,,000628.40*4A

2020-12-14T00:06:28.895Z,1607904388.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.380005 m, bearing: 118.234768 deg, deltaT: 4.748907 s, approachRate: -0.859142 m/s, LOS rate: -0.050615 deg/s, posRepo size: 4
2020-12-14T00:06:28.915Z,1607904388.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.380005 m,
      bearing: 118.234768 deg,
      approachRate: -0.859142 m/s,
      LOS rate: -0.050615 deg/s,
      cmd update: -0.151846 deg/s,
      cmd heading: 139.285483 deg,
      new cmd heading: 139.288339 deg.

2020-12-14T00:06:31.367Z,1607904391.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:32.084Z,1607904392.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:32.581Z,1607904392.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:33.385Z,1607904393.385 [Micromodem](INFO): Nmea in: $SNTTA,0.196467,,,,000633.25*4A

2020-12-14T00:06:33.835Z,1607904393.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.539978 m, bearing: 117.035879 deg, deltaT: 4.889077 s, approachRate: -0.785430 m/s, LOS rate: -0.245218 deg/s, posRepo size: 4
2020-12-14T00:06:33.853Z,1607904393.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.539978 m,
      bearing: 117.035879 deg,
      approachRate: -0.785430 m/s,
      LOS rate: -0.245218 deg/s,
      cmd update: -0.735654 deg/s,
      cmd heading: 138.543100 deg,
      new cmd heading: 138.486851 deg.

2020-12-14T00:06:36.242Z,1607904396.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:37.027Z,1607904397.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:37.431Z,1607904397.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:37.830Z,1607904397.830 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:06:38.261Z,1607904398.261 [Micromodem](INFO): Nmea in: $SNTTA,0.193888,,,,000638.19*46

2020-12-14T00:06:38.447Z,1607904398.447 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:06:38.447Z,1607904398.447 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:06:38.896Z,1607904398.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.639984 m, bearing: 118.696393 deg, deltaT: 5.100659 s, approachRate: -0.764606 m/s, LOS rate: 0.325549 deg/s, posRepo size: 4
2020-12-14T00:06:38.898Z,1607904398.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.639984 m,
      bearing: 118.696393 deg,
      approachRate: -0.764606 m/s,
      LOS rate: 0.325549 deg/s,
      cmd update: 0.976647 deg/s,
      cmd heading: 134.790837 deg,
      new cmd heading: 134.547108 deg.

2020-12-14T00:06:39.578Z,1607904399.578 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:06:39.962Z,1607904399.962 [Micromodem](INFO): Nmea in: $CADRQ,000639,1,9,0,64,1*42

2020-12-14T00:06:39.962Z,1607904399.962 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:06:40.377Z,1607904400.377 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:06:40.757Z,1607904400.757 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:06:41.207Z,1607904401.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:41.976Z,1607904401.976 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:06:41.977Z,1607904401.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:42.391Z,1607904402.391 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000641.146090,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:06:42.391Z,1607904402.391 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000641.146090,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:06:42.773Z,1607904402.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:43.416Z,1607904403.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000643.14*5A

2020-12-14T00:06:43.845Z,1607904403.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:45.439Z,1607904405.439 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:06:46.698Z,1607904406.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:47.459Z,1607904407.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:47.854Z,1607904407.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:48.685Z,1607904408.685 [Micromodem](INFO): Nmea in: $SNTTA,0.188115,,,,000648.62*4A

2020-12-14T00:06:49.104Z,1607904409.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.000000 m, bearing: 118.341306 deg, deltaT: 10.193868 s, approachRate: -0.847567 m/s, LOS rate: -0.034833 deg/s, posRepo size: 4
2020-12-14T00:06:49.106Z,1607904409.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.000000 m,
      bearing: 118.341306 deg,
      approachRate: -0.847567 m/s,
      LOS rate: -0.034833 deg/s,
      cmd update: -0.104500 deg/s,
      cmd heading: 144.746761 deg,
      new cmd heading: 145.083976 deg.

2020-12-14T00:06:51.701Z,1607904411.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:52.315Z,1607904412.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:52.697Z,1607904412.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:53.533Z,1607904413.533 [Micromodem](INFO): Nmea in: $SNTTA,0.185685,,,,000653.48*4B

2020-12-14T00:06:53.948Z,1607904413.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.220001 m, bearing: 116.461692 deg, deltaT: 4.835299 s, approachRate: -0.781751 m/s, LOS rate: -0.388727 deg/s, posRepo size: 4
2020-12-14T00:06:53.950Z,1607904413.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.220001 m,
      bearing: 116.461692 deg,
      approachRate: -0.781751 m/s,
      LOS rate: -0.388727 deg/s,
      cmd update: -1.166182 deg/s,
      cmd heading: 144.241498 deg,
      new cmd heading: 144.204439 deg.

2020-12-14T00:06:56.127Z,1607904416.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:06:56.759Z,1607904416.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:06:57.153Z,1607904417.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:06:57.969Z,1607904417.969 [Micromodem](INFO): Nmea in: $SNTTA,0.183495,,,,000657.92*4D

2020-12-14T00:06:58.423Z,1607904418.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.980011 m, bearing: 116.135387 deg, deltaT: 4.562254 s, approachRate: -0.710173 m/s, LOS rate: -0.071523 deg/s, posRepo size: 4
2020-12-14T00:06:58.427Z,1607904418.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.980011 m,
      bearing: 116.135387 deg,
      approachRate: -0.710173 m/s,
      LOS rate: -0.071523 deg/s,
      cmd update: -0.214569 deg/s,
      cmd heading: 138.921037 deg,
      new cmd heading: 138.609858 deg.

2020-12-14T00:07:00.820Z,1607904420.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:01.592Z,1607904421.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:01.993Z,1607904421.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:02.857Z,1607904422.857 [Micromodem](INFO): Nmea in: $SNTTA,0.180862,,,,000702.75*42

2020-12-14T00:07:03.281Z,1607904423.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.080017 m, bearing: 115.229417 deg, deltaT: 4.743220 s, approachRate: -0.822225 m/s, LOS rate: -0.191003 deg/s, posRepo size: 4
2020-12-14T00:07:03.283Z,1607904423.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.080017 m,
      bearing: 115.229417 deg,
      approachRate: -0.822225 m/s,
      LOS rate: -0.191003 deg/s,
      cmd update: -0.573009 deg/s,
      cmd heading: 137.904105 deg,
      new cmd heading: 137.821478 deg.

2020-12-14T00:07:05.724Z,1607904425.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:06.483Z,1607904426.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:06.881Z,1607904426.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:07.729Z,1607904427.729 [Micromodem](INFO): Nmea in: $SNTTA,0.178162,,,,000707.65*48

2020-12-14T00:07:08.124Z,1607904428.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.119995 m, bearing: 115.188231 deg, deltaT: 4.884530 s, approachRate: -0.810727 m/s, LOS rate: -0.008432 deg/s, posRepo size: 4
2020-12-14T00:07:08.126Z,1607904428.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.119995 m,
      bearing: 115.188231 deg,
      approachRate: -0.810727 m/s,
      LOS rate: -0.008432 deg/s,
      cmd update: -0.025296 deg/s,
      cmd heading: 135.112224 deg,
      new cmd heading: 134.907907 deg.

2020-12-14T00:07:10.634Z,1607904430.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:11.383Z,1607904431.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:11.809Z,1607904431.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:12.638Z,1607904432.638 [Micromodem](INFO): Nmea in: $SNTTA,0.175564,,,,000712.55*40

2020-12-14T00:07:13.056Z,1607904433.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.160004 m, bearing: 115.214636 deg, deltaT: 4.889049 s, approachRate: -0.809972 m/s, LOS rate: 0.005401 deg/s, posRepo size: 4
2020-12-14T00:07:13.059Z,1607904433.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.160004 m,
      bearing: 115.214636 deg,
      approachRate: -0.809972 m/s,
      LOS rate: 0.005401 deg/s,
      cmd update: 0.016203 deg/s,
      cmd heading: 134.988147 deg,
      new cmd heading: 134.978445 deg.

2020-12-14T00:07:15.638Z,1607904435.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:16.239Z,1607904436.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:16.637Z,1607904436.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:17.461Z,1607904437.461 [Micromodem](INFO): Nmea in: $SNTTA,0.172964,,,,000717.40*4A

2020-12-14T00:07:17.965Z,1607904437.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.260010 m, bearing: 114.905024 deg, deltaT: 5.001835 s, approachRate: -0.779713 m/s, LOS rate: -0.061900 deg/s, posRepo size: 4
2020-12-14T00:07:17.966Z,1607904437.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.260010 m,
      bearing: 114.905024 deg,
      approachRate: -0.779713 m/s,
      LOS rate: -0.061900 deg/s,
      cmd update: -0.185699 deg/s,
      cmd heading: 135.069195 deg,
      new cmd heading: 135.073886 deg.

2020-12-14T00:07:20.332Z,1607904440.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:21.083Z,1607904441.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:21.533Z,1607904441.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:22.335Z,1607904442.335 [Micromodem](INFO): Nmea in: $SNTTA,0.170367,,,,000722.25*44

2020-12-14T00:07:22.742Z,1607904442.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.360001 m, bearing: 115.184406 deg, deltaT: 4.701180 s, approachRate: -0.829581 m/s, LOS rate: 0.059428 deg/s, posRepo size: 4
2020-12-14T00:07:22.744Z,1607904442.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.360001 m,
      bearing: 115.184406 deg,
      approachRate: -0.829581 m/s,
      LOS rate: 0.059428 deg/s,
      cmd update: 0.178284 deg/s,
      cmd heading: 134.196188 deg,
      new cmd heading: 134.128331 deg.

2020-12-14T00:07:25.190Z,1607904445.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:25.931Z,1607904445.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:26.361Z,1607904446.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:27.172Z,1607904447.172 [Micromodem](INFO): Nmea in: $SNTTA,0.167794,,,,000727.10*49

2020-12-14T00:07:27.620Z,1607904447.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.460007 m, bearing: 115.599353 deg, deltaT: 4.810852 s, approachRate: -0.810666 m/s, LOS rate: 0.086252 deg/s, posRepo size: 4
2020-12-14T00:07:27.622Z,1607904447.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.460007 m,
      bearing: 115.599353 deg,
      approachRate: -0.810666 m/s,
      LOS rate: 0.086252 deg/s,
      cmd update: 0.258757 deg/s,
      cmd heading: 135.053888 deg,
      new cmd heading: 135.131056 deg.

2020-12-14T00:07:30.030Z,1607904450.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:30.791Z,1607904450.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:31.201Z,1607904451.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:32.029Z,1607904452.029 [Micromodem](INFO): Nmea in: $SNTTA,0.165114,,,,000731.96*4C

2020-12-14T00:07:32.452Z,1607904452.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.440002 m, bearing: 114.456909 deg, deltaT: 4.856702 s, approachRate: -0.827723 m/s, LOS rate: -0.235231 deg/s, posRepo size: 4
2020-12-14T00:07:32.454Z,1607904452.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.440002 m,
      bearing: 114.456909 deg,
      approachRate: -0.827723 m/s,
      LOS rate: -0.235231 deg/s,
      cmd update: -0.705692 deg/s,
      cmd heading: 136.310547 deg,
      new cmd heading: 136.416209 deg.

2020-12-14T00:07:35.020Z,1607904455.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:35.647Z,1607904455.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:36.053Z,1607904456.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:36.873Z,1607904456.873 [Micromodem](INFO): Nmea in: $SNTTA,0.162445,,,,000736.81*4B

2020-12-14T00:07:37.323Z,1607904457.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.419983 m, bearing: 114.480985 deg, deltaT: 5.021011 s, approachRate: -0.800639 m/s, LOS rate: 0.004795 deg/s, posRepo size: 4
2020-12-14T00:07:37.331Z,1607904457.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.419983 m,
      bearing: 114.480985 deg,
      approachRate: -0.800639 m/s,
      LOS rate: 0.004795 deg/s,
      cmd update: 0.014385 deg/s,
      cmd heading: 132.767142 deg,
      new cmd heading: 132.603010 deg.

2020-12-14T00:07:39.731Z,1607904459.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:40.502Z,1607904460.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:40.901Z,1607904460.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:41.741Z,1607904461.741 [Micromodem](INFO): Nmea in: $SNTTA,0.159831,,,,000741.67*44

2020-12-14T00:07:42.159Z,1607904462.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.519989 m, bearing: 114.638127 deg, deltaT: 4.756002 s, approachRate: -0.820015 m/s, LOS rate: 0.033041 deg/s, posRepo size: 4
2020-12-14T00:07:42.162Z,1607904462.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.519989 m,
      bearing: 114.638127 deg,
      approachRate: -0.820015 m/s,
      LOS rate: 0.033041 deg/s,
      cmd update: 0.099122 deg/s,
      cmd heading: 132.835548 deg,
      new cmd heading: 132.840429 deg.

2020-12-14T00:07:43.746Z,1607904463.746 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:07:44.263Z,1607904464.263 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:07:44.264Z,1607904464.264 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:07:44.355Z,1607904464.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:44.572Z,1607904464.572 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:07:44.943Z,1607904464.943 [Micromodem](INFO): Nmea in: $CADRQ,000745,1,9,0,64,1*48

2020-12-14T00:07:44.944Z,1607904464.944 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:07:45.363Z,1607904465.363 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:07:45.363Z,1607904465.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:45.742Z,1607904465.742 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:07:45.743Z,1607904465.743 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:07:46.984Z,1607904466.984 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:07:46.985Z,1607904466.985 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:07:47.002Z,1607904467.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:47.376Z,1607904467.376 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000746.125664,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T00:07:47.376Z,1607904467.376 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000746.125664,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T00:07:49.955Z,1607904469.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:52.644Z,1607904472.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:55.563Z,1607904475.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:07:56.690Z,1607904476.690 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:07:57.089Z,1607904477.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:07:57.917Z,1607904477.917 [Micromodem](INFO): Nmea in: $SNTTA,0.151254,,,,000757.85*4E

2020-12-14T00:07:58.358Z,1607904478.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.679993 m, bearing: 112.268878 deg, deltaT: 16.110816 s, approachRate: -0.796980 m/s, LOS rate: -0.147060 deg/s, posRepo size: 4
2020-12-14T00:07:58.360Z,1607904478.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.679993 m,
      bearing: 112.268878 deg,
      approachRate: -0.796980 m/s,
      LOS rate: -0.147060 deg/s,
      cmd update: -0.441179 deg/s,
      cmd heading: 134.432570 deg,
      new cmd heading: 134.474893 deg.

2020-12-14T00:08:00.929Z,1607904480.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:01.559Z,1607904481.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:01.941Z,1607904481.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:02.767Z,1607904482.767 [Micromodem](INFO): Nmea in: $SNTTA,0.148601,,,,000802.72*45

2020-12-14T00:08:03.177Z,1607904483.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.599991 m, bearing: 112.656922 deg, deltaT: 5.041034 s, approachRate: -0.809358 m/s, LOS rate: 0.076977 deg/s, posRepo size: 4
2020-12-14T00:08:03.179Z,1607904483.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.599991 m,
      bearing: 112.656922 deg,
      approachRate: -0.809358 m/s,
      LOS rate: 0.076977 deg/s,
      cmd update: 0.230931 deg/s,
      cmd heading: 132.208582 deg,
      new cmd heading: 132.118224 deg.

2020-12-14T00:08:05.632Z,1607904485.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:06.391Z,1607904486.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:06.807Z,1607904486.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:07.621Z,1607904487.621 [Micromodem](INFO): Nmea in: $SNTTA,0.146111,,,,000807.55*4D

2020-12-14T00:08:08.028Z,1607904488.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.879990 m, bearing: 109.836996 deg, deltaT: 4.697686 s, approachRate: -0.791879 m/s, LOS rate: -0.600280 deg/s, posRepo size: 4
2020-12-14T00:08:08.030Z,1607904488.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.879990 m,
      bearing: 109.836996 deg,
      approachRate: -0.791879 m/s,
      LOS rate: -0.600280 deg/s,
      cmd update: -1.800839 deg/s,
      cmd heading: 133.293430 deg,
      new cmd heading: 133.376130 deg.

2020-12-14T00:08:10.525Z,1607904490.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:11.227Z,1607904491.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:11.637Z,1607904491.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:12.477Z,1607904492.477 [Micromodem](INFO): Nmea in: $SNTTA,0.143490,,,,000812.39*4A

2020-12-14T00:08:12.884Z,1607904492.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.039978 m, bearing: 110.568926 deg, deltaT: 4.902605 s, approachRate: -0.783259 m/s, LOS rate: 0.149294 deg/s, posRepo size: 4
2020-12-14T00:08:12.887Z,1607904492.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.039978 m,
      bearing: 110.568926 deg,
      approachRate: -0.783259 m/s,
      LOS rate: 0.149294 deg/s,
      cmd update: 0.447882 deg/s,
      cmd heading: 124.472074 deg,
      new cmd heading: 123.903866 deg.

2020-12-14T00:08:15.350Z,1607904495.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:16.083Z,1607904496.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:16.501Z,1607904496.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:17.332Z,1607904497.332 [Micromodem](INFO): Nmea in: $SNTTA,0.140898,,,,000817.25*45

2020-12-14T00:08:17.778Z,1607904497.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.079987 m, bearing: 109.652328 deg, deltaT: 4.799618 s, approachRate: -0.825064 m/s, LOS rate: -0.190973 deg/s, posRepo size: 4
2020-12-14T00:08:17.780Z,1607904497.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.079987 m,
      bearing: 109.652328 deg,
      approachRate: -0.825064 m/s,
      LOS rate: -0.190973 deg/s,
      cmd update: -0.572919 deg/s,
      cmd heading: 126.623575 deg,
      new cmd heading: 126.805342 deg.

2020-12-14T00:08:20.288Z,1607904500.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:20.937Z,1607904500.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:21.375Z,1607904501.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:22.189Z,1607904502.189 [Micromodem](INFO): Nmea in: $SNTTA,0.138096,,,,000822.10*4C

2020-12-14T00:08:22.614Z,1607904502.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.000000 m, bearing: 110.146445 deg, deltaT: 5.032188 s, approachRate: -0.810778 m/s, LOS rate: 0.098191 deg/s, posRepo size: 4
2020-12-14T00:08:22.616Z,1607904502.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 110.146445 deg,
      approachRate: -0.810778 m/s,
      LOS rate: 0.098191 deg/s,
      cmd update: 0.294573 deg/s,
      cmd heading: 123.740528 deg,
      new cmd heading: 123.620679 deg.

2020-12-14T00:08:25.011Z,1607904505.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:25.799Z,1607904505.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:26.211Z,1607904506.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:27.049Z,1607904507.049 [Micromodem](INFO): Nmea in: $SNTTA,0.135381,,,,000826.96*4E

2020-12-14T00:08:27.471Z,1607904507.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.859985 m, bearing: 109.706819 deg, deltaT: 4.658854 s, approachRate: -0.888634 m/s, LOS rate: -0.094363 deg/s, posRepo size: 4
2020-12-14T00:08:27.473Z,1607904507.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.859985 m,
      bearing: 109.706819 deg,
      approachRate: -0.888634 m/s,
      LOS rate: -0.094363 deg/s,
      cmd update: -0.283090 deg/s,
      cmd heading: 125.112908 deg,
      new cmd heading: 125.232850 deg.

2020-12-14T00:08:29.898Z,1607904509.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:30.647Z,1607904510.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:31.057Z,1607904511.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:31.893Z,1607904511.893 [Micromodem](INFO): Nmea in: $SNTTA,0.132868,,,,000831.81*45

2020-12-14T00:08:32.336Z,1607904512.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 109.066660 deg, deltaT: 4.853435 s, approachRate: -0.766468 m/s, LOS rate: -0.131898 deg/s, posRepo size: 4
2020-12-14T00:08:32.342Z,1607904512.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.139984 m,
      bearing: 109.066660 deg,
      approachRate: -0.766468 m/s,
      LOS rate: -0.131898 deg/s,
      cmd update: -0.395695 deg/s,
      cmd heading: 123.738956 deg,
      new cmd heading: 123.620369 deg.

2020-12-14T00:08:34.767Z,1607904514.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:35.576Z,1607904515.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:35.977Z,1607904515.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:36.839Z,1607904516.839 [Micromodem](INFO): Nmea in: $SNTTA,0.129961,,,,000836.74*4A

2020-12-14T00:08:37.236Z,1607904517.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.819992 m, bearing: 109.008760 deg, deltaT: 4.990607 s, approachRate: -0.865625 m/s, LOS rate: -0.011602 deg/s, posRepo size: 4
2020-12-14T00:08:37.238Z,1607904517.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.819992 m,
      bearing: 109.008760 deg,
      approachRate: -0.865625 m/s,
      LOS rate: -0.011602 deg/s,
      cmd update: -0.034805 deg/s,
      cmd heading: 121.765761 deg,
      new cmd heading: 121.634216 deg.

2020-12-14T00:08:39.793Z,1607904519.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:40.421Z,1607904520.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:40.825Z,1607904520.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:41.678Z,1607904521.678 [Micromodem](INFO): Nmea in: $SNTTA,0.127377,,0.130133,0.136877,000841.58*48

2020-12-14T00:08:42.107Z,1607904522.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 108.304582 deg, deltaT: 5.000815 s, approachRate: -0.779872 m/s, LOS rate: -0.140813 deg/s, posRepo size: 4
2020-12-14T00:08:42.110Z,1607904522.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 108.304582 deg,
      approachRate: -0.779872 m/s,
      LOS rate: -0.140813 deg/s,
      cmd update: -0.422438 deg/s,
      cmd heading: 121.591951 deg,
      new cmd heading: 121.584637 deg.

2020-12-14T00:08:44.575Z,1607904524.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:45.312Z,1607904525.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:45.705Z,1607904525.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:46.545Z,1607904526.545 [Micromodem](INFO): Nmea in: $SNTTA,0.124661,,,,000846.47*4F

2020-12-14T00:08:46.959Z,1607904526.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 107.360062 deg, deltaT: 4.712593 s, approachRate: -0.891228 m/s, LOS rate: -0.200425 deg/s, posRepo size: 4
2020-12-14T00:08:46.961Z,1607904526.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.720001 m,
      bearing: 107.360062 deg,
      approachRate: -0.891228 m/s,
      LOS rate: -0.200425 deg/s,
      cmd update: -0.601274 deg/s,
      cmd heading: 119.598223 deg,
      new cmd heading: 119.453632 deg.

2020-12-14T00:08:49.366Z,1607904529.366 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:08:49.454Z,1607904529.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:49.895Z,1607904529.895 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:08:49.895Z,1607904529.895 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:08:50.147Z,1607904530.147 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:08:50.148Z,1607904530.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:50.571Z,1607904530.571 [Micromodem](INFO): Nmea in: $CADRQ,000850,1,9,0,64,1*43

2020-12-14T00:08:50.571Z,1607904530.571 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,000850,1,9,0,64,1*43

2020-12-14T00:08:50.968Z,1607904530.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:51.394Z,1607904531.394 [Micromodem](INFO): Nmea in: $SNTTA,0.122022,,,,000851.31*4F

2020-12-14T00:08:51.441Z,1607904531.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 107.836420 deg, deltaT: 4.398872 s, approachRate: 0.000000 m/s, LOS rate: 0.108291 deg/s, posRepo size: 4
2020-12-14T00:08:51.444Z,1607904531.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.720001 m,
      bearing: 107.836420 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.108291 deg/s,
      cmd update: 0.324873 deg/s,
      cmd heading: 116.950880 deg,
      new cmd heading: 116.698163 deg.

2020-12-14T00:08:53.864Z,1607904533.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:54.595Z,1607904534.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:55.070Z,1607904535.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:08:55.890Z,1607904535.890 [Micromodem](INFO): Nmea in: $SNTTA,0.119416,,,,000855.76*43

2020-12-14T00:08:55.968Z,1607904535.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 107.663357 deg, deltaT: 4.541392 s, approachRate: -1.717536 m/s, LOS rate: -0.038108 deg/s, posRepo size: 4
2020-12-14T00:08:55.975Z,1607904535.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 107.663357 deg,
      approachRate: -1.717536 m/s,
      LOS rate: -0.038108 deg/s,
      cmd update: -0.114324 deg/s,
      cmd heading: 118.426246 deg,
      new cmd heading: 118.558246 deg.

2020-12-14T00:08:58.374Z,1607904538.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:08:59.108Z,1607904539.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:08:59.527Z,1607904539.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:00.386Z,1607904540.386 [Micromodem](INFO): Nmea in: $SNTTA,0.117060,,,,000900.27*4D

2020-12-14T00:09:00.451Z,1607904540.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 107.031120 deg, deltaT: 4.417759 s, approachRate: 0.000000 m/s, LOS rate: -0.143112 deg/s, posRepo size: 4
2020-12-14T00:09:00.457Z,1607904540.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 107.031120 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.143112 deg/s,
      cmd update: -0.429337 deg/s,
      cmd heading: 117.921784 deg,
      new cmd heading: 117.867182 deg.

2020-12-14T00:09:02.764Z,1607904542.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:03.577Z,1607904543.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:03.957Z,1607904543.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:04.782Z,1607904544.782 [Micromodem](INFO): Nmea in: $SNTTA,0.114546,,,,000904.74*4D

2020-12-14T00:09:04.826Z,1607904544.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 107.732184 deg, deltaT: 4.497516 s, approachRate: 0.000000 m/s, LOS rate: 0.155878 deg/s, posRepo size: 4
2020-12-14T00:09:04.828Z,1607904544.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 107.732184 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.155878 deg/s,
      cmd update: 0.467634 deg/s,
      cmd heading: 115.994364 deg,
      new cmd heading: 115.838313 deg.

2020-12-14T00:09:07.416Z,1607904547.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:08.016Z,1607904548.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:08.419Z,1607904548.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:09.251Z,1607904549.251 [Micromodem](INFO): Nmea in: $SNTTA,0.111948,,,,000909.18*4D

2020-12-14T00:09:09.286Z,1607904549.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 107.030048 deg, deltaT: 4.391802 s, approachRate: 0.000000 m/s, LOS rate: -0.159874 deg/s, posRepo size: 4
2020-12-14T00:09:09.321Z,1607904549.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 107.030048 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.159874 deg/s,
      cmd update: -0.479623 deg/s,
      cmd heading: 118.054384 deg,
      new cmd heading: 118.250038 deg.

2020-12-14T00:09:11.886Z,1607904551.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:12.463Z,1607904552.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:12.865Z,1607904552.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:13.702Z,1607904553.702 [Micromodem](INFO): Nmea in: $SNTTA,0.109560,,,,000913.63*45

2020-12-14T00:09:13.887Z,1607904553.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 106.551798 deg, deltaT: 4.484520 s, approachRate: -3.211045 m/s, LOS rate: -0.106645 deg/s, posRepo size: 4
2020-12-14T00:09:13.889Z,1607904553.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.520004 m,
      bearing: 106.551798 deg,
      approachRate: -3.211045 m/s,
      LOS rate: -0.106645 deg/s,
      cmd update: -0.319934 deg/s,
      cmd heading: 115.905417 deg,
      new cmd heading: 115.647184 deg.

2020-12-14T00:09:16.130Z,1607904556.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:16.911Z,1607904556.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:17.338Z,1607904557.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:18.142Z,1607904558.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000918.08*56

2020-12-14T00:09:18.378Z,1607904558.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.160004 m, bearing: 105.736806 deg, deltaT: 4.420189 s, approachRate: -3.474965 m/s, LOS rate: -0.184379 deg/s, posRepo size: 4
2020-12-14T00:09:18.381Z,1607904558.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.160004 m,
      bearing: 105.736806 deg,
      approachRate: -3.474965 m/s,
      LOS rate: -0.184379 deg/s,
      cmd update: -0.553138 deg/s,
      cmd heading: 114.490008 deg,
      new cmd heading: 114.296213 deg.

2020-12-14T00:09:20.178Z,1607904560.178 [Micromodem](INFO): Nmea in: $CAERR,000920,DATA_TIMEOUT,1*45

2020-12-14T00:09:20.424Z,1607904560.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:20.991Z,1607904560.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:21.404Z,1607904561.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:22.230Z,1607904562.230 [Micromodem](INFO): Nmea in: $SNTTA,0.104933,,,,000922.16*42

2020-12-14T00:09:22.264Z,1607904562.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 105.625440 deg, deltaT: 4.113634 s, approachRate: 1.954478 m/s, LOS rate: -0.027072 deg/s, posRepo size: 4
2020-12-14T00:09:22.266Z,1607904562.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 105.625440 deg,
      approachRate: 1.954478 m/s,
      LOS rate: -0.027072 deg/s,
      cmd update: -0.081217 deg/s,
      cmd heading: 112.216778 deg,
      new cmd heading: 112.005642 deg.

2020-12-14T00:09:24.833Z,1607904564.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:25.452Z,1607904565.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:25.841Z,1607904565.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:26.674Z,1607904566.674 [Micromodem](INFO): Nmea in: $SNTTA,0.102343,,,,000926.61*4D

2020-12-14T00:09:26.920Z,1607904566.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 105.403288 deg, deltaT: 4.452906 s, approachRate: -0.862361 m/s, LOS rate: -0.049889 deg/s, posRepo size: 4
2020-12-14T00:09:26.922Z,1607904566.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.360001 m,
      bearing: 105.403288 deg,
      approachRate: -0.862361 m/s,
      LOS rate: -0.049889 deg/s,
      cmd update: -0.149668 deg/s,
      cmd heading: 111.854802 deg,
      new cmd heading: 111.807657 deg.

2020-12-14T00:09:29.123Z,1607904569.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:29.913Z,1607904569.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:30.339Z,1607904570.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:31.174Z,1607904571.174 [Micromodem](INFO): Nmea in: $SNTTA,0.100042,,,,000931.08*44

2020-12-14T00:09:31.196Z,1607904571.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 105.529162 deg, deltaT: 4.570617 s, approachRate: -0.748257 m/s, LOS rate: 0.027540 deg/s, posRepo size: 4
2020-12-14T00:09:31.198Z,1607904571.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 105.529162 deg,
      approachRate: -0.748257 m/s,
      LOS rate: 0.027540 deg/s,
      cmd update: 0.082619 deg/s,
      cmd heading: 111.170720 deg,
      new cmd heading: 111.127921 deg.

2020-12-14T00:09:33.618Z,1607904573.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:34.382Z,1607904574.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:34.762Z,1607904574.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:35.614Z,1607904575.614 [Micromodem](INFO): Nmea in: $SNTTA,0.097530,,,,000935.55*47

2020-12-14T00:09:35.659Z,1607904575.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 105.331858 deg, deltaT: 4.296891 s, approachRate: 0.000000 m/s, LOS rate: -0.045918 deg/s, posRepo size: 4
2020-12-14T00:09:35.662Z,1607904575.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 105.331858 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.045918 deg/s,
      cmd update: -0.137753 deg/s,
      cmd heading: 111.525497 deg,
      new cmd heading: 111.563117 deg.

2020-12-14T00:09:38.009Z,1607904578.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:38.798Z,1607904578.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:39.208Z,1607904579.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:40.066Z,1607904580.066 [Micromodem](INFO): Nmea in: $SNTTA,0.095157,,,,000939.96*43

2020-12-14T00:09:40.109Z,1607904580.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.559998 m, bearing: 104.769966 deg, deltaT: 4.488972 s, approachRate: -1.644030 m/s, LOS rate: -0.125172 deg/s, posRepo size: 4
2020-12-14T00:09:40.111Z,1607904580.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.559998 m,
      bearing: 104.769966 deg,
      approachRate: -1.644030 m/s,
      LOS rate: -0.125172 deg/s,
      cmd update: -0.375515 deg/s,
      cmd heading: 110.907305 deg,
      new cmd heading: 110.849833 deg.

2020-12-14T00:09:42.554Z,1607904582.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:43.371Z,1607904583.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:43.754Z,1607904583.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:44.602Z,1607904584.602 [Micromodem](INFO): Nmea in: $SNTTA,0.092682,,,,000944.54*4F

2020-12-14T00:09:44.647Z,1607904584.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.839996 m, bearing: 103.051688 deg, deltaT: 4.476669 s, approachRate: -0.830975 m/s, LOS rate: -0.383829 deg/s, posRepo size: 4
2020-12-14T00:09:44.650Z,1607904584.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.839996 m,
      bearing: 103.051688 deg,
      approachRate: -0.830975 m/s,
      LOS rate: -0.383829 deg/s,
      cmd update: -1.151488 deg/s,
      cmd heading: 109.225150 deg,
      new cmd heading: 109.046380 deg.

2020-12-14T00:09:47.035Z,1607904587.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:47.795Z,1607904587.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:48.202Z,1607904588.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:49.040Z,1607904589.040 [Micromodem](INFO): Nmea in: $SNTTA,0.090101,,,,000948.96*43

2020-12-14T00:09:49.066Z,1607904589.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.000000 m, bearing: 104.436215 deg, deltaT: 4.471449 s, approachRate: -0.858781 m/s, LOS rate: 0.309637 deg/s, posRepo size: 4
2020-12-14T00:09:49.068Z,1607904589.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.000000 m,
      bearing: 104.436215 deg,
      approachRate: -0.858781 m/s,
      LOS rate: 0.309637 deg/s,
      cmd update: 0.928912 deg/s,
      cmd heading: 104.075088 deg,
      new cmd heading: 103.589715 deg.

2020-12-14T00:09:51.512Z,1607904591.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:52.246Z,1607904592.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:52.745Z,1607904592.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:09:53.594Z,1607904593.594 [Micromodem](INFO): Nmea in: $SNTTA,0.087467,,,,000953.41*40

2020-12-14T00:09:53.667Z,1607904593.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 105.724341 deg, deltaT: 4.546741 s, approachRate: -0.884151 m/s, LOS rate: 0.283307 deg/s, posRepo size: 4
2020-12-14T00:09:53.670Z,1607904593.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.979996 m,
      bearing: 105.724341 deg,
      approachRate: -0.884151 m/s,
      LOS rate: 0.283307 deg/s,
      cmd update: 0.849922 deg/s,
      cmd heading: 108.294583 deg,
      new cmd heading: 108.741561 deg.

2020-12-14T00:09:55.177Z,1607904595.177 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:09:55.723Z,1607904595.723 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:09:55.723Z,1607904595.723 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:09:55.817Z,1607904595.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:55.981Z,1607904595.981 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:09:56.387Z,1607904596.387 [Micromodem](INFO): Nmea in: $CADRQ,000956,1,9,0,64,1*44

2020-12-14T00:09:56.388Z,1607904596.388 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:09:56.883Z,1607904596.883 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:09:56.887Z,1607904596.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:09:57.271Z,1607904597.271 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:09:57.271Z,1607904597.271 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:09:58.483Z,1607904598.483 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:09:58.483Z,1607904598.483 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:09:58.777Z,1607904598.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:09:58.952Z,1607904598.952 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,000957.566883,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T00:09:58.952Z,1607904598.952 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,000957.566883,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T00:10:01.418Z,1607904601.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:04.242Z,1607904604.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:07.059Z,1607904607.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:08.246Z,1607904608.246 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:08.649Z,1607904608.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:09.501Z,1607904609.501 [Micromodem](INFO): Nmea in: $SNTTA,0.078789,,,,001009.41*44

2020-12-14T00:10:09.597Z,1607904609.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 101.612472 deg, deltaT: 16.053576 s, approachRate: -0.803559 m/s, LOS rate: -0.256134 deg/s, posRepo size: 4
2020-12-14T00:10:09.599Z,1607904609.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.080002 m,
      bearing: 101.612472 deg,
      approachRate: -0.803559 m/s,
      LOS rate: -0.256134 deg/s,
      cmd update: -0.768403 deg/s,
      cmd heading: 121.942634 deg,
      new cmd heading: 122.238882 deg.

2020-12-14T00:10:11.934Z,1607904611.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:12.699Z,1607904612.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:13.109Z,1607904613.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:13.938Z,1607904613.938 [Micromodem](INFO): Nmea in: $SNTTA,0.076187,,,,001013.86*42

2020-12-14T00:10:13.960Z,1607904613.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 102.950205 deg, deltaT: 4.344164 s, approachRate: -0.911568 m/s, LOS rate: 0.307938 deg/s, posRepo size: 4
2020-12-14T00:10:13.963Z,1607904613.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.120003 m,
      bearing: 102.950205 deg,
      approachRate: -0.911568 m/s,
      LOS rate: 0.307938 deg/s,
      cmd update: 0.923814 deg/s,
      cmd heading: 118.607479 deg,
      new cmd heading: 118.319138 deg.

2020-12-14T00:10:16.415Z,1607904616.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:17.147Z,1607904617.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:17.577Z,1607904617.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:18.402Z,1607904618.402 [Micromodem](INFO): Nmea in: $SNTTA,0.073938,,,,001018.31*4C

2020-12-14T00:10:18.440Z,1607904618.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.700005 m, bearing: 101.170893 deg, deltaT: 4.401993 s, approachRate: -0.776920 m/s, LOS rate: -0.404206 deg/s, posRepo size: 4
2020-12-14T00:10:18.443Z,1607904618.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.700005 m,
      bearing: 101.170893 deg,
      approachRate: -0.776920 m/s,
      LOS rate: -0.404206 deg/s,
      cmd update: -1.212618 deg/s,
      cmd heading: 122.662672 deg,
      new cmd heading: 123.092392 deg.

2020-12-14T00:10:20.833Z,1607904620.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:21.595Z,1607904621.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:22.001Z,1607904622.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:22.838Z,1607904622.838 [Micromodem](INFO): Nmea in: $SNTTA,0.071563,,,,001022.76*46

2020-12-14T00:10:22.937Z,1607904622.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 99.914814 deg, deltaT: 4.465875 s, approachRate: -0.792678 m/s, LOS rate: -0.281261 deg/s, posRepo size: 4
2020-12-14T00:10:22.939Z,1607904622.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 99.914814 deg,
      approachRate: -0.792678 m/s,
      LOS rate: -0.281261 deg/s,
      cmd update: -0.843784 deg/s,
      cmd heading: 117.257101 deg,
      new cmd heading: 116.645297 deg.

2020-12-14T00:10:25.341Z,1607904625.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:26.047Z,1607904626.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:26.458Z,1607904626.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:27.297Z,1607904627.297 [Micromodem](INFO): Nmea in: $SNTTA,0.069267,,,,001027.21*4B

2020-12-14T00:10:27.353Z,1607904627.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 100.163563 deg, deltaT: 4.447789 s, approachRate: -0.782410 m/s, LOS rate: 0.055926 deg/s, posRepo size: 4
2020-12-14T00:10:27.355Z,1607904627.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.680008 m,
      bearing: 100.163563 deg,
      approachRate: -0.782410 m/s,
      LOS rate: 0.055926 deg/s,
      cmd update: 0.167779 deg/s,
      cmd heading: 113.494175 deg,
      new cmd heading: 113.104766 deg.

2020-12-14T00:10:29.765Z,1607904629.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:30.507Z,1607904630.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:30.989Z,1607904630.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:31.810Z,1607904631.810 [Micromodem](INFO): Nmea in: $SNTTA,0.066853,,,,001031.67*4C

2020-12-14T00:10:31.872Z,1607904631.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.960007 m, bearing: 99.176976 deg, deltaT: 4.504450 s, approachRate: -0.825850 m/s, LOS rate: -0.219025 deg/s, posRepo size: 4
2020-12-14T00:10:31.874Z,1607904631.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.960007 m,
      bearing: 99.176976 deg,
      approachRate: -0.825850 m/s,
      LOS rate: -0.219025 deg/s,
      cmd update: -0.657075 deg/s,
      cmd heading: 114.251983 deg,
      new cmd heading: 114.329735 deg.

2020-12-14T00:10:34.240Z,1607904634.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:35.036Z,1607904635.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:35.533Z,1607904635.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:36.346Z,1607904636.346 [Micromodem](INFO): Nmea in: $SNTTA,0.064156,,,0.073149,001036.20*50

2020-12-14T00:10:36.422Z,1607904636.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 99.046431 deg, deltaT: 4.509721 s, approachRate: -0.864799 m/s, LOS rate: -0.028948 deg/s, posRepo size: 4
2020-12-14T00:10:36.426Z,1607904636.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.060005 m,
      bearing: 99.046431 deg,
      approachRate: -0.864799 m/s,
      LOS rate: -0.028948 deg/s,
      cmd update: -0.086843 deg/s,
      cmd heading: 111.288611 deg,
      new cmd heading: 110.957924 deg.

2020-12-14T00:10:38.767Z,1607904638.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:39.571Z,1607904639.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:39.938Z,1607904639.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:40.782Z,1607904640.782 [Micromodem](INFO): Nmea in: $SNTTA,0.061714,,0.070789,,001040.73*5B

2020-12-14T00:10:40.823Z,1607904640.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 98.085731 deg, deltaT: 4.491807 s, approachRate: -0.814818 m/s, LOS rate: -0.213878 deg/s, posRepo size: 4
2020-12-14T00:10:40.829Z,1607904640.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 98.085731 deg,
      approachRate: -0.814818 m/s,
      LOS rate: -0.213878 deg/s,
      cmd update: -0.641635 deg/s,
      cmd heading: 110.898608 deg,
      new cmd heading: 110.862682 deg.

2020-12-14T00:10:43.226Z,1607904643.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:43.997Z,1607904643.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:44.401Z,1607904644.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:45.246Z,1607904645.246 [Micromodem](INFO): Nmea in: $SNTTA,0.059313,,0.098506,,001045.16*56

2020-12-14T00:10:45.261Z,1607904645.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.860001 m, bearing: 97.772368 deg, deltaT: 4.442551 s, approachRate: -0.796840 m/s, LOS rate: -0.070537 deg/s, posRepo size: 4
2020-12-14T00:10:45.265Z,1607904645.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.860001 m,
      bearing: 97.772368 deg,
      approachRate: -0.796840 m/s,
      LOS rate: -0.070537 deg/s,
      cmd update: -0.211610 deg/s,
      cmd heading: 108.047549 deg,
      new cmd heading: 107.785768 deg.

2020-12-14T00:10:47.680Z,1607904647.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:48.437Z,1607904648.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:48.837Z,1607904648.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:49.678Z,1607904649.678 [Micromodem](INFO): Nmea in: $SNTTA,0.056844,,0.063981,,001049.60*5A

2020-12-14T00:10:49.733Z,1607904649.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 96.100932 deg, deltaT: 4.489576 s, approachRate: -0.841950 m/s, LOS rate: -0.372293 deg/s, posRepo size: 4
2020-12-14T00:10:49.735Z,1607904649.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.080002 m,
      bearing: 96.100932 deg,
      approachRate: -0.841950 m/s,
      LOS rate: -0.372293 deg/s,
      cmd update: -1.116878 deg/s,
      cmd heading: 107.103916 deg,
      new cmd heading: 107.014877 deg.

2020-12-14T00:10:52.083Z,1607904652.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:52.883Z,1607904652.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:53.285Z,1607904653.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:54.138Z,1607904654.138 [Micromodem](INFO): Nmea in: $SNTTA,0.054487,,,,001054.05*4F

2020-12-14T00:10:54.179Z,1607904654.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 96.077812 deg, deltaT: 4.384586 s, approachRate: -0.793689 m/s, LOS rate: -0.005273 deg/s, posRepo size: 4
2020-12-14T00:10:54.181Z,1607904654.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.600006 m,
      bearing: 96.077812 deg,
      approachRate: -0.793689 m/s,
      LOS rate: -0.005273 deg/s,
      cmd update: -0.015819 deg/s,
      cmd heading: 102.173039 deg,
      new cmd heading: 101.667741 deg.

2020-12-14T00:10:56.723Z,1607904656.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:10:57.347Z,1607904657.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:10:57.733Z,1607904657.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:10:58.583Z,1607904658.583 [Micromodem](INFO): Nmea in: $SNTTA,0.051944,,,,001058.51*45

2020-12-14T00:10:58.629Z,1607904658.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.700005 m, bearing: 95.922589 deg, deltaT: 4.429427 s, approachRate: -0.880475 m/s, LOS rate: -0.035044 deg/s, posRepo size: 4
2020-12-14T00:10:58.631Z,1607904658.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.700005 m,
      bearing: 95.922589 deg,
      approachRate: -0.880475 m/s,
      LOS rate: -0.035044 deg/s,
      cmd update: -0.105131 deg/s,
      cmd heading: 102.102969 deg,
      new cmd heading: 102.095493 deg.

2020-12-14T00:11:00.951Z,1607904660.951 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:11:01.122Z,1607904661.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:01.552Z,1607904661.552 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:11:01.552Z,1607904661.552 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:11:01.823Z,1607904661.823 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:11:01.824Z,1607904661.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:02.223Z,1607904662.223 [Micromodem](INFO): Nmea in: $CADRQ,001102,1,9,0,64,1*4C

2020-12-14T00:11:02.223Z,1607904662.223 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,001102,1,9,0,64,1*4C

2020-12-14T00:11:02.630Z,1607904662.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:03.063Z,1607904663.063 [Micromodem](INFO): Nmea in: $SNTTA,0.049377,,,,001102.99*4C

2020-12-14T00:11:03.221Z,1607904663.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 95.868392 deg, deltaT: 4.549058 s, approachRate: -0.817750 m/s, LOS rate: -0.011914 deg/s, posRepo size: 4
2020-12-14T00:11:03.223Z,1607904663.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.980011 m,
      bearing: 95.868392 deg,
      approachRate: -0.817750 m/s,
      LOS rate: -0.011914 deg/s,
      cmd update: -0.035742 deg/s,
      cmd heading: 101.625145 deg,
      new cmd heading: 101.570523 deg.

2020-12-14T00:11:05.550Z,1607904665.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:06.267Z,1607904666.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:06.665Z,1607904666.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:07.522Z,1607904667.522 [Micromodem](INFO): Nmea in: $SNTTA,0.046938,,,,001107.43*40

2020-12-14T00:11:07.740Z,1607904667.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.260010 m, bearing: 94.428786 deg, deltaT: 4.410322 s, approachRate: -0.843476 m/s, LOS rate: -0.326417 deg/s, posRepo size: 4
2020-12-14T00:11:07.742Z,1607904667.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.260010 m,
      bearing: 94.428786 deg,
      approachRate: -0.843476 m/s,
      LOS rate: -0.326417 deg/s,
      cmd update: -0.979252 deg/s,
      cmd heading: 101.467367 deg,
      new cmd heading: 101.445045 deg.

2020-12-14T00:11:09.745Z,1607904669.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:10.359Z,1607904670.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:10.757Z,1607904670.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:11.598Z,1607904671.598 [Micromodem](INFO): Nmea in: $SNTTA,0.044884,,,,001111.52*43

2020-12-14T00:11:11.660Z,1607904671.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 94.083322 deg, deltaT: 4.062825 s, approachRate: -0.767939 m/s, LOS rate: -0.085031 deg/s, posRepo size: 4
2020-12-14T00:11:11.662Z,1607904671.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 94.083322 deg,
      approachRate: -0.767939 m/s,
      LOS rate: -0.085031 deg/s,
      cmd update: -0.255092 deg/s,
      cmd heading: 97.492749 deg,
      new cmd heading: 97.020909 deg.

2020-12-14T00:11:12.435Z,1607904672.435 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:11:14.146Z,1607904674.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:14.779Z,1607904674.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:15.189Z,1607904675.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:16.026Z,1607904676.026 [Micromodem](INFO): Nmea in: $SNTTA,0.042506,,0.084013,,001115.94*5C

2020-12-14T00:11:16.216Z,1607904676.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 94.271138 deg, deltaT: 4.469096 s, approachRate: -0.805533 m/s, LOS rate: 0.042026 deg/s, posRepo size: 4
2020-12-14T00:11:16.219Z,1607904676.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 94.271138 deg,
      approachRate: -0.805533 m/s,
      LOS rate: 0.042026 deg/s,
      cmd update: 0.126077 deg/s,
      cmd heading: 96.351701 deg,
      new cmd heading: 96.206666 deg.

2020-12-14T00:11:18.478Z,1607904678.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:19.243Z,1607904679.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:19.645Z,1607904679.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:20.475Z,1607904680.475 [Micromodem](INFO): Nmea in: $SNTTA,0.040207,,,,001120.41*46

2020-12-14T00:11:20.696Z,1607904680.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 93.696487 deg, deltaT: 4.448467 s, approachRate: -0.768803 m/s, LOS rate: -0.129180 deg/s, posRepo size: 4
2020-12-14T00:11:20.698Z,1607904680.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 93.696487 deg,
      approachRate: -0.768803 m/s,
      LOS rate: -0.129180 deg/s,
      cmd update: -0.387539 deg/s,
      cmd heading: 96.910529 deg,
      new cmd heading: 96.988173 deg.

2020-12-14T00:11:22.698Z,1607904682.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:23.279Z,1607904683.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:23.697Z,1607904683.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:24.537Z,1607904684.537 [Micromodem](INFO): Nmea in: $SNTTA,0.037655,,,,001124.44*44

2020-12-14T00:11:24.618Z,1607904684.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.340000 m, bearing: 93.720700 deg, deltaT: 4.006333 s, approachRate: -0.943508 m/s, LOS rate: 0.006044 deg/s, posRepo size: 4
2020-12-14T00:11:24.620Z,1607904684.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.340000 m,
      bearing: 93.720700 deg,
      approachRate: -0.943508 m/s,
      LOS rate: 0.006044 deg/s,
      cmd update: 0.018131 deg/s,
      cmd heading: 95.351711 deg,
      new cmd heading: 95.153543 deg.

2020-12-14T00:11:27.114Z,1607904687.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:27.728Z,1607904687.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:28.125Z,1607904688.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:28.998Z,1607904688.998 [Micromodem](INFO): Nmea in: $SNTTA,0.035136,,,,001128.89*49

2020-12-14T00:11:29.164Z,1607904689.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.559998 m, bearing: 91.567749 deg, deltaT: 4.520912 s, approachRate: -0.836115 m/s, LOS rate: -0.476220 deg/s, posRepo size: 4
2020-12-14T00:11:29.166Z,1607904689.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.559998 m,
      bearing: 91.567749 deg,
      approachRate: -0.836115 m/s,
      LOS rate: -0.476220 deg/s,
      cmd update: -1.428661 deg/s,
      cmd heading: 95.433680 deg,
      new cmd heading: 95.443485 deg.

2020-12-14T00:11:31.458Z,1607904691.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:31.812Z,1607904691.812 [Micromodem](INFO): Nmea in: $CAERR,001132,DATA_TIMEOUT,1*4F

2020-12-14T00:11:32.215Z,1607904692.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:32.617Z,1607904692.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:33.454Z,1607904693.454 [Micromodem](INFO): Nmea in: $SNTTA,0.032529,,,,001133.38*44

2020-12-14T00:11:33.747Z,1607904693.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.599995 m, bearing: 91.155992 deg, deltaT: 4.463776 s, approachRate: -0.887142 m/s, LOS rate: -0.092244 deg/s, posRepo size: 4
2020-12-14T00:11:33.750Z,1607904693.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.599995 m,
      bearing: 91.155992 deg,
      approachRate: -0.887142 m/s,
      LOS rate: -0.092244 deg/s,
      cmd update: -0.276733 deg/s,
      cmd heading: 89.059265 deg,
      new cmd heading: 88.113035 deg.

2020-12-14T00:11:35.702Z,1607904695.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:36.351Z,1607904696.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:36.737Z,1607904696.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:37.590Z,1607904697.590 [Micromodem](INFO): Nmea in: $SNTTA,0.030148,,,,001137.52*4D

2020-12-14T00:11:37.624Z,1607904697.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 92.481636 deg, deltaT: 4.059264 s, approachRate: -0.872079 m/s, LOS rate: 0.326573 deg/s, posRepo size: 4
2020-12-14T00:11:37.626Z,1607904697.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 92.481636 deg,
      approachRate: -0.872079 m/s,
      LOS rate: 0.326573 deg/s,
      cmd update: 0.979718 deg/s,
      cmd heading: 87.935381 deg,
      new cmd heading: 87.803108 deg.

2020-12-14T00:11:40.138Z,1607904700.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:40.779Z,1607904700.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:41.177Z,1607904701.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:42.058Z,1607904702.058 [Micromodem](INFO): Nmea in: $SNTTA,0.027613,,,,001141.94*49

2020-12-14T00:11:42.228Z,1607904702.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 92.171654 deg, deltaT: 4.512941 s, approachRate: -0.850886 m/s, LOS rate: -0.068687 deg/s, posRepo size: 4
2020-12-14T00:11:42.230Z,1607904702.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.220001 m,
      bearing: 92.171654 deg,
      approachRate: -0.850886 m/s,
      LOS rate: -0.068687 deg/s,
      cmd update: -0.206062 deg/s,
      cmd heading: 92.356790 deg,
      new cmd heading: 92.914115 deg.

2020-12-14T00:11:44.463Z,1607904704.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:45.215Z,1607904705.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:45.633Z,1607904705.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:46.466Z,1607904706.466 [Micromodem](INFO): Nmea in: $SNTTA,0.025123,,,,001146.38*4E

2020-12-14T00:11:46.682Z,1607904706.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 91.716634 deg, deltaT: 4.420834 s, approachRate: -0.827899 m/s, LOS rate: -0.102926 deg/s, posRepo size: 4
2020-12-14T00:11:46.682Z,1607904706.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.56 m.
2020-12-14T00:11:46.684Z,1607904706.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.559998 m,
      bearing: 91.716634 deg,
      approachRate: -0.827899 m/s,
      LOS rate: -0.102926 deg/s,
      cmd update: -0.308779 deg/s,
      cmd heading: 91.446692 deg,
      new cmd heading: 91.321921 deg.

2020-12-14T00:11:46.915Z,1607904706.915 [PowerOnly](INFO): Powering up loadControl
2020-12-14T00:11:48.711Z,1607904708.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:49.333Z,1607904709.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:49.709Z,1607904709.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:50.606Z,1607904710.606 [Micromodem](INFO): Nmea in: $SNTTA,0.022872,,,,001150.49*45

2020-12-14T00:11:50.659Z,1607904710.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 93.272715 deg, deltaT: 4.056445 s, approachRate: -0.695189 m/s, LOS rate: 0.383607 deg/s, posRepo size: 4
2020-12-14T00:11:50.660Z,1607904710.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2020-12-14T00:11:50.662Z,1607904710.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 93.272715 deg,
      approachRate: -0.695189 m/s,
      LOS rate: 0.383607 deg/s,
      cmd update: 1.150821 deg/s,
      cmd heading: 90.192905 deg,
      new cmd heading: 90.031463 deg.

2020-12-14T00:11:51.347Z,1607904711.347 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:11:52.644Z,1607904712.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:53.363Z,1607904713.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:53.741Z,1607904713.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:54.590Z,1607904714.590 [Micromodem](INFO): Nmea in: $SNTTA,0.020966,,,,001154.52*4D

2020-12-14T00:11:54.628Z,1607904714.628 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:11:54.650Z,1607904714.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 90.845587 deg, deltaT: 4.082772 s, approachRate: -0.867058 m/s, LOS rate: -0.594480 deg/s, posRepo size: 4
2020-12-14T00:11:54.651Z,1607904714.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2020-12-14T00:11:54.655Z,1607904714.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 90.845587 deg,
      approachRate: -0.867058 m/s,
      LOS rate: -0.594480 deg/s,
      cmd update: -1.783441 deg/s,
      cmd heading: 94.878805 deg,
      new cmd heading: 95.387826 deg.

2020-12-14T00:11:57.058Z,1607904717.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:11:57.799Z,1607904717.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:11:58.212Z,1607904718.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:11:59.046Z,1607904719.046 [Micromodem](INFO): Nmea in: $SNTTA,0.018923,,,,001158.96*43

2020-12-14T00:11:59.092Z,1607904719.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.920000 m, bearing: 91.970389 deg, deltaT: 4.516198 s, approachRate: -0.504850 m/s, LOS rate: 0.249060 deg/s, posRepo size: 4
2020-12-14T00:11:59.093Z,1607904719.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.92 m.
2020-12-14T00:11:59.095Z,1607904719.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.920000 m,
      bearing: 91.970389 deg,
      approachRate: -0.504850 m/s,
      LOS rate: 0.249060 deg/s,
      cmd update: 0.747179 deg/s,
      cmd heading: 86.804768 deg,
      new cmd heading: 86.168645 deg.

2020-12-14T00:12:01.735Z,1607904721.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:02.330Z,1607904722.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:02.729Z,1607904722.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:03.578Z,1607904723.578 [Micromodem](INFO): Nmea in: $SNTTA,0.017462,,,,001203.49*4B

2020-12-14T00:12:03.613Z,1607904723.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.979996 m, bearing: 92.832673 deg, deltaT: 4.408898 s, approachRate: -0.666834 m/s, LOS rate: 0.195578 deg/s, posRepo size: 4
2020-12-14T00:12:03.614Z,1607904723.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.98 m.
2020-12-14T00:12:03.614Z,1607904723.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 25.98 m.
2020-12-14T00:12:03.614Z,1607904723.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-14T00:12:03.616Z,1607904723.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.979996 m,
      bearing: 92.832673 deg,
      approachRate: -0.666834 m/s,
      LOS rate: 0.195578 deg/s,
      cmd update: 0.586734 deg/s,
      cmd heading: 90.097898 deg,
      new cmd heading: 90.449206 deg.

2020-12-14T00:12:05.651Z,1607904725.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:06.375Z,1607904726.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:06.765Z,1607904726.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:06.777Z,1607904726.777 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:12:07.338Z,1607904727.338 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:12:07.338Z,1607904727.338 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:12:07.646Z,1607904727.646 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:12:07.693Z,1607904727.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 94.433164 deg, deltaT: 4.282885 s, approachRate: -0.700461 m/s, LOS rate: 0.373695 deg/s, posRepo size: 4
2020-12-14T00:12:07.695Z,1607904727.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.980001 m,
      bearing: 94.433164 deg,
      approachRate: -0.700461 m/s,
      LOS rate: 0.373695 deg/s,
      cmd update: 1.121084 deg/s,
      cmd heading: 92.610310 deg,
      new cmd heading: 92.767687 deg.

2020-12-14T00:12:08.022Z,1607904728.022 [Micromodem](INFO): Nmea in: $CADRQ,001208,1,9,0,64,1*45

2020-12-14T00:12:08.022Z,1607904728.022 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:12:08.534Z,1607904728.534 [Micromodem](INFO): Nmea in: $SNTTA,0.016048,,,,001207.54*4E

2020-12-14T00:12:08.534Z,1607904728.534 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.016048,,,,001207.54*4E

2020-12-14T00:12:09.711Z,1607904729.711 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:12:10.111Z,1607904730.111 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:12:10.128Z,1607904730.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:10.530Z,1607904730.530 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:12:10.920Z,1607904730.920 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001209.205158,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T00:12:10.921Z,1607904730.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:11.353Z,1607904731.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:12.178Z,1607904732.178 [Micromodem](INFO): Nmea in: $SNTTA,0.014178,,,,001212.08*43

2020-12-14T00:12:12.227Z,1607904732.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 92.846552 deg, deltaT: 4.343950 s, approachRate: -0.455807 m/s, LOS rate: -0.365246 deg/s, posRepo size: 4
2020-12-14T00:12:12.230Z,1607904732.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.000000 m,
      bearing: 92.846552 deg,
      approachRate: -0.455807 m/s,
      LOS rate: -0.365246 deg/s,
      cmd update: -1.095739 deg/s,
      cmd heading: 97.483015 deg,
      new cmd heading: 97.994520 deg.

2020-12-14T00:12:14.763Z,1607904734.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:15.372Z,1607904735.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:15.773Z,1607904735.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:16.618Z,1607904736.618 [Micromodem](INFO): Nmea in: $SNTTA,0.011569,,,,001216.53*48

2020-12-14T00:12:16.667Z,1607904736.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 92.178300 deg, deltaT: 4.481970 s, approachRate: -0.870153 m/s, LOS rate: -0.149098 deg/s, posRepo size: 4
2020-12-14T00:12:16.669Z,1607904736.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.100002 m,
      bearing: 92.178300 deg,
      approachRate: -0.870153 m/s,
      LOS rate: -0.149098 deg/s,
      cmd update: -0.447294 deg/s,
      cmd heading: 92.572064 deg,
      new cmd heading: 92.118777 deg.

2020-12-14T00:12:19.161Z,1607904739.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:19.827Z,1607904739.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:20.225Z,1607904740.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:21.038Z,1607904741.038 [Micromodem](INFO): Nmea in: $SNTTA,0.009581,,,,001220.99*44

2020-12-14T00:12:21.208Z,1607904741.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 91.514433 deg, deltaT: 4.428893 s, approachRate: -0.663824 m/s, LOS rate: -0.149895 deg/s, posRepo size: 4
2020-12-14T00:12:21.210Z,1607904741.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 91.514433 deg,
      approachRate: -0.663824 m/s,
      LOS rate: -0.149895 deg/s,
      cmd update: -0.449684 deg/s,
      cmd heading: 90.594827 deg,
      new cmd heading: 90.355732 deg.

2020-12-14T00:12:23.500Z,1607904743.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:24.251Z,1607904744.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:24.657Z,1607904744.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:25.513Z,1607904745.513 [Micromodem](INFO): Nmea in: $SNTTA,0.007778,,,,001225.41*4E

2020-12-14T00:12:25.722Z,1607904745.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 87.528314 deg, deltaT: 4.436093 s, approachRate: -0.622169 m/s, LOS rate: -0.898565 deg/s, posRepo size: 4
2020-12-14T00:12:25.724Z,1607904745.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 87.528314 deg,
      approachRate: -0.622169 m/s,
      LOS rate: -0.898565 deg/s,
      cmd update: -2.695696 deg/s,
      cmd heading: 88.597318 deg,
      new cmd heading: 88.331978 deg.

2020-12-14T00:12:27.712Z,1607904747.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:28.339Z,1607904748.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:28.725Z,1607904748.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:29.566Z,1607904749.566 [Micromodem](INFO): Nmea in: $SNTTA,0.006218,,,,001229.50*40

2020-12-14T00:12:29.609Z,1607904749.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 86.229595 deg, deltaT: 4.024598 s, approachRate: -0.551608 m/s, LOS rate: -0.322695 deg/s, posRepo size: 4
2020-12-14T00:12:29.611Z,1607904749.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 86.229595 deg,
      approachRate: -0.551608 m/s,
      LOS rate: -0.322695 deg/s,
      cmd update: -0.968086 deg/s,
      cmd heading: 77.741194 deg,
      new cmd heading: 76.484846 deg.

2020-12-14T00:12:31.660Z,1607904751.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:32.375Z,1607904752.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:32.769Z,1607904752.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:33.606Z,1607904753.606 [Micromodem](INFO): Nmea in: $SNTTA,0.004806,,,,001233.54*48

2020-12-14T00:12:33.669Z,1607904753.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 80.185471 deg, deltaT: 4.094346 s, approachRate: -0.542211 m/s, LOS rate: -1.476212 deg/s, posRepo size: 4
2020-12-14T00:12:33.671Z,1607904753.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 80.185471 deg,
      approachRate: -0.542211 m/s,
      LOS rate: -1.476212 deg/s,
      cmd update: -4.428636 deg/s,
      cmd heading: 73.777503 deg,
      new cmd heading: 73.359889 deg.

2020-12-14T00:12:36.029Z,1607904756.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:36.820Z,1607904756.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:37.227Z,1607904757.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:38.046Z,1607904758.046 [Micromodem](INFO): Nmea in: $SNTTA,0.005239,,,,001237.98*4B

2020-12-14T00:12:38.078Z,1607904758.078 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-14T00:12:38.078Z,1607904758.078 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:12:38.078Z,1607904758.078 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-14T00:12:38.078Z,1607904758.078 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:12:38.078Z,1607904758.078 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-14T00:12:38.079Z,1607904758.079 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2020-12-14T00:12:38.079Z,1607904758.079 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-14T00:12:38.079Z,1607904758.079 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-14T00:12:38.079Z,1607904758.079 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-14T00:12:38.082Z,1607904758.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 76.206920 deg, deltaT: 4.428011 s, approachRate: -0.474253 m/s, LOS rate: -0.898496 deg/s, posRepo size: 4
2020-12-14T00:12:38.083Z,1607904758.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 76.206920 deg,
      approachRate: -0.474253 m/s,
      LOS rate: -0.898496 deg/s,
      cmd update: -2.695489 deg/s,
      cmd heading: 54.167635 deg,
      new cmd heading: 52.323688 deg.

2020-12-14T00:12:38.645Z,1607904758.645 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201214T001238: (41.552319, -70.708603)
2020-12-14T00:12:38.645Z,1607904758.645 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-14T00:12:38.645Z,1607904758.645 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-14T00:12:38.646Z,1607904758.646 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:12:38.646Z,1607904758.646 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-14T00:12:38.646Z,1607904758.646 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:12:38.646Z,1607904758.646 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-14T00:12:38.646Z,1607904758.646 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-14T00:12:38.646Z,1607904758.646 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:12:38.858Z,1607904758.858 [UniversalFixResidualReporter](INFO): Fix residual: 4.9 %DT, over the last 815.7 m. Residual distance 39.9 m at bearing 20.5 degrees. Fix at (41.5525, -70.7092) with 0.0 m made good.
2020-12-14T00:12:38.868Z,1607904758.868 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T00:02:38.8Z
2020-12-14T00:12:38.885Z,1607904758.885 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:12:38.885Z,1607904758.885 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:12:38.885Z,1607904758.885 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:12:38.885Z,1607904758.885 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:12:38.885Z,1607904758.885 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T00:12:39.276Z,1607904759.276 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:12:39.276Z,1607904759.276 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:12:39.276Z,1607904759.276 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:12:39.276Z,1607904759.276 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:12:39.276Z,1607904759.276 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:12:40.588Z,1607904760.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:41.331Z,1607904761.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:41.809Z,1607904761.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:42.626Z,1607904762.626 [Micromodem](INFO): Nmea in: $SNTTA,0.002709,,,,001242.49*44

2020-12-14T00:12:42.705Z,1607904762.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 72.390894 deg, deltaT: 4.574361 s, approachRate: -0.209866 m/s, LOS rate: -0.834221 deg/s, posRepo size: 4
2020-12-14T00:12:42.707Z,1607904762.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 72.390894 deg,
      approachRate: -0.209866 m/s,
      LOS rate: -0.834221 deg/s,
      cmd update: -2.502662 deg/s,
      cmd heading: 41.837453 deg,
      new cmd heading: 40.582283 deg.

2020-12-14T00:12:45.074Z,1607904765.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:45.847Z,1607904765.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:46.271Z,1607904766.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:47.122Z,1607904767.122 [Micromodem](INFO): Nmea in: $SNTTA,0.002692,,,,001247.01*4E

2020-12-14T00:12:47.164Z,1607904767.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 17.288225 deg, deltaT: 4.502409 s, approachRate: 0.039979 m/s, LOS rate: -12.238486 deg/s, posRepo size: 4
2020-12-14T00:12:47.165Z,1607904767.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.238486 deg/s. Setting heading cmd to target bearing of 17.288225deg and heading rate command to 0 deg/s.
2020-12-14T00:12:49.582Z,1607904769.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:50.340Z,1607904770.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:50.729Z,1607904770.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:51.566Z,1607904771.566 [Micromodem](INFO): Nmea in: $SNTTA,0.002709,,,,001251.50*4E

2020-12-14T00:12:51.656Z,1607904771.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 350.589266 deg, deltaT: 4.404799 s, approachRate: -0.013622 m/s, LOS rate: -6.061333 deg/s, posRepo size: 4
2020-12-14T00:12:51.663Z,1607904771.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 350.589266 deg,
      approachRate: -0.013622 m/s,
      LOS rate: -6.061333 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 17.288225 deg,
      new cmd heading: 17.288225 deg.

2020-12-14T00:12:54.141Z,1607904774.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:54.763Z,1607904774.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:55.181Z,1607904775.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:12:56.018Z,1607904776.018 [Micromodem](INFO): Nmea in: $SNTTA,0.002662,,,,001255.93*49

2020-12-14T00:12:56.040Z,1607904776.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 342.638270 deg, deltaT: 4.490449 s, approachRate: -0.026724 m/s, LOS rate: -1.770646 deg/s, posRepo size: 4
2020-12-14T00:12:56.042Z,1607904776.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 342.638270 deg,
      approachRate: -0.026724 m/s,
      LOS rate: -1.770646 deg/s,
      cmd update: -5.311938 deg/s,
      cmd heading: 323.402319 deg,
      new cmd heading: 318.570483 deg.

2020-12-14T00:12:58.620Z,1607904778.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:12:59.211Z,1607904779.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:12:59.625Z,1607904779.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:00.466Z,1607904780.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001300.37*58

2020-12-14T00:13:00.678Z,1607904780.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 328.717689 deg, deltaT: 4.422844 s, approachRate: -0.013566 m/s, LOS rate: -3.147428 deg/s, posRepo size: 4
2020-12-14T00:13:00.679Z,1607904780.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.84 m.
2020-12-14T00:13:00.681Z,1607904780.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 328.717689 deg,
      approachRate: -0.013566 m/s,
      LOS rate: -3.147428 deg/s,
      cmd update: -9.442282 deg/s,
      cmd heading: 299.908319 deg,
      new cmd heading: 296.623979 deg.

2020-12-14T00:13:02.881Z,1607904782.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:03.647Z,1607904783.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:04.065Z,1607904784.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:04.894Z,1607904784.894 [Micromodem](INFO): Nmea in: $SNTTA,0.002679,,0.039629,,001304.81*5C

2020-12-14T00:13:05.059Z,1607904785.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.034490 deg, deltaT: 4.499991 s, approachRate: 0.013333 m/s, LOS rate: -0.596268 deg/s, posRepo size: 4
2020-12-14T00:13:05.061Z,1607904785.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.034490 deg,
      approachRate: 0.013333 m/s,
      LOS rate: -0.596268 deg/s,
      cmd update: -1.788803 deg/s,
      cmd heading: 257.418171 deg,
      new cmd heading: 252.706142 deg.

2020-12-14T00:13:07.367Z,1607904787.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:08.107Z,1607904788.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:08.535Z,1607904788.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:09.350Z,1607904789.350 [Micromodem](INFO): Nmea in: $SNTTA,0.002820,,0.034964,,001309.27*54

2020-12-14T00:13:09.375Z,1607904789.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 329.837294 deg, deltaT: 4.386440 s, approachRate: 0.054715 m/s, LOS rate: 0.866945 deg/s, posRepo size: 4
2020-12-14T00:13:09.377Z,1607904789.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 329.837294 deg,
      approachRate: 0.054715 m/s,
      LOS rate: 0.866945 deg/s,
      cmd update: 2.600836 deg/s,
      cmd heading: 249.578797 deg,
      new cmd heading: 248.805601 deg.

2020-12-14T00:13:11.598Z,1607904791.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:12.147Z,1607904792.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:12.573Z,1607904792.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:12.585Z,1607904792.585 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:13:13.105Z,1607904793.105 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:13:13.105Z,1607904793.105 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:13:13.410Z,1607904793.410 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:13:13.634Z,1607904793.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 324.448247 deg, deltaT: 4.237072 s, approachRate: -0.014161 m/s, LOS rate: -1.271880 deg/s, posRepo size: 4
2020-12-14T00:13:13.636Z,1607904793.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 324.448247 deg,
      approachRate: -0.014161 m/s,
      LOS rate: -1.271880 deg/s,
      cmd update: -3.815640 deg/s,
      cmd heading: 260.587912 deg,
      new cmd heading: 261.779877 deg.

2020-12-14T00:13:13.838Z,1607904793.838 [Micromodem](INFO): Nmea in: $CADRQ,001314,1,9,0,64,1*49

2020-12-14T00:13:13.838Z,1607904793.838 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:13:14.238Z,1607904794.238 [Micromodem](INFO): Nmea in: $SNTTA,0.002806,,,,001313.31*4E

2020-12-14T00:13:14.238Z,1607904794.238 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002806,,,,001313.31*4E

2020-12-14T00:13:15.453Z,1607904795.453 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:13:15.840Z,1607904795.840 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:13:15.895Z,1607904795.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:16.243Z,1607904796.243 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:13:16.652Z,1607904796.652 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001315.018735,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:13:16.653Z,1607904796.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:17.053Z,1607904797.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:17.882Z,1607904797.882 [Micromodem](INFO): Nmea in: $SNTTA,0.002696,,0.028459,,001317.82*59

2020-12-14T00:13:18.076Z,1607904798.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 321.883538 deg, deltaT: 4.365260 s, approachRate: -0.054980 m/s, LOS rate: -0.587527 deg/s, posRepo size: 4
2020-12-14T00:13:18.082Z,1607904798.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 321.883538 deg,
      approachRate: -0.054980 m/s,
      LOS rate: -0.587527 deg/s,
      cmd update: -1.762582 deg/s,
      cmd heading: 243.924697 deg,
      new cmd heading: 241.888348 deg.

2020-12-14T00:13:20.070Z,1607904800.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:20.683Z,1607904800.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:21.089Z,1607904801.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:21.147Z,1607904801.147 [PowerOnly](INFO): Powering down loadControl
2020-12-14T00:13:21.926Z,1607904801.926 [Micromodem](INFO): Nmea in: $SNTTA,0.002644,,,,001321.85*48

2020-12-14T00:13:21.966Z,1607904801.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 326.387474 deg, deltaT: 4.019221 s, approachRate: 0.000000 m/s, LOS rate: 1.120599 deg/s, posRepo size: 4
2020-12-14T00:13:21.968Z,1607904801.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 326.387474 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.120599 deg/s,
      cmd update: 3.361798 deg/s,
      cmd heading: 236.836470 deg,
      new cmd heading: 236.130697 deg.

2020-12-14T00:13:24.597Z,1607904804.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:25.167Z,1607904805.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:25.588Z,1607904805.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:26.423Z,1607904806.423 [Micromodem](INFO): Nmea in: $SNTTA,0.002688,,,,001326.33*42

2020-12-14T00:13:26.653Z,1607904806.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 325.740218 deg, deltaT: 4.447558 s, approachRate: 0.000000 m/s, LOS rate: -0.145531 deg/s, posRepo size: 4
2020-12-14T00:13:26.657Z,1607904806.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 325.740218 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.145531 deg/s,
      cmd update: -0.436592 deg/s,
      cmd heading: 251.799923 deg,
      new cmd heading: 253.942269 deg.

2020-12-14T00:13:28.637Z,1607904808.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:29.403Z,1607904809.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:29.813Z,1607904809.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:30.642Z,1607904810.642 [Micromodem](INFO): Nmea in: $SNTTA,0.002710,,,,001330.57*47

2020-12-14T00:13:30.827Z,1607904810.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 328.729355 deg, deltaT: 4.239687 s, approachRate: 0.014152 m/s, LOS rate: 0.705037 deg/s, posRepo size: 4
2020-12-14T00:13:30.829Z,1607904810.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 328.729355 deg,
      approachRate: 0.014152 m/s,
      LOS rate: 0.705037 deg/s,
      cmd update: 2.115111 deg/s,
      cmd heading: 249.948655 deg,
      new cmd heading: 249.699004 deg.

2020-12-14T00:13:32.825Z,1607904812.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:33.443Z,1607904813.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:33.909Z,1607904813.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:34.724Z,1607904814.724 [Micromodem](INFO): Nmea in: $SNTTA,0.003027,,,,001334.60*45

2020-12-14T00:13:34.748Z,1607904814.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 325.752103 deg, deltaT: 4.106758 s, approachRate: -0.014610 m/s, LOS rate: -0.724964 deg/s, posRepo size: 4
2020-12-14T00:13:34.750Z,1607904814.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 325.752103 deg,
      approachRate: -0.014610 m/s,
      LOS rate: -0.724964 deg/s,
      cmd update: -2.174892 deg/s,
      cmd heading: 258.634406 deg,
      new cmd heading: 259.451226 deg.

2020-12-14T00:13:37.393Z,1607904817.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:38.019Z,1607904818.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:38.439Z,1607904818.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:39.270Z,1607904819.270 [Micromodem](INFO): Nmea in: $SNTTA,0.004925,,,,001339.18*4B

2020-12-14T00:13:39.544Z,1607904819.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 319.650066 deg, deltaT: 4.507080 s, approachRate: 0.000000 m/s, LOS rate: -1.353878 deg/s, posRepo size: 4
2020-12-14T00:13:39.550Z,1607904819.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 319.650066 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.353878 deg/s,
      cmd update: -4.061634 deg/s,
      cmd heading: 248.831766 deg,
      new cmd heading: 247.364425 deg.

2020-12-14T00:13:41.431Z,1607904821.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:42.211Z,1607904822.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:42.628Z,1607904822.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:43.458Z,1607904823.458 [Micromodem](INFO): Nmea in: $SNTTA,0.002608,,,,001343.37*4D

2020-12-14T00:13:43.700Z,1607904823.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 318.380225 deg, deltaT: 4.194670 s, approachRate: 0.014304 m/s, LOS rate: -0.302727 deg/s, posRepo size: 4
2020-12-14T00:13:43.702Z,1607904823.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 318.380225 deg,
      approachRate: 0.014304 m/s,
      LOS rate: -0.302727 deg/s,
      cmd update: -0.908182 deg/s,
      cmd heading: 231.858949 deg,
      new cmd heading: 229.208895 deg.

2020-12-14T00:13:45.700Z,1607904825.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:46.363Z,1607904826.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:46.749Z,1607904826.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:47.620Z,1607904827.620 [Micromodem](INFO): Nmea in: $SNTTA,0.002691,,,,001347.52*4A

2020-12-14T00:13:47.654Z,1607904827.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 318.412955 deg, deltaT: 4.100306 s, approachRate: -0.014633 m/s, LOS rate: 0.007982 deg/s, posRepo size: 4
2020-12-14T00:13:47.656Z,1607904827.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 318.412955 deg,
      approachRate: -0.014633 m/s,
      LOS rate: 0.007982 deg/s,
      cmd update: 0.023947 deg/s,
      cmd heading: 228.120631 deg,
      new cmd heading: 227.676006 deg.

2020-12-14T00:13:49.763Z,1607904829.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:50.375Z,1607904830.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:50.786Z,1607904830.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:51.630Z,1607904831.630 [Micromodem](INFO): Nmea in: $SNTTA,0.002722,,,,001351.54*42

2020-12-14T00:13:51.802Z,1607904831.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 315.857536 deg, deltaT: 4.048092 s, approachRate: 0.014822 m/s, LOS rate: -0.631265 deg/s, posRepo size: 4
2020-12-14T00:13:51.804Z,1607904831.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 315.857536 deg,
      approachRate: 0.014822 m/s,
      LOS rate: -0.631265 deg/s,
      cmd update: -1.893795 deg/s,
      cmd heading: 228.217572 deg,
      new cmd heading: 228.231688 deg.

2020-12-14T00:13:54.040Z,1607904834.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:54.831Z,1607904834.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:55.234Z,1607904835.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:13:56.066Z,1607904836.066 [Micromodem](INFO): Nmea in: $SNTTA,0.002717,,,,001355.99*41

2020-12-14T00:13:56.225Z,1607904836.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 317.876048 deg, deltaT: 4.494035 s, approachRate: 0.000000 m/s, LOS rate: 0.449154 deg/s, posRepo size: 4
2020-12-14T00:13:56.226Z,1607904836.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 317.876048 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.449154 deg/s,
      cmd update: 1.347461 deg/s,
      cmd heading: 219.738089 deg,
      new cmd heading: 218.725253 deg.

2020-12-14T00:13:58.396Z,1607904838.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:13:59.027Z,1607904839.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:13:59.443Z,1607904839.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:00.323Z,1607904840.323 [Micromodem](INFO): Nmea in: $SNTTA,0.002729,,,,001400.19*43

2020-12-14T00:14:00.350Z,1607904840.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 312.913888 deg, deltaT: 4.224725 s, approachRate: 0.000000 m/s, LOS rate: -1.174552 deg/s, posRepo size: 4
2020-12-14T00:14:00.351Z,1607904840.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 312.913888 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.174552 deg/s,
      cmd update: -3.523656 deg/s,
      cmd heading: 225.453001 deg,
      new cmd heading: 226.016851 deg.

2020-12-14T00:14:02.561Z,1607904842.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:03.127Z,1607904843.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:03.545Z,1607904843.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:04.382Z,1607904844.382 [Micromodem](INFO): Nmea in: $SNTTA,0.002741,,,,001404.29*4A

2020-12-14T00:14:04.634Z,1607904844.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 310.573729 deg, deltaT: 4.041054 s, approachRate: 0.000000 m/s, LOS rate: -0.579096 deg/s, posRepo size: 4
2020-12-14T00:14:04.636Z,1607904844.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 310.573729 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.579096 deg/s,
      cmd update: -1.737289 deg/s,
      cmd heading: 211.214044 deg,
      new cmd heading: 208.938815 deg.

2020-12-14T00:14:06.566Z,1607904846.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:07.325Z,1607904847.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:07.701Z,1607904847.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:08.542Z,1607904848.542 [Micromodem](INFO): Nmea in: $SNTTA,0.002967,,0.046410,,001408.49*53

2020-12-14T00:14:08.735Z,1607904848.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 310.175501 deg, deltaT: 4.187328 s, approachRate: 0.000000 m/s, LOS rate: -0.095103 deg/s, posRepo size: 4
2020-12-14T00:14:08.737Z,1607904848.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 310.175501 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.095103 deg/s,
      cmd update: -0.285309 deg/s,
      cmd heading: 203.939678 deg,
      new cmd heading: 202.938968 deg.

2020-12-14T00:14:10.770Z,1607904850.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:11.375Z,1607904851.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:11.770Z,1607904851.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:12.622Z,1607904852.622 [Micromodem](INFO): Nmea in: $SNTTA,0.002953,,,,001412.54*4A

2020-12-14T00:14:12.681Z,1607904852.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 308.555053 deg, deltaT: 4.039670 s, approachRate: 0.014853 m/s, LOS rate: -0.401134 deg/s, posRepo size: 4
2020-12-14T00:14:12.683Z,1607904852.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 308.555053 deg,
      approachRate: 0.014853 m/s,
      LOS rate: -0.401134 deg/s,
      cmd update: -1.203402 deg/s,
      cmd heading: 202.787085 deg,
      new cmd heading: 202.649642 deg.

2020-12-14T00:14:15.171Z,1607904855.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:15.811Z,1607904855.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:16.269Z,1607904856.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:17.074Z,1607904857.074 [Micromodem](INFO): Nmea in: $SNTTA,0.002593,,,,001416.98*4E

2020-12-14T00:14:17.268Z,1607904857.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 314.045732 deg, deltaT: 4.480994 s, approachRate: -0.013390 m/s, LOS rate: 1.225326 deg/s, posRepo size: 4
2020-12-14T00:14:17.271Z,1607904857.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 314.045732 deg,
      approachRate: -0.013390 m/s,
      LOS rate: 1.225326 deg/s,
      cmd update: 3.675979 deg/s,
      cmd heading: 197.394830 deg,
      new cmd heading: 196.689829 deg.

2020-12-14T00:14:18.283Z,1607904858.283 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:14:18.824Z,1607904858.824 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:14:18.824Z,1607904858.824 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:14:19.143Z,1607904859.143 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:14:19.567Z,1607904859.567 [Micromodem](INFO): Nmea in: $CADRQ,001419,1,9,0,64,1*43

2020-12-14T00:14:19.567Z,1607904859.567 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:14:19.707Z,1607904859.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:19.951Z,1607904859.951 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:14:20.355Z,1607904860.355 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:14:20.356Z,1607904860.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:21.587Z,1607904861.587 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:14:21.587Z,1607904861.587 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:14:21.980Z,1607904861.980 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001420.747965,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:14:21.980Z,1607904861.980 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,001420.747965,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:14:22.405Z,1607904862.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:25.215Z,1607904865.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:28.210Z,1607904868.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:30.891Z,1607904870.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:31.666Z,1607904871.666 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:32.069Z,1607904872.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:32.918Z,1607904872.918 [Micromodem](INFO): Nmea in: $SNTTA,0.002760,,,,001432.83*4C

2020-12-14T00:14:32.940Z,1607904872.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 307.101124 deg, deltaT: 15.884708 s, approachRate: 0.003777 m/s, LOS rate: -0.437188 deg/s, posRepo size: 4
2020-12-14T00:14:32.962Z,1607904872.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 307.101124 deg,
      approachRate: 0.003777 m/s,
      LOS rate: -0.437188 deg/s,
      cmd update: -1.311565 deg/s,
      cmd heading: 255.787018 deg,
      new cmd heading: 257.166583 deg.

2020-12-14T00:14:35.004Z,1607904875.004 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:14:35.004Z,1607904875.004 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:14:35.004Z,1607904875.004 [DDM](ERROR): Hardware Fault
2020-12-14T00:14:35.128Z,1607904875.128 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:14:35.402Z,1607904875.402 [DDM](INFO): Powering down
2020-12-14T00:14:35.550Z,1607904875.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:36.214Z,1607904876.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:36.478Z,1607904876.478 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:14:36.478Z,1607904876.478 [DDM] No Fault, FailCount= 1
2020-12-14T00:14:36.625Z,1607904876.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:37.454Z,1607904877.454 [Micromodem](INFO): Nmea in: $SNTTA,0.002603,,0.015978,,001437.38*51

2020-12-14T00:14:37.537Z,1607904877.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 315.183560 deg, deltaT: 4.479400 s, approachRate: -0.013395 m/s, LOS rate: 1.804357 deg/s, posRepo size: 4
2020-12-14T00:14:37.539Z,1607904877.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 315.183560 deg,
      approachRate: -0.013395 m/s,
      LOS rate: 1.804357 deg/s,
      cmd update: 5.413071 deg/s,
      cmd heading: 249.911932 deg,
      new cmd heading: 249.286719 deg.

2020-12-14T00:14:39.877Z,1607904879.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:40.654Z,1607904880.654 [DDM](INFO): Powering up
2020-12-14T00:14:40.654Z,1607904880.654 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:14:40.687Z,1607904880.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:41.063Z,1607904881.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:41.906Z,1607904881.906 [Micromodem](INFO): Nmea in: $SNTTA,0.002577,,,,001441.85*4A

2020-12-14T00:14:41.953Z,1607904881.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 319.761918 deg, deltaT: 4.496924 s, approachRate: 0.000000 m/s, LOS rate: 1.018109 deg/s, posRepo size: 4
2020-12-14T00:14:41.955Z,1607904881.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 319.761918 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.018109 deg/s,
      cmd update: 3.054326 deg/s,
      cmd heading: 274.250561 deg,
      new cmd heading: 276.464745 deg.

2020-12-14T00:14:44.393Z,1607904884.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:45.103Z,1607904885.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:45.541Z,1607904885.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:46.350Z,1607904886.350 [Micromodem](INFO): Nmea in: $SNTTA,0.002587,,,,001446.27*4A

2020-12-14T00:14:46.387Z,1607904886.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 320.045835 deg, deltaT: 4.384078 s, approachRate: -0.013686 m/s, LOS rate: 0.064761 deg/s, posRepo size: 4
2020-12-14T00:14:46.389Z,1607904886.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 320.045835 deg,
      approachRate: -0.013686 m/s,
      LOS rate: 0.064761 deg/s,
      cmd update: 0.194283 deg/s,
      cmd heading: 287.642306 deg,
      new cmd heading: 289.054779 deg.

2020-12-14T00:14:48.810Z,1607904888.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:49.548Z,1607904889.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:50.069Z,1607904890.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:50.886Z,1607904890.886 [Micromodem](INFO): Nmea in: $SNTTA,0.002673,,,,001450.71*46

2020-12-14T00:14:50.960Z,1607904890.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 322.016071 deg, deltaT: 4.653095 s, approachRate: 0.038684 m/s, LOS rate: 0.423425 deg/s, posRepo size: 4
2020-12-14T00:14:50.969Z,1607904890.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 322.016071 deg,
      approachRate: 0.038684 m/s,
      LOS rate: 0.423425 deg/s,
      cmd update: 1.270275 deg/s,
      cmd heading: 288.544262 deg,
      new cmd heading: 288.620540 deg.

2020-12-14T00:14:53.370Z,1607904893.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:54.102Z,1607904894.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:54.555Z,1607904894.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:55.346Z,1607904895.346 [Micromodem](INFO): Nmea in: $SNTTA,0.002587,,,,001455.26*49

2020-12-14T00:14:55.418Z,1607904895.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 320.089603 deg, deltaT: 4.381802 s, approachRate: -0.041079 m/s, LOS rate: -0.439652 deg/s, posRepo size: 4
2020-12-14T00:14:55.426Z,1607904895.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 320.089603 deg,
      approachRate: -0.041079 m/s,
      LOS rate: -0.439652 deg/s,
      cmd update: -1.318956 deg/s,
      cmd heading: 294.124064 deg,
      new cmd heading: 294.699729 deg.

2020-12-14T00:14:56.119Z,1607904896.119 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:14:57.824Z,1607904897.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:14:58.588Z,1607904898.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:14:58.996Z,1607904898.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:14:59.836Z,1607904899.836 [Micromodem](INFO): Nmea in: $SNTTA,0.002595,,0.006106,,001459.75*5F

2020-12-14T00:14:59.896Z,1607904899.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 322.119644 deg, deltaT: 4.500019 s, approachRate: 0.013333 m/s, LOS rate: 0.451118 deg/s, posRepo size: 4
2020-12-14T00:14:59.902Z,1607904899.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 322.119644 deg,
      approachRate: 0.013333 m/s,
      LOS rate: 0.451118 deg/s,
      cmd update: 1.353355 deg/s,
      cmd heading: 288.194034 deg,
      new cmd heading: 287.613328 deg.

2020-12-14T00:15:02.541Z,1607904902.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:03.115Z,1607904903.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:03.543Z,1607904903.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:04.386Z,1607904904.386 [Micromodem](INFO): Nmea in: $SNTTA,0.002710,,,,001504.28*4E

2020-12-14T00:15:04.411Z,1607904904.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 324.555426 deg, deltaT: 4.478296 s, approachRate: -0.013398 m/s, LOS rate: 0.543908 deg/s, posRepo size: 4
2020-12-14T00:15:04.434Z,1607904904.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 324.555426 deg,
      approachRate: -0.013398 m/s,
      LOS rate: 0.543908 deg/s,
      cmd update: 1.631725 deg/s,
      cmd heading: 294.260094 deg,
      new cmd heading: 294.899559 deg.

2020-12-14T00:15:06.443Z,1607904906.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:07.174Z,1607904907.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:07.581Z,1607904907.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:08.402Z,1607904908.402 [Micromodem](INFO): Nmea in: $SNTTA,0.002734,,,,001508.33*4E

2020-12-14T00:15:08.462Z,1607904908.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 324.483928 deg, deltaT: 4.090225 s, approachRate: 0.029338 m/s, LOS rate: -0.017480 deg/s, posRepo size: 4
2020-12-14T00:15:08.465Z,1607904908.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 324.483928 deg,
      approachRate: 0.029338 m/s,
      LOS rate: -0.017480 deg/s,
      cmd update: -0.052441 deg/s,
      cmd heading: 300.927418 deg,
      new cmd heading: 301.642730 deg.

2020-12-14T00:15:10.841Z,1607904910.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:11.599Z,1607904911.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:12.010Z,1607904912.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:12.871Z,1607904912.871 [Micromodem](INFO): Nmea in: $SNTTA,0.004913,,,,001512.76*49

2020-12-14T00:15:13.054Z,1607904913.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 327.594205 deg, deltaT: 4.433432 s, approachRate: -0.013534 m/s, LOS rate: 0.701551 deg/s, posRepo size: 4
2020-12-14T00:15:13.056Z,1607904913.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 327.594205 deg,
      approachRate: -0.013534 m/s,
      LOS rate: 0.701551 deg/s,
      cmd update: 2.104652 deg/s,
      cmd heading: 300.694713 deg,
      new cmd heading: 300.665136 deg.

2020-12-14T00:15:15.046Z,1607904915.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:15.811Z,1607904915.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:16.217Z,1607904916.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:17.057Z,1607904917.057 [Micromodem](INFO): Nmea in: $SNTTA,0.002708,,,,001516.98*4F

2020-12-14T00:15:17.087Z,1607904917.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 332.843014 deg, deltaT: 4.202857 s, approachRate: 0.000000 m/s, LOS rate: 1.248867 deg/s, posRepo size: 4
2020-12-14T00:15:17.090Z,1607904917.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 332.843014 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.248867 deg/s,
      cmd update: 3.746601 deg/s,
      cmd heading: 309.540738 deg,
      new cmd heading: 310.426238 deg.

2020-12-14T00:15:19.490Z,1607904919.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:20.261Z,1607904920.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:20.657Z,1607904920.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:21.514Z,1607904921.514 [Micromodem](INFO): Nmea in: $SNTTA,0.002969,,,,001521.42*45

2020-12-14T00:15:21.597Z,1607904921.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 324.709843 deg, deltaT: 4.482005 s, approachRate: -0.013387 m/s, LOS rate: -1.814628 deg/s, posRepo size: 4
2020-12-14T00:15:21.599Z,1607904921.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 324.709843 deg,
      approachRate: -0.013387 m/s,
      LOS rate: -1.814628 deg/s,
      cmd update: -5.443884 deg/s,
      cmd heading: 326.261959 deg,
      new cmd heading: 328.005388 deg.

2020-12-14T00:15:23.890Z,1607904923.890 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:15:23.907Z,1607904923.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:24.454Z,1607904924.454 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:15:24.458Z,1607904924.458 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:15:24.703Z,1607904924.703 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:15:24.704Z,1607904924.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:25.104Z,1607904925.104 [Micromodem](INFO): Nmea in: $CADRQ,001525,1,9,0,64,1*4D

2020-12-14T00:15:25.104Z,1607904925.104 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,001525,1,9,0,64,1*4D

2020-12-14T00:15:25.533Z,1607904925.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:25.939Z,1607904925.939 [Micromodem](INFO): Nmea in: $SNTTA,0.002589,,,0.017902,001525.87*59

2020-12-14T00:15:25.972Z,1607904925.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 317.951917 deg, deltaT: 4.457194 s, approachRate: 0.000000 m/s, LOS rate: -1.516184 deg/s, posRepo size: 4
2020-12-14T00:15:25.974Z,1607904925.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 317.951917 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.516184 deg/s,
      cmd update: -4.548552 deg/s,
      cmd heading: 301.911000 deg,
      new cmd heading: 299.889196 deg.

2020-12-14T00:15:26.275Z,1607904926.275 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:15:26.275Z,1607904926.275 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:15:26.275Z,1607904926.275 [DDM](ERROR): Hardware Fault
2020-12-14T00:15:26.665Z,1607904926.665 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:15:26.695Z,1607904926.695 [DDM](INFO): Powering down
2020-12-14T00:15:27.653Z,1607904927.653 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:15:27.653Z,1607904927.653 [DDM] No Fault, FailCount= 1
2020-12-14T00:15:28.552Z,1607904928.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:29.111Z,1607904929.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:29.557Z,1607904929.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:30.349Z,1607904930.349 [Micromodem](INFO): Nmea in: $SNTTA,0.003001,,,,001530.27*40

2020-12-14T00:15:30.373Z,1607904930.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 317.491344 deg, deltaT: 4.351889 s, approachRate: 0.013787 m/s, LOS rate: -0.105833 deg/s, posRepo size: 4
2020-12-14T00:15:30.375Z,1607904930.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 317.491344 deg,
      approachRate: 0.013787 m/s,
      LOS rate: -0.105833 deg/s,
      cmd update: -0.317499 deg/s,
      cmd heading: 282.102180 deg,
      new cmd heading: 280.204101 deg.

2020-12-14T00:15:31.955Z,1607904931.955 [DDM](INFO): Powering up
2020-12-14T00:15:31.956Z,1607904931.956 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:15:32.912Z,1607904932.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:33.559Z,1607904933.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:33.974Z,1607904933.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:34.802Z,1607904934.802 [Micromodem](INFO): Nmea in: $SNTTA,0.002598,,,,001534.72*40

2020-12-14T00:15:34.981Z,1607904934.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.128561 deg, deltaT: 4.464184 s, approachRate: 0.000000 m/s, LOS rate: 1.710776 deg/s, posRepo size: 4
2020-12-14T00:15:34.983Z,1607904934.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.128561 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.710776 deg/s,
      cmd update: 5.132327 deg/s,
      cmd heading: 280.685651 deg,
      new cmd heading: 280.506728 deg.

2020-12-14T00:15:37.247Z,1607904937.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:38.007Z,1607904938.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:38.399Z,1607904938.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:39.230Z,1607904939.230 [Micromodem](INFO): Nmea in: $SNTTA,0.003022,,,,001539.17*4B

2020-12-14T00:15:39.480Z,1607904939.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 329.069662 deg, deltaT: 4.443979 s, approachRate: 0.000000 m/s, LOS rate: 0.886841 deg/s, posRepo size: 4
2020-12-14T00:15:39.482Z,1607904939.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 329.069662 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.886841 deg/s,
      cmd update: 2.660522 deg/s,
      cmd heading: 303.507165 deg,
      new cmd heading: 306.648288 deg.

2020-12-14T00:15:41.472Z,1607904941.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:42.062Z,1607904942.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:42.488Z,1607904942.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:43.311Z,1607904943.311 [Micromodem](INFO): Nmea in: $SNTTA,0.002746,,,,001543.22*44

2020-12-14T00:15:43.354Z,1607904943.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.990034 deg, deltaT: 4.079903 s, approachRate: 0.000000 m/s, LOS rate: -0.509725 deg/s, posRepo size: 4
2020-12-14T00:15:43.356Z,1607904943.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.990034 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.509725 deg/s,
      cmd update: -1.529175 deg/s,
      cmd heading: 314.361436 deg,
      new cmd heading: 315.453525 deg.

2020-12-14T00:15:45.906Z,1607904945.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:46.538Z,1607904946.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:46.916Z,1607904946.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:47.739Z,1607904947.739 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:15:47.875Z,1607904947.875 [Micromodem](INFO): Nmea in: $SNTTA,0.002738,,,,001547.70*4E

2020-12-14T00:15:48.072Z,1607904948.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 330.356388 deg, deltaT: 4.435819 s, approachRate: -0.013526 m/s, LOS rate: 0.758903 deg/s, posRepo size: 4
2020-12-14T00:15:48.090Z,1607904948.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 330.356388 deg,
      approachRate: -0.013526 m/s,
      LOS rate: 0.758903 deg/s,
      cmd update: 2.276708 deg/s,
      cmd heading: 307.578015 deg,
      new cmd heading: 306.519298 deg.

2020-12-14T00:15:49.930Z,1607904949.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:50.707Z,1607904950.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:51.125Z,1607904951.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:51.962Z,1607904951.962 [Micromodem](INFO): Nmea in: $SNTTA,0.002575,,,,001551.87*4A

2020-12-14T00:15:52.166Z,1607904952.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 331.568583 deg, deltaT: 4.224716 s, approachRate: 0.000000 m/s, LOS rate: 0.286929 deg/s, posRepo size: 4
2020-12-14T00:15:52.168Z,1607904952.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 331.568583 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.286929 deg/s,
      cmd update: 0.860788 deg/s,
      cmd heading: 317.196014 deg,
      new cmd heading: 318.438224 deg.

2020-12-14T00:15:54.159Z,1607904954.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:54.764Z,1607904954.764 [Micromodem](INFO): Nmea in: $CAERR,001555,DATA_TIMEOUT,1*4A

2020-12-14T00:15:54.782Z,1607904954.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:55.170Z,1607904955.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:15:56.010Z,1607904956.010 [Micromodem](INFO): Nmea in: $SNTTA,0.002764,,,0.029328,001555.94*52

2020-12-14T00:15:56.054Z,1607904956.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 327.529318 deg, deltaT: 4.034781 s, approachRate: 0.014871 m/s, LOS rate: -1.001111 deg/s, posRepo size: 4
2020-12-14T00:15:56.056Z,1607904956.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 327.529318 deg,
      approachRate: 0.014871 m/s,
      LOS rate: -1.001111 deg/s,
      cmd update: -3.003334 deg/s,
      cmd heading: 320.669270 deg,
      new cmd heading: 321.026057 deg.

2020-12-14T00:15:57.623Z,1607904957.623 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:15:58.628Z,1607904958.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:15:59.208Z,1607904959.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:15:59.633Z,1607904959.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:00.462Z,1607904960.462 [Micromodem](INFO): Nmea in: $SNTTA,0.002597,,,,001600.37*4A

2020-12-14T00:16:00.699Z,1607904960.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.726039 deg, deltaT: 4.449275 s, approachRate: 0.000000 m/s, LOS rate: -0.405297 deg/s, posRepo size: 4
2020-12-14T00:16:00.701Z,1607904960.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.726039 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.405297 deg/s,
      cmd update: -1.215892 deg/s,
      cmd heading: 307.306621 deg,
      new cmd heading: 305.472566 deg.

2020-12-14T00:16:02.907Z,1607904962.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:03.691Z,1607904963.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:04.105Z,1607904964.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:04.958Z,1607904964.958 [Micromodem](INFO): Nmea in: $SNTTA,0.002588,,,0.027012,001604.85*51

2020-12-14T00:16:05.128Z,1607904965.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 329.328526 deg, deltaT: 4.500918 s, approachRate: 0.000000 m/s, LOS rate: 0.800390 deg/s, posRepo size: 4
2020-12-14T00:16:05.130Z,1607904965.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 329.328526 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.800390 deg/s,
      cmd update: 2.401169 deg/s,
      cmd heading: 301.834033 deg,
      new cmd heading: 301.179148 deg.

2020-12-14T00:16:07.187Z,1607904967.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:07.779Z,1607904967.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:08.185Z,1607904968.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:09.026Z,1607904969.026 [Micromodem](INFO): Nmea in: $SNTTA,0.002590,,,,001608.94*4C

2020-12-14T00:16:09.048Z,1607904969.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.165548 deg, deltaT: 4.060449 s, approachRate: 0.000000 m/s, LOS rate: -0.778973 deg/s, posRepo size: 4
2020-12-14T00:16:09.050Z,1607904969.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.165548 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.778973 deg/s,
      cmd update: -2.336918 deg/s,
      cmd heading: 311.545062 deg,
      new cmd heading: 312.540224 deg.

2020-12-14T00:16:11.651Z,1607904971.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:12.235Z,1607904972.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:12.637Z,1607904972.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:13.490Z,1607904973.490 [Micromodem](INFO): Nmea in: $SNTTA,0.002598,,,,001613.40*47

2020-12-14T00:16:13.710Z,1607904973.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 321.688359 deg, deltaT: 4.439340 s, approachRate: 0.000000 m/s, LOS rate: -1.008526 deg/s, posRepo size: 4
2020-12-14T00:16:13.712Z,1607904973.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 321.688359 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.008526 deg/s,
      cmd update: -3.025577 deg/s,
      cmd heading: 301.132855 deg,
      new cmd heading: 299.720637 deg.

2020-12-14T00:16:15.594Z,1607904975.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:16.326Z,1607904976.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:16.713Z,1607904976.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:17.546Z,1607904977.546 [Micromodem](INFO): Nmea in: $SNTTA,0.002570,,,0.007645,001617.49*52

2020-12-14T00:16:17.622Z,1607904977.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 319.189138 deg, deltaT: 4.061452 s, approachRate: -0.014773 m/s, LOS rate: -0.615352 deg/s, posRepo size: 4
2020-12-14T00:16:17.630Z,1607904977.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 319.189138 deg,
      approachRate: -0.014773 m/s,
      LOS rate: -0.615352 deg/s,
      cmd update: -1.846055 deg/s,
      cmd heading: 288.892960 deg,
      new cmd heading: 287.468433 deg.

2020-12-14T00:16:17.886Z,1607904977.886 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:16:17.886Z,1607904977.886 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:16:17.886Z,1607904977.886 [DDM](ERROR): Hardware Fault
2020-12-14T00:16:18.205Z,1607904978.205 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:16:18.319Z,1607904978.319 [DDM](INFO): Powering down
2020-12-14T00:16:19.272Z,1607904979.272 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:16:19.272Z,1607904979.272 [DDM] No Fault, FailCount= 1
2020-12-14T00:16:20.076Z,1607904980.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:20.723Z,1607904980.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:21.144Z,1607904981.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:21.958Z,1607904981.958 [Micromodem](INFO): Nmea in: $SNTTA,0.002610,,,,001621.88*41

2020-12-14T00:16:21.995Z,1607904981.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 324.734405 deg, deltaT: 4.437153 s, approachRate: 0.027045 m/s, LOS rate: 1.249735 deg/s, posRepo size: 4
2020-12-14T00:16:21.997Z,1607904981.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 324.734405 deg,
      approachRate: 0.027045 m/s,
      LOS rate: 1.249735 deg/s,
      cmd update: 3.749206 deg/s,
      cmd heading: 280.672410 deg,
      new cmd heading: 279.919971 deg.

2020-12-14T00:16:23.546Z,1607904983.546 [DDM](INFO): Powering up
2020-12-14T00:16:23.547Z,1607904983.547 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:16:24.595Z,1607904984.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:25.167Z,1607904985.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:25.567Z,1607904985.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:26.402Z,1607904986.402 [Micromodem](INFO): Nmea in: $SNTTA,0.002600,,,,001626.33*47

2020-12-14T00:16:26.626Z,1607904986.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 318.010357 deg, deltaT: 4.420064 s, approachRate: -0.013575 m/s, LOS rate: -1.521256 deg/s, posRepo size: 4
2020-12-14T00:16:26.628Z,1607904986.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 318.010357 deg,
      approachRate: -0.013575 m/s,
      LOS rate: -1.521256 deg/s,
      cmd update: -4.563768 deg/s,
      cmd heading: 297.244508 deg,
      new cmd heading: 299.559215 deg.

2020-12-14T00:16:28.837Z,1607904988.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:29.619Z,1607904989.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:30.009Z,1607904990.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:30.021Z,1607904990.021 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:16:30.603Z,1607904990.603 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:16:30.603Z,1607904990.603 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:16:30.866Z,1607904990.866 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:16:31.032Z,1607904991.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 315.271341 deg, deltaT: 4.693380 s, approachRate: 0.000000 m/s, LOS rate: -0.583591 deg/s, posRepo size: 4
2020-12-14T00:16:31.035Z,1607904991.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 315.271341 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.583591 deg/s,
      cmd update: -1.750773 deg/s,
      cmd heading: 275.843464 deg,
      new cmd heading: 274.314524 deg.

2020-12-14T00:16:31.270Z,1607904991.270 [Micromodem](INFO): Nmea in: $CADRQ,001631,1,9,0,64,1*4B

2020-12-14T00:16:31.270Z,1607904991.270 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:16:31.674Z,1607904991.674 [Micromodem](INFO): Nmea in: $SNTTA,0.002614,,,,001630.78*4A

2020-12-14T00:16:31.674Z,1607904991.674 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.002614,,,,001630.78*4A

2020-12-14T00:16:32.885Z,1607904992.885 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:16:33.288Z,1607904993.288 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:16:33.350Z,1607904993.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:33.691Z,1607904993.691 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:16:34.088Z,1607904994.088 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001632.452803,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:16:34.089Z,1607904994.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:34.506Z,1607904994.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:35.338Z,1607904995.338 [Micromodem](INFO): Nmea in: $SNTTA,0.002600,,,,001635.25*42

2020-12-14T00:16:35.377Z,1607904995.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 315.164763 deg, deltaT: 4.212769 s, approachRate: -0.014243 m/s, LOS rate: -0.025299 deg/s, posRepo size: 4
2020-12-14T00:16:35.379Z,1607904995.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 315.164763 deg,
      approachRate: -0.014243 m/s,
      LOS rate: -0.025299 deg/s,
      cmd update: -0.075897 deg/s,
      cmd heading: 268.461173 deg,
      new cmd heading: 267.650877 deg.

2020-12-14T00:16:37.544Z,1607904997.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:38.135Z,1607904998.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:38.547Z,1607904998.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:39.348Z,1607904999.348 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:16:39.486Z,1607904999.486 [Micromodem](INFO): Nmea in: $SNTTA,0.002723,,0.107242,,001639.30*56

2020-12-14T00:16:39.703Z,1607904999.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 314.712468 deg, deltaT: 4.069049 s, approachRate: 0.073728 m/s, LOS rate: -0.111155 deg/s, posRepo size: 4
2020-12-14T00:16:39.705Z,1607904999.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 314.712468 deg,
      approachRate: 0.073728 m/s,
      LOS rate: -0.111155 deg/s,
      cmd update: -0.333465 deg/s,
      cmd heading: 268.152329 deg,
      new cmd heading: 268.097682 deg.

2020-12-14T00:16:41.561Z,1607905001.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:42.324Z,1607905002.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:42.689Z,1607905002.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:43.526Z,1607905003.526 [Micromodem](INFO): Nmea in: $SNTTA,0.002615,,,,001643.49*4D

2020-12-14T00:16:43.730Z,1607905003.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 312.033367 deg, deltaT: 4.162375 s, approachRate: -0.057660 m/s, LOS rate: -0.643647 deg/s, posRepo size: 4
2020-12-14T00:16:43.732Z,1607905003.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 312.033367 deg,
      approachRate: -0.057660 m/s,
      LOS rate: -0.643647 deg/s,
      cmd update: -1.930941 deg/s,
      cmd heading: 266.769717 deg,
      new cmd heading: 266.574903 deg.

2020-12-14T00:16:45.716Z,1607905005.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:46.367Z,1607905006.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:46.733Z,1607905006.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:47.601Z,1607905007.601 [Micromodem](INFO): Nmea in: $SNTTA,0.004809,,0.012883,,001647.53*59

2020-12-14T00:16:47.648Z,1607905007.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 307.477686 deg, deltaT: 4.008856 s, approachRate: -0.014967 m/s, LOS rate: -1.136404 deg/s, posRepo size: 4
2020-12-14T00:16:47.651Z,1607905007.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 307.477686 deg,
      approachRate: -0.014967 m/s,
      LOS rate: -1.136404 deg/s,
      cmd update: -3.409213 deg/s,
      cmd heading: 258.997595 deg,
      new cmd heading: 258.044252 deg.

2020-12-14T00:16:50.129Z,1607905010.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:50.775Z,1607905010.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:51.177Z,1607905011.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:52.022Z,1607905012.022 [Micromodem](INFO): Nmea in: $SNTTA,0.002610,,0.053410,,001651.94*56

2020-12-14T00:16:52.184Z,1607905012.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 312.241388 deg, deltaT: 4.501105 s, approachRate: 0.013330 m/s, LOS rate: 1.058340 deg/s, posRepo size: 4
2020-12-14T00:16:52.186Z,1607905012.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 312.241388 deg,
      approachRate: 0.013330 m/s,
      LOS rate: 1.058340 deg/s,
      cmd update: 3.175022 deg/s,
      cmd heading: 243.652459 deg,
      new cmd heading: 241.850605 deg.

2020-12-14T00:16:54.461Z,1607905014.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:55.215Z,1607905015.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:55.629Z,1607905015.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:16:56.462Z,1607905016.462 [Micromodem](INFO): Nmea in: $SNTTA,0.002590,,,,001656.38*41

2020-12-14T00:16:56.673Z,1607905016.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 312.820451 deg, deltaT: 4.423489 s, approachRate: 0.000000 m/s, LOS rate: 0.130906 deg/s, posRepo size: 4
2020-12-14T00:16:56.675Z,1607905016.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 312.820451 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.130906 deg/s,
      cmd update: 0.392719 deg/s,
      cmd heading: 257.697091 deg,
      new cmd heading: 259.584362 deg.

2020-12-14T00:16:58.705Z,1607905018.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:16:59.279Z,1607905019.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:16:59.694Z,1607905019.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:00.546Z,1607905020.546 [Micromodem](INFO): Nmea in: $SNTTA,0.002590,,,,001700.44*48

2020-12-14T00:17:00.599Z,1607905020.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 308.908583 deg, deltaT: 4.049343 s, approachRate: -0.014817 m/s, LOS rate: -0.966050 deg/s, posRepo size: 4
2020-12-14T00:17:00.601Z,1607905020.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 308.908583 deg,
      approachRate: -0.014817 m/s,
      LOS rate: -0.966050 deg/s,
      cmd update: -2.898150 deg/s,
      cmd heading: 259.287347 deg,
      new cmd heading: 259.472255 deg.

2020-12-14T00:17:03.532Z,1607905023.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:04.095Z,1607905024.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:04.525Z,1607905024.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:05.358Z,1607905025.358 [Micromodem](INFO): Nmea in: $SNTTA,0.002614,,,,001705.26*46

2020-12-14T00:17:05.615Z,1607905025.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 304.620181 deg, deltaT: 4.831779 s, approachRate: 0.000000 m/s, LOS rate: -0.887541 deg/s, posRepo size: 4
2020-12-14T00:17:05.618Z,1607905025.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 304.620181 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.887541 deg/s,
      cmd update: -2.662623 deg/s,
      cmd heading: 245.284445 deg,
      new cmd heading: 243.384815 deg.

2020-12-14T00:17:07.826Z,1607905027.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:08.603Z,1607905028.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:09.005Z,1607905029.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:09.796Z,1607905029.796 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:17:09.797Z,1607905029.797 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:17:09.797Z,1607905029.797 [DDM](ERROR): Hardware Fault
2020-12-14T00:17:09.814Z,1607905029.814 [Micromodem](INFO): Nmea in: $SNTTA,0.002577,,,,001709.76*49

2020-12-14T00:17:10.016Z,1607905030.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 310.668777 deg, deltaT: 4.526921 s, approachRate: 0.013254 m/s, LOS rate: 1.336139 deg/s, posRepo size: 4
2020-12-14T00:17:10.018Z,1607905030.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 310.668777 deg,
      approachRate: 0.013254 m/s,
      LOS rate: 1.336139 deg/s,
      cmd update: 4.008418 deg/s,
      cmd heading: 233.241778 deg,
      new cmd heading: 231.821828 deg.

2020-12-14T00:17:10.121Z,1607905030.121 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:17:10.178Z,1607905030.178 [DDM](INFO): Powering down
2020-12-14T00:17:11.167Z,1607905031.167 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:17:11.167Z,1607905031.167 [DDM] No Fault, FailCount= 1
2020-12-14T00:17:12.220Z,1607905032.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:13.010Z,1607905033.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:13.426Z,1607905033.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:14.238Z,1607905034.238 [Micromodem](INFO): Nmea in: $SNTTA,0.002588,,,,001714.17*42

2020-12-14T00:17:14.274Z,1607905034.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 311.427475 deg, deltaT: 4.376518 s, approachRate: 0.000000 m/s, LOS rate: 0.173356 deg/s, posRepo size: 4
2020-12-14T00:17:14.276Z,1607905034.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 311.427475 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.173356 deg/s,
      cmd update: 0.520069 deg/s,
      cmd heading: 250.789713 deg,
      new cmd heading: 252.446116 deg.

2020-12-14T00:17:15.438Z,1607905035.438 [DDM](INFO): Powering up
2020-12-14T00:17:15.439Z,1607905035.439 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:17:16.501Z,1607905036.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:17.067Z,1607905037.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:17.469Z,1607905037.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:17.524Z,1607905037.524 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T00:17:18.323Z,1607905038.323 [Micromodem](INFO): Nmea in: $SNTTA,0.002912,,,,001718.23*46

2020-12-14T00:17:18.558Z,1607905038.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 312.716714 deg, deltaT: 4.060490 s, approachRate: 0.000000 m/s, LOS rate: 0.317508 deg/s, posRepo size: 4
2020-12-14T00:17:18.560Z,1607905038.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 312.716714 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.317508 deg/s,
      cmd update: 0.952525 deg/s,
      cmd heading: 252.900878 deg,
      new cmd heading: 253.232865 deg.

2020-12-14T00:17:20.760Z,1607905040.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:21.547Z,1607905041.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:21.931Z,1607905041.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:22.786Z,1607905042.786 [Micromodem](INFO): Nmea in: $SNTTA,0.002614,,,0.046757,001722.71*58

2020-12-14T00:17:22.976Z,1607905042.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 309.568243 deg, deltaT: 4.527739 s, approachRate: 0.000000 m/s, LOS rate: -0.695374 deg/s, posRepo size: 4
2020-12-14T00:17:22.994Z,1607905042.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 309.568243 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.695374 deg/s,
      cmd update: -2.086122 deg/s,
      cmd heading: 257.217442 deg,
      new cmd heading: 257.716931 deg.

2020-12-14T00:17:25.200Z,1607905045.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:25.975Z,1607905045.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:26.387Z,1607905046.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:27.206Z,1607905047.206 [Micromodem](INFO): Nmea in: $SNTTA,0.002962,,,,001727.14*49

2020-12-14T00:17:27.243Z,1607905047.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 311.521977 deg, deltaT: 4.382376 s, approachRate: 0.000000 m/s, LOS rate: 0.445816 deg/s, posRepo size: 4
2020-12-14T00:17:27.245Z,1607905047.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 311.521977 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.445816 deg/s,
      cmd update: 1.337449 deg/s,
      cmd heading: 248.083878 deg,
      new cmd heading: 247.221492 deg.

2020-12-14T00:17:27.616Z,1607905047.616 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:17:29.436Z,1607905049.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:30.014Z,1607905050.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:30.429Z,1607905050.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:31.246Z,1607905051.246 [Micromodem](INFO): Nmea in: $SNTTA,0.002607,,,,001731.18*4E

2020-12-14T00:17:31.484Z,1607905051.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 311.865809 deg, deltaT: 4.063315 s, approachRate: -0.014766 m/s, LOS rate: 0.084619 deg/s, posRepo size: 4
2020-12-14T00:17:31.490Z,1607905051.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 311.865809 deg,
      approachRate: -0.014766 m/s,
      LOS rate: 0.084619 deg/s,
      cmd update: 0.253856 deg/s,
      cmd heading: 253.507820 deg,
      new cmd heading: 254.308123 deg.

2020-12-14T00:17:33.747Z,1607905053.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:34.548Z,1607905054.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:34.928Z,1607905054.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:35.760Z,1607905055.760 [Micromodem](INFO): Nmea in: $SNTTA,0.002594,,,,001735.71*4C

2020-12-14T00:17:35.761Z,1607905055.761 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:17:35.943Z,1607905055.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 316.848050 deg, deltaT: 4.523910 s, approachRate: 0.013263 m/s, LOS rate: 1.101313 deg/s, posRepo size: 4
2020-12-14T00:17:35.945Z,1607905055.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 316.848050 deg,
      approachRate: 0.013263 m/s,
      LOS rate: 1.101313 deg/s,
      cmd update: 3.303939 deg/s,
      cmd heading: 254.658732 deg,
      new cmd heading: 254.791801 deg.

2020-12-14T00:17:36.336Z,1607905056.336 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:17:36.336Z,1607905056.336 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:17:36.974Z,1607905056.974 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:17:37.386Z,1607905057.386 [Micromodem](INFO): Nmea in: $CADRQ,001737,1,9,0,64,1*4C

2020-12-14T00:17:37.386Z,1607905057.386 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:17:37.798Z,1607905057.798 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:17:37.974Z,1607905057.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:38.177Z,1607905058.177 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:17:38.584Z,1607905058.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:38.671Z,1607905058.671 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-14T00:17:38.672Z,1607905058.672 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:17:38.672Z,1607905058.672 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-14T00:17:38.672Z,1607905058.672 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:17:38.672Z,1607905058.672 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-14T00:17:38.673Z,1607905058.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 
2020-12-14T00:17:38.673Z,1607905058.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-14T00:17:38.673Z,1607905058.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-14T00:17:38.673Z,1607905058.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-14T00:17:39.027Z,1607905059.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201214T001739: (41.552319, -70.708603)
2020-12-14T00:17:39.027Z,1607905059.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-14T00:17:39.027Z,1607905059.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-14T00:17:39.027Z,1607905059.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:17:39.027Z,1607905059.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-14T00:17:39.028Z,1607905059.028 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:17:39.028Z,1607905059.028 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-14T00:17:39.028Z,1607905059.028 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-14T00:17:39.028Z,1607905059.028 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:17:39.398Z,1607905059.398 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:17:39.398Z,1607905059.398 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:17:39.794Z,1607905059.794 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001738.566268,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T00:17:39.794Z,1607905059.794 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,001738.566268,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T00:17:40.603Z,1607905060.603 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: à!C REMUS Captur1
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H__WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
COVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
, available: 432
2020-12-14T00:17:40.604Z,1607905060.604 [DDM] Communications Fault, FailCount= 2
2020-12-14T00:17:40.604Z,1607905060.604 [DDM](ERROR): Communications Fault
2020-12-14T00:17:40.651Z,1607905060.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:40.793Z,1607905060.793 [CBIT](ERROR): Communications Fault in component: DDM
2020-12-14T00:17:40.994Z,1607905060.994 [DDM](INFO): Powering down
2020-12-14T00:17:41.985Z,1607905061.985 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:17:41.985Z,1607905061.985 [DDM] No Fault, FailCount= 2
2020-12-14T00:17:43.541Z,1607905063.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:46.257Z,1607905066.257 [DDM](INFO): Powering up
2020-12-14T00:17:46.257Z,1607905066.257 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:17:46.342Z,1607905066.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:47.477Z,1607905067.477 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:17:48.864Z,1607905068.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:49.902Z,1607905069.902 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:50.337Z,1607905070.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:51.134Z,1607905071.134 [Micromodem](INFO): Nmea in: $SNTTA,0.002597,,,,001751.07*4C

2020-12-14T00:17:51.163Z,1607905071.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.966456 deg, deltaT: 15.458748 s, approachRate: 0.000000 m/s, LOS rate: 0.654542 deg/s, posRepo size: 4
2020-12-14T00:17:51.165Z,1607905071.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.966456 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.654542 deg/s,
      cmd update: 1.963627 deg/s,
      cmd heading: 305.740883 deg,
      new cmd heading: 306.675647 deg.

2020-12-14T00:17:53.613Z,1607905073.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:54.335Z,1607905074.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:54.735Z,1607905074.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:17:55.582Z,1607905075.582 [Micromodem](INFO): Nmea in: $SNTTA,0.002597,,,,001755.50*4A

2020-12-14T00:17:55.608Z,1607905075.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.094875 deg, deltaT: 4.468050 s, approachRate: 0.000000 m/s, LOS rate: -0.418881 deg/s, posRepo size: 4
2020-12-14T00:17:55.610Z,1607905075.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.094875 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.418881 deg/s,
      cmd update: -1.256643 deg/s,
      cmd heading: 314.514484 deg,
      new cmd heading: 315.025433 deg.

2020-12-14T00:17:57.387Z,1607905077.387 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:17:57.982Z,1607905077.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:17:58.775Z,1607905078.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:17:59.179Z,1607905079.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:00.006Z,1607905080.006 [Micromodem](INFO): Nmea in: $SNTTA,0.002589,,,,001759.94*41

2020-12-14T00:18:00.028Z,1607905080.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 324.819399 deg, deltaT: 4.292203 s, approachRate: 0.000000 m/s, LOS rate: -0.064180 deg/s, posRepo size: 4
2020-12-14T00:18:00.050Z,1607905080.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 324.819399 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.064180 deg/s,
      cmd update: -0.192541 deg/s,
      cmd heading: 309.125802 deg,
      new cmd heading: 308.633640 deg.

2020-12-14T00:18:02.003Z,1607905082.003 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:18:02.150Z,1607905082.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:02.475Z,1607905082.475 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T00:18:02.848Z,1607905082.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:03.257Z,1607905083.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:04.098Z,1607905084.098 [Micromodem](INFO): Nmea in: $SNTTA,0.002601,,,,001804.01*49

2020-12-14T00:18:04.136Z,1607905084.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 322.639067 deg, deltaT: 4.238817 s, approachRate: -0.014155 m/s, LOS rate: -0.514373 deg/s, posRepo size: 4
2020-12-14T00:18:04.140Z,1607905084.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 322.639067 deg,
      approachRate: -0.014155 m/s,
      LOS rate: -0.514373 deg/s,
      cmd update: -1.543119 deg/s,
      cmd heading: 308.308883 deg,
      new cmd heading: 308.259373 deg.

2020-12-14T00:18:06.578Z,1607905086.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:07.343Z,1607905087.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:07.697Z,1607905087.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:08.550Z,1607905088.550 [Micromodem](INFO): Nmea in: $SNTTA,0.002691,,,,001808.50*48

2020-12-14T00:18:08.591Z,1607905088.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 324.465186 deg, deltaT: 4.441928 s, approachRate: 0.013508 m/s, LOS rate: 0.411110 deg/s, posRepo size: 4
2020-12-14T00:18:08.609Z,1607905088.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 324.465186 deg,
      approachRate: 0.013508 m/s,
      LOS rate: 0.411110 deg/s,
      cmd update: 1.233329 deg/s,
      cmd heading: 301.515230 deg,
      new cmd heading: 301.037834 deg.

2020-12-14T00:18:10.956Z,1607905090.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:11.735Z,1607905091.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:12.150Z,1607905092.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:12.990Z,1607905092.990 [Micromodem](INFO): Nmea in: $SNTTA,0.002585,,,,001812.90*49

2020-12-14T00:18:13.012Z,1607905093.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.388950 deg, deltaT: 4.282142 s, approachRate: 0.000000 m/s, LOS rate: 0.449253 deg/s, posRepo size: 4
2020-12-14T00:18:13.014Z,1607905093.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.388950 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.449253 deg/s,
      cmd update: 1.347758 deg/s,
      cmd heading: 306.845171 deg,
      new cmd heading: 307.349336 deg.

2020-12-14T00:18:13.402Z,1607905093.402 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T00:18:15.429Z,1607905095.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:16.179Z,1607905096.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:16.597Z,1607905096.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:17.408Z,1607905097.408 [Micromodem](INFO): Nmea in: $SNTTA,0.002734,,,,001817.37*49

2020-12-14T00:18:17.464Z,1607905097.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 324.703341 deg, deltaT: 4.419017 s, approachRate: 0.000000 m/s, LOS rate: -0.381444 deg/s, posRepo size: 4
2020-12-14T00:18:17.482Z,1607905097.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 324.703341 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.381444 deg/s,
      cmd update: -1.144333 deg/s,
      cmd heading: 312.795524 deg,
      new cmd heading: 313.396624 deg.

2020-12-14T00:18:19.873Z,1607905099.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:20.651Z,1607905100.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:21.129Z,1607905101.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:21.948Z,1607905101.948 [Micromodem](INFO): Nmea in: $SNTTA,0.002711,,,0.007680,001821.81*51

2020-12-14T00:18:21.992Z,1607905101.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 326.827175 deg, deltaT: 4.562425 s, approachRate: -0.013151 m/s, LOS rate: 0.465505 deg/s, posRepo size: 4
2020-12-14T00:18:21.994Z,1607905101.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 326.827175 deg,
      approachRate: -0.013151 m/s,
      LOS rate: 0.465505 deg/s,
      cmd update: 1.396516 deg/s,
      cmd heading: 307.570083 deg,
      new cmd heading: 307.103861 deg.

2020-12-14T00:18:24.403Z,1607905104.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:25.156Z,1607905105.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:25.587Z,1607905105.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:26.406Z,1607905106.406 [Micromodem](INFO): Nmea in: $SNTTA,0.002596,,,,001826.32*44

2020-12-14T00:18:26.455Z,1607905106.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.008350 deg, deltaT: 4.393911 s, approachRate: 0.013655 m/s, LOS rate: -0.413942 deg/s, posRepo size: 4
2020-12-14T00:18:26.457Z,1607905106.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.008350 deg,
      approachRate: 0.013655 m/s,
      LOS rate: -0.413942 deg/s,
      cmd update: -1.241826 deg/s,
      cmd heading: 313.706139 deg,
      new cmd heading: 314.371964 deg.

2020-12-14T00:18:28.874Z,1607905108.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:29.619Z,1607905109.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:30.029Z,1607905110.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:30.866Z,1607905110.866 [Micromodem](INFO): Nmea in: $SNTTA,0.003036,,,0.026215,001830.78*5F

2020-12-14T00:18:30.890Z,1607905110.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 325.034632 deg, deltaT: 4.570817 s, approachRate: -0.013127 m/s, LOS rate: 0.005750 deg/s, posRepo size: 4
2020-12-14T00:18:30.892Z,1607905110.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 325.034632 deg,
      approachRate: -0.013127 m/s,
      LOS rate: 0.005750 deg/s,
      cmd update: 0.017250 deg/s,
      cmd heading: 308.051526 deg,
      new cmd heading: 307.606714 deg.

2020-12-14T00:18:32.406Z,1607905112.406 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:18:32.406Z,1607905112.406 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:18:32.406Z,1607905112.406 [DDM](ERROR): Hardware Fault
2020-12-14T00:18:32.481Z,1607905112.481 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:18:32.652Z,1607905112.652 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:18:32.817Z,1607905112.817 [DDM](INFO): Powering down
2020-12-14T00:18:33.216Z,1607905113.216 [DDM](FAULT): LCB fault:  Software Overcurrent.
2020-12-14T00:18:33.254Z,1607905113.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:33.932Z,1607905113.932 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:18:33.932Z,1607905113.932 [DDM] No Fault, FailCount= 1
2020-12-14T00:18:34.031Z,1607905114.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:34.441Z,1607905114.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:35.258Z,1607905115.258 [Micromodem](INFO): Nmea in: $SNTTA,0.002730,,,,001835.19*41

2020-12-14T00:18:35.333Z,1607905115.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.605855 deg, deltaT: 4.368786 s, approachRate: 0.013734 m/s, LOS rate: 0.130751 deg/s, posRepo size: 4
2020-12-14T00:18:35.335Z,1607905115.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.605855 deg,
      approachRate: 0.013734 m/s,
      LOS rate: 0.130751 deg/s,
      cmd update: 0.392252 deg/s,
      cmd heading: 308.127122 deg,
      new cmd heading: 308.134339 deg.

2020-12-14T00:18:37.747Z,1607905117.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:38.062Z,1607905118.062 [DDM](INFO): Powering up
2020-12-14T00:18:38.062Z,1607905118.062 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:18:38.470Z,1607905118.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:38.883Z,1607905118.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:39.710Z,1607905119.710 [Micromodem](INFO): Nmea in: $SNTTA,0.030440,,,,001839.63*45

2020-12-14T00:18:39.780Z,1607905119.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.794914 deg, deltaT: 4.430608 s, approachRate: 0.000000 m/s, LOS rate: 0.042671 deg/s, posRepo size: 4
2020-12-14T00:18:39.782Z,1607905119.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.794914 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.042671 deg/s,
      cmd update: 0.128014 deg/s,
      cmd heading: 309.858735 deg,
      new cmd heading: 310.035693 deg.

2020-12-14T00:18:41.345Z,1607905121.345 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:18:41.851Z,1607905121.851 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:18:41.852Z,1607905121.852 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:18:41.922Z,1607905121.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:42.123Z,1607905122.123 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:18:42.542Z,1607905122.542 [Micromodem](INFO): Nmea in: $CADRQ,001842,1,9,0,64,1*41

2020-12-14T00:18:42.543Z,1607905122.543 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:18:42.914Z,1607905122.914 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:18:42.914Z,1607905122.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:43.331Z,1607905123.331 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:18:43.331Z,1607905123.331 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:18:44.552Z,1607905124.552 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:18:44.553Z,1607905124.553 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:18:44.638Z,1607905124.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:44.937Z,1607905124.937 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001843.726236,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T00:18:44.937Z,1607905124.937 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,001843.726236,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T00:18:47.458Z,1607905127.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:50.229Z,1607905130.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:53.378Z,1607905133.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:53.961Z,1607905133.961 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:18:54.086Z,1607905134.086 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:54.406Z,1607905134.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:55.461Z,1607905135.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.636995 deg, deltaT: 15.531278 s, approachRate: 0.000000 m/s, LOS rate: 0.054218 deg/s, posRepo size: 4
2020-12-14T00:18:55.463Z,1607905135.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.636995 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.054218 deg/s,
      cmd update: 0.162655 deg/s,
      cmd heading: 311.847453 deg,
      new cmd heading: 311.923355 deg.

2020-12-14T00:18:55.674Z,1607905135.674 [Micromodem](INFO): Nmea in: $SNTTA,0.002605,,,,001855.25*4F

2020-12-14T00:18:57.721Z,1607905137.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:18:58.487Z,1607905138.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:18:58.897Z,1607905138.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:18:59.726Z,1607905139.726 [Micromodem](INFO): Nmea in: $SNTTA,0.002611,,0.029210,,001859.65*54

2020-12-14T00:18:59.904Z,1607905139.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 327.151827 deg, deltaT: 4.495898 s, approachRate: -0.013346 m/s, LOS rate: 0.114512 deg/s, posRepo size: 4
2020-12-14T00:18:59.906Z,1607905139.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 327.151827 deg,
      approachRate: -0.013346 m/s,
      LOS rate: 0.114512 deg/s,
      cmd update: 0.343535 deg/s,
      cmd heading: 312.581351 deg,
      new cmd heading: 312.667256 deg.

2020-12-14T00:19:01.899Z,1607905141.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:02.543Z,1607905142.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:02.929Z,1607905142.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:03.758Z,1607905143.758 [Micromodem](INFO): Nmea in: $SNTTA,0.002600,,,,001903.71*49

2020-12-14T00:19:03.810Z,1607905143.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 324.573513 deg, deltaT: 4.028672 s, approachRate: 0.014893 m/s, LOS rate: -0.639991 deg/s, posRepo size: 4
2020-12-14T00:19:03.812Z,1607905143.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 324.573513 deg,
      approachRate: 0.014893 m/s,
      LOS rate: -0.639991 deg/s,
      cmd update: -1.919973 deg/s,
      cmd heading: 313.965272 deg,
      new cmd heading: 314.104737 deg.

2020-12-14T00:19:06.370Z,1607905146.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:06.982Z,1607905146.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:07.380Z,1607905147.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:08.202Z,1607905148.202 [Micromodem](INFO): Nmea in: $SNTTA,0.002611,,,,001908.14*41

2020-12-14T00:19:08.405Z,1607905148.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 321.353625 deg, deltaT: 4.432135 s, approachRate: 0.013538 m/s, LOS rate: -0.726487 deg/s, posRepo size: 4
2020-12-14T00:19:08.407Z,1607905148.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 321.353625 deg,
      approachRate: 0.013538 m/s,
      LOS rate: -0.726487 deg/s,
      cmd update: -2.179460 deg/s,
      cmd heading: 305.455650 deg,
      new cmd heading: 304.365191 deg.

2020-12-14T00:19:10.693Z,1607905150.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:11.432Z,1607905151.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:11.829Z,1607905151.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:12.654Z,1607905152.654 [Micromodem](INFO): Nmea in: $SNTTA,0.002616,,,,001912.59*44

2020-12-14T00:19:12.932Z,1607905152.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 318.619473 deg, deltaT: 4.438296 s, approachRate: 0.000000 m/s, LOS rate: -0.616036 deg/s, posRepo size: 4
2020-12-14T00:19:12.935Z,1607905152.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 318.619473 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.616036 deg/s,
      cmd update: -1.848109 deg/s,
      cmd heading: 295.782095 deg,
      new cmd heading: 294.349363 deg.

2020-12-14T00:19:15.038Z,1607905155.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:15.623Z,1607905155.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:16.036Z,1607905156.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:16.866Z,1607905156.866 [Micromodem](INFO): Nmea in: $SNTTA,0.002610,,,0.013771,001916.78*58

2020-12-14T00:19:16.919Z,1607905156.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.032337 deg, deltaT: 4.205896 s, approachRate: -0.014266 m/s, LOS rate: 1.524732 deg/s, posRepo size: 4
2020-12-14T00:19:16.925Z,1607905156.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.032337 deg,
      approachRate: -0.014266 m/s,
      LOS rate: 1.524732 deg/s,
      cmd update: 4.574196 deg/s,
      cmd heading: 288.020066 deg,
      new cmd heading: 287.200206 deg.

2020-12-14T00:19:19.470Z,1607905159.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:20.063Z,1607905160.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:20.540Z,1607905160.540 [DDM](ERROR): Could not parse latch state
2020-12-14T00:19:20.554Z,1607905160.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:21.338Z,1607905161.338 [Micromodem](INFO): Nmea in: $SNTTA,0.002571,,0.006065,,001921.22*51

2020-12-14T00:19:21.570Z,1607905161.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 328.943659 deg, deltaT: 4.438987 s, approachRate: -0.013517 m/s, LOS rate: 0.881129 deg/s, posRepo size: 4
2020-12-14T00:19:21.573Z,1607905161.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 328.943659 deg,
      approachRate: -0.013517 m/s,
      LOS rate: 0.881129 deg/s,
      cmd update: 2.643388 deg/s,
      cmd heading: 308.351842 deg,
      new cmd heading: 311.328170 deg.

2020-12-14T00:19:23.471Z,1607905163.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:24.121Z,1607905164.121 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:19:24.121Z,1607905164.121 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:19:24.121Z,1607905164.121 [DDM](ERROR): Hardware Fault
2020-12-14T00:19:24.131Z,1607905164.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:24.361Z,1607905164.361 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:19:24.555Z,1607905164.555 [DDM](INFO): Powering down
2020-12-14T00:19:24.641Z,1607905164.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:25.378Z,1607905165.378 [Micromodem](INFO): Nmea in: $SNTTA,0.002617,,,,001925.29*46

2020-12-14T00:19:25.424Z,1607905165.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 328.096142 deg, deltaT: 4.063417 s, approachRate: 0.000000 m/s, LOS rate: -0.208573 deg/s, posRepo size: 4
2020-12-14T00:19:25.430Z,1607905165.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 328.096142 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.208573 deg/s,
      cmd update: -0.625718 deg/s,
      cmd heading: 319.093060 deg,
      new cmd heading: 320.256946 deg.

2020-12-14T00:19:25.580Z,1607905165.580 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:19:25.580Z,1607905165.580 [DDM] No Fault, FailCount= 1
2020-12-14T00:19:27.966Z,1607905167.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:28.577Z,1607905168.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:28.977Z,1607905168.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:29.789Z,1607905169.789 [DDM](INFO): Powering up
2020-12-14T00:19:29.790Z,1607905169.790 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:19:29.838Z,1607905169.838 [Micromodem](INFO): Nmea in: $SNTTA,0.002593,,,,001929.74*4D

2020-12-14T00:19:29.881Z,1607905169.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 334.569631 deg, deltaT: 4.432305 s, approachRate: 0.013537 m/s, LOS rate: 1.460524 deg/s, posRepo size: 4
2020-12-14T00:19:29.883Z,1607905169.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 334.569631 deg,
      approachRate: 0.013537 m/s,
      LOS rate: 1.460524 deg/s,
      cmd update: 4.381573 deg/s,
      cmd heading: 316.330116 deg,
      new cmd heading: 316.033736 deg.

2020-12-14T00:19:32.473Z,1607905172.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:33.011Z,1607905173.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:33.443Z,1607905173.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:34.242Z,1607905174.242 [Micromodem](INFO): Nmea in: $SNTTA,0.002600,,,,001934.17*4D

2020-12-14T00:19:34.462Z,1607905174.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 330.034085 deg, deltaT: 4.463258 s, approachRate: 0.000000 m/s, LOS rate: -1.016196 deg/s, posRepo size: 4
2020-12-14T00:19:34.464Z,1607905174.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 330.034085 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.016196 deg/s,
      cmd update: -3.048589 deg/s,
      cmd heading: 335.958683 deg,
      new cmd heading: 338.512233 deg.

2020-12-14T00:19:36.708Z,1607905176.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:37.467Z,1607905177.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:37.867Z,1607905177.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:38.697Z,1607905178.697 [Micromodem](INFO): Nmea in: $SNTTA,0.002606,,,,001938.63*44

2020-12-14T00:19:38.864Z,1607905178.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 327.971832 deg, deltaT: 4.484444 s, approachRate: -0.013380 m/s, LOS rate: -0.459868 deg/s, posRepo size: 4
2020-12-14T00:19:38.866Z,1607905178.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 327.971832 deg,
      approachRate: -0.013380 m/s,
      LOS rate: -0.459868 deg/s,
      cmd update: -1.379604 deg/s,
      cmd heading: 322.287049 deg,
      new cmd heading: 320.760593 deg.

2020-12-14T00:19:40.878Z,1607905180.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:41.518Z,1607905181.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:41.905Z,1607905181.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:42.738Z,1607905182.738 [Micromodem](INFO): Nmea in: $SNTTA,0.002594,,,,001942.68*4A

2020-12-14T00:19:42.787Z,1607905182.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 334.774428 deg, deltaT: 4.042663 s, approachRate: 0.000000 m/s, LOS rate: 1.682702 deg/s, posRepo size: 4
2020-12-14T00:19:42.794Z,1607905182.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 334.774428 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.682702 deg/s,
      cmd update: 5.048104 deg/s,
      cmd heading: 316.714085 deg,
      new cmd heading: 316.183657 deg.

2020-12-14T00:19:45.335Z,1607905185.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:45.554Z,1607905185.554 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:19:45.971Z,1607905185.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:46.373Z,1607905186.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:19:47.218Z,1607905187.218 [Micromodem](INFO): Nmea in: $SNTTA,0.002604,,0.058680,,001947.13*54

2020-12-14T00:19:47.218Z,1607905187.218 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:19:47.447Z,1607905187.447 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T00:19:47.475Z,1607905187.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 332.183682 deg, deltaT: 4.455758 s, approachRate: 0.013466 m/s, LOS rate: -0.581438 deg/s, posRepo size: 4
2020-12-14T00:19:47.480Z,1607905187.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 332.183682 deg,
      approachRate: 0.013466 m/s,
      LOS rate: -0.581438 deg/s,
      cmd update: -1.744313 deg/s,
      cmd heading: 339.221977 deg,
      new cmd heading: 342.316647 deg.

2020-12-14T00:19:47.751Z,1607905187.751 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:19:47.752Z,1607905187.752 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:19:48.439Z,1607905188.439 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:19:48.830Z,1607905188.830 [Micromodem](INFO): Nmea in: $CADRQ,001948,1,9,0,64,1*4A

2020-12-14T00:19:48.830Z,1607905188.830 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:19:48.921Z,1607905188.921 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T00:19:49.233Z,1607905189.233 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:19:49.619Z,1607905189.619 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:19:49.655Z,1607905189.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:50.433Z,1607905190.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:19:50.855Z,1607905190.855 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:19:50.855Z,1607905190.855 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:19:51.243Z,1607905191.243 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,001950.013056,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T00:19:51.244Z,1607905191.244 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,001950.013056,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T00:19:52.545Z,1607905192.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:55.366Z,1607905195.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:19:58.296Z,1607905198.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:00.962Z,1607905200.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:01.746Z,1607905201.746 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:02.157Z,1607905202.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:03.002Z,1607905203.002 [Micromodem](INFO): Nmea in: $SNTTA,0.002592,,,,002002.91*44

2020-12-14T00:20:03.026Z,1607905203.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 330.958510 deg, deltaT: 15.770583 s, approachRate: 0.000000 m/s, LOS rate: -0.077687 deg/s, posRepo size: 4
2020-12-14T00:20:03.028Z,1607905203.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 330.958510 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.077687 deg/s,
      cmd update: -0.233062 deg/s,
      cmd heading: 311.740770 deg,
      new cmd heading: 311.027043 deg.

2020-12-14T00:20:05.414Z,1607905205.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:06.199Z,1607905206.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:06.601Z,1607905206.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:07.462Z,1607905207.462 [Micromodem](INFO): Nmea in: $SNTTA,0.002584,,,,002007.36*4B

2020-12-14T00:20:07.541Z,1607905207.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.953102 deg, deltaT: 4.401635 s, approachRate: 0.000000 m/s, LOS rate: -1.137170 deg/s, posRepo size: 4
2020-12-14T00:20:07.543Z,1607905207.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.953102 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.137170 deg/s,
      cmd update: -3.411511 deg/s,
      cmd heading: 310.711267 deg,
      new cmd heading: 310.593927 deg.

2020-12-14T00:20:09.615Z,1607905209.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:10.370Z,1607905210.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:10.745Z,1607905210.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:11.594Z,1607905211.594 [Micromodem](INFO): Nmea in: $SNTTA,0.002576,,,,002011.53*42

2020-12-14T00:20:11.644Z,1607905211.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.881925 deg, deltaT: 4.153356 s, approachRate: 0.000000 m/s, LOS rate: 0.223632 deg/s, posRepo size: 4
2020-12-14T00:20:11.647Z,1607905211.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.881925 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.223632 deg/s,
      cmd update: 0.670896 deg/s,
      cmd heading: 296.547963 deg,
      new cmd heading: 294.982073 deg.

2020-12-14T00:20:14.022Z,1607905214.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:14.787Z,1607905214.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:15.185Z,1607905215.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:15.984Z,1607905215.984 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:20:15.985Z,1607905215.985 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:20:15.985Z,1607905215.985 [DDM](ERROR): Hardware Fault
2020-12-14T00:20:16.002Z,1607905216.002 [Micromodem](INFO): Nmea in: $SNTTA,0.002605,,,,002015.95*4B

2020-12-14T00:20:16.051Z,1607905216.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.775019 deg, deltaT: 4.446491 s, approachRate: 0.000000 m/s, LOS rate: -0.024043 deg/s, posRepo size: 4
2020-12-14T00:20:16.076Z,1607905216.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.775019 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.024043 deg/s,
      cmd update: -0.072128 deg/s,
      cmd heading: 299.532340 deg,
      new cmd heading: 299.812506 deg.

2020-12-14T00:20:16.184Z,1607905216.184 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:20:16.364Z,1607905216.364 [DDM](INFO): Powering down
2020-12-14T00:20:17.344Z,1607905217.344 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:20:17.344Z,1607905217.344 [DDM] No Fault, FailCount= 1
2020-12-14T00:20:18.444Z,1607905218.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:19.197Z,1607905219.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:19.601Z,1607905219.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:20.426Z,1607905220.426 [Micromodem](INFO): Nmea in: $SNTTA,0.002594,,,,002020.36*4F

2020-12-14T00:20:20.485Z,1607905220.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 331.181065 deg, deltaT: 4.427605 s, approachRate: -0.013551 m/s, LOS rate: 0.995131 deg/s, posRepo size: 4
2020-12-14T00:20:20.487Z,1607905220.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 331.181065 deg,
      approachRate: -0.013551 m/s,
      LOS rate: 0.995131 deg/s,
      cmd update: 2.985392 deg/s,
      cmd heading: 299.212979 deg,
      new cmd heading: 299.182414 deg.

2020-12-14T00:20:21.616Z,1607905221.616 [DDM](INFO): Powering up
2020-12-14T00:20:21.616Z,1607905221.616 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:20:22.576Z,1607905222.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:23.235Z,1607905223.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:23.648Z,1607905223.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:24.474Z,1607905224.474 [Micromodem](INFO): Nmea in: $SNTTA,0.002589,,,,002024.40*46

2020-12-14T00:20:24.576Z,1607905224.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 329.775576 deg, deltaT: 4.058810 s, approachRate: 0.014783 m/s, LOS rate: -0.346281 deg/s, posRepo size: 4
2020-12-14T00:20:24.582Z,1607905224.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 329.775576 deg,
      approachRate: 0.014783 m/s,
      LOS rate: -0.346281 deg/s,
      cmd update: -1.038843 deg/s,
      cmd heading: 311.318018 deg,
      new cmd heading: 312.692003 deg.

2020-12-14T00:20:26.903Z,1607905226.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:27.679Z,1607905227.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:28.085Z,1607905228.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:28.910Z,1607905228.910 [Micromodem](INFO): Nmea in: $SNTTA,0.002589,,,,002028.84*42

2020-12-14T00:20:28.960Z,1607905228.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 333.369622 deg, deltaT: 4.466749 s, approachRate: 0.000000 m/s, LOS rate: 0.804622 deg/s, posRepo size: 4
2020-12-14T00:20:28.962Z,1607905228.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 333.369622 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.804622 deg/s,
      cmd update: 2.413867 deg/s,
      cmd heading: 306.677542 deg,
      new cmd heading: 306.285800 deg.

2020-12-14T00:20:31.569Z,1607905231.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:32.135Z,1607905232.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:32.565Z,1607905232.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:33.362Z,1607905233.362 [Micromodem](INFO): Nmea in: $SNTTA,0.002720,,,,002033.30*46

2020-12-14T00:20:33.400Z,1607905233.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 333.522508 deg, deltaT: 4.389522 s, approachRate: 0.000000 m/s, LOS rate: 0.034830 deg/s, posRepo size: 4
2020-12-14T00:20:33.402Z,1607905233.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 333.522508 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.034830 deg/s,
      cmd update: 0.104490 deg/s,
      cmd heading: 317.272970 deg,
      new cmd heading: 318.305106 deg.

2020-12-14T00:20:35.946Z,1607905235.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:36.574Z,1607905236.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:36.988Z,1607905236.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:37.379Z,1607905237.379 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:20:37.834Z,1607905237.834 [Micromodem](INFO): Nmea in: $SNTTA,0.002596,,,,002037.73*4A

2020-12-14T00:20:37.999Z,1607905237.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 339.597552 deg, deltaT: 4.612482 s, approachRate: -0.013008 m/s, LOS rate: 1.317088 deg/s, posRepo size: 4
2020-12-14T00:20:38.001Z,1607905238.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 339.597552 deg,
      approachRate: -0.013008 m/s,
      LOS rate: 1.317088 deg/s,
      cmd update: 3.951263 deg/s,
      cmd heading: 317.755357 deg,
      new cmd heading: 317.798210 deg.

2020-12-14T00:20:40.316Z,1607905240.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:41.059Z,1607905241.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:41.461Z,1607905241.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:42.296Z,1607905242.296 [Micromodem](INFO): Nmea in: $SNTTA,0.002637,,,,002042.22*44

2020-12-14T00:20:42.559Z,1607905242.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 335.593258 deg, deltaT: 4.316897 s, approachRate: 0.041697 m/s, LOS rate: -0.927586 deg/s, posRepo size: 4
2020-12-14T00:20:42.577Z,1607905242.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 335.593258 deg,
      approachRate: 0.041697 m/s,
      LOS rate: -0.927586 deg/s,
      cmd update: -2.782759 deg/s,
      cmd heading: 334.811292 deg,
      new cmd heading: 337.391894 deg.

2020-12-14T00:20:44.591Z,1607905244.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:45.153Z,1607905245.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:45.572Z,1607905245.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:46.401Z,1607905246.401 [Micromodem](INFO): Nmea in: $SNTTA,0.002588,,,,002046.31*45

2020-12-14T00:20:46.440Z,1607905246.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 330.915589 deg, deltaT: 4.060741 s, approachRate: -0.044327 m/s, LOS rate: -1.151925 deg/s, posRepo size: 4
2020-12-14T00:20:46.443Z,1607905246.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 330.915589 deg,
      approachRate: -0.044327 m/s,
      LOS rate: -1.151925 deg/s,
      cmd update: -3.455775 deg/s,
      cmd heading: 323.510320 deg,
      new cmd heading: 322.194590 deg.

2020-12-14T00:20:48.471Z,1607905248.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:49.179Z,1607905249.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:49.589Z,1607905249.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:50.423Z,1607905250.423 [Micromodem](INFO): Nmea in: $SNTTA,0.002596,,,,002050.34*48

2020-12-14T00:20:50.532Z,1607905250.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 336.004353 deg, deltaT: 4.081908 s, approachRate: 0.000000 m/s, LOS rate: 1.246663 deg/s, posRepo size: 4
2020-12-14T00:20:50.538Z,1607905250.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 336.004353 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.246663 deg/s,
      cmd update: 3.739989 deg/s,
      cmd heading: 309.404629 deg,
      new cmd heading: 307.760081 deg.

2020-12-14T00:20:52.822Z,1607905252.822 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:20:52.922Z,1607905252.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:53.394Z,1607905253.394 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:20:53.395Z,1607905253.395 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:20:53.703Z,1607905253.703 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:20:53.704Z,1607905253.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:54.091Z,1607905254.091 [Micromodem](INFO): Nmea in: $CADRQ,002054,1,9,0,64,1*4D

2020-12-14T00:20:54.091Z,1607905254.091 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,002054,1,9,0,64,1*4D

2020-12-14T00:20:54.514Z,1607905254.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:54.930Z,1607905254.930 [Micromodem](INFO): Nmea in: $SNTTA,0.002667,,,,002054.86*48

2020-12-14T00:20:55.093Z,1607905255.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 335.793492 deg, deltaT: 4.558634 s, approachRate: 0.052648 m/s, LOS rate: -0.046255 deg/s, posRepo size: 4
2020-12-14T00:20:55.095Z,1607905255.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 335.793492 deg,
      approachRate: 0.052648 m/s,
      LOS rate: -0.046255 deg/s,
      cmd update: -0.138766 deg/s,
      cmd heading: 326.454446 deg,
      new cmd heading: 328.270810 deg.

2020-12-14T00:20:57.114Z,1607905257.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:20:57.731Z,1607905257.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:20:58.133Z,1607905258.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:20:58.979Z,1607905258.979 [Micromodem](INFO): Nmea in: $SNTTA,0.002598,,,,002058.89*48

2020-12-14T00:20:59.015Z,1607905259.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 331.339361 deg, deltaT: 4.002032 s, approachRate: -0.044978 m/s, LOS rate: -1.112967 deg/s, posRepo size: 4
2020-12-14T00:20:59.017Z,1607905259.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 331.339361 deg,
      approachRate: -0.044978 m/s,
      LOS rate: -1.112967 deg/s,
      cmd update: -3.338901 deg/s,
      cmd heading: 325.899099 deg,
      new cmd heading: 325.842777 deg.

2020-12-14T00:21:01.610Z,1607905261.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:02.175Z,1607905262.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:02.589Z,1607905262.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:03.421Z,1607905263.421 [Micromodem](INFO): Nmea in: $SNTTA,0.002591,,0.038803,,002103.34*56

2020-12-14T00:21:03.659Z,1607905263.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 330.798957 deg, deltaT: 4.410939 s, approachRate: -0.013603 m/s, LOS rate: -0.122515 deg/s, posRepo size: 4
2020-12-14T00:21:03.662Z,1607905263.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 330.798957 deg,
      approachRate: -0.013603 m/s,
      LOS rate: -0.122515 deg/s,
      cmd update: -0.367544 deg/s,
      cmd heading: 311.171572 deg,
      new cmd heading: 309.037153 deg.

2020-12-14T00:21:05.853Z,1607905265.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:06.627Z,1607905266.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:07.041Z,1607905267.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:07.828Z,1607905267.828 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:21:07.828Z,1607905267.828 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:21:07.829Z,1607905267.829 [DDM](ERROR): Hardware Fault
2020-12-14T00:21:07.846Z,1607905267.846 [Micromodem](INFO): Nmea in: $SNTTA,0.002612,,,,002107.79*4D

2020-12-14T00:21:08.030Z,1607905268.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 330.747512 deg, deltaT: 4.567461 s, approachRate: 0.000000 m/s, LOS rate: -0.011263 deg/s, posRepo size: 4
2020-12-14T00:21:08.032Z,1607905268.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 330.747512 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.011263 deg/s,
      cmd update: -0.033790 deg/s,
      cmd heading: 309.495770 deg,
      new cmd heading: 309.330357 deg.

2020-12-14T00:21:08.165Z,1607905268.165 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:21:08.210Z,1607905268.210 [DDM](INFO): Powering down
2020-12-14T00:21:09.188Z,1607905269.188 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:21:09.188Z,1607905269.188 [DDM] No Fault, FailCount= 1
2020-12-14T00:21:10.255Z,1607905270.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:11.047Z,1607905271.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:11.460Z,1607905271.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:12.274Z,1607905272.274 [Micromodem](INFO): Nmea in: $SNTTA,0.002593,,,,002112.21*4E

2020-12-14T00:21:12.343Z,1607905272.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 332.342170 deg, deltaT: 4.305851 s, approachRate: 0.013935 m/s, LOS rate: 0.370347 deg/s, posRepo size: 4
2020-12-14T00:21:12.350Z,1607905272.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 332.342170 deg,
      approachRate: 0.013935 m/s,
      LOS rate: 0.370347 deg/s,
      cmd update: 1.111040 deg/s,
      cmd heading: 309.350139 deg,
      new cmd heading: 309.334795 deg.

2020-12-14T00:21:13.464Z,1607905273.464 [DDM](INFO): Powering up
2020-12-14T00:21:13.465Z,1607905273.465 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:21:14.551Z,1607905274.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:15.095Z,1607905275.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:15.533Z,1607905275.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:16.344Z,1607905276.344 [Micromodem](INFO): Nmea in: $SNTTA,0.002593,,,,002116.26*4D

2020-12-14T00:21:16.566Z,1607905276.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 334.150066 deg, deltaT: 4.087260 s, approachRate: -0.014680 m/s, LOS rate: 0.442325 deg/s, posRepo size: 4
2020-12-14T00:21:16.568Z,1607905276.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 334.150066 deg,
      approachRate: -0.014680 m/s,
      LOS rate: 0.442325 deg/s,
      cmd update: 1.326974 deg/s,
      cmd heading: 313.881242 deg,
      new cmd heading: 314.546066 deg.

2020-12-14T00:21:18.756Z,1607905278.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:19.563Z,1607905279.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:19.945Z,1607905279.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:20.782Z,1607905280.782 [Micromodem](INFO): Nmea in: $SNTTA,0.002599,,,,002120.72*43

2020-12-14T00:21:20.963Z,1607905280.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 332.044865 deg, deltaT: 4.458121 s, approachRate: 0.013459 m/s, LOS rate: -0.472217 deg/s, posRepo size: 4
2020-12-14T00:21:20.965Z,1607905280.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 332.044865 deg,
      approachRate: 0.013459 m/s,
      LOS rate: -0.472217 deg/s,
      cmd update: -1.416651 deg/s,
      cmd heading: 319.800399 deg,
      new cmd heading: 320.509607 deg.

2020-12-14T00:21:22.943Z,1607905282.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:23.579Z,1607905283.579 [Micromodem](INFO): Nmea in: $CAERR,002124,DATA_TIMEOUT,1*4B

2020-12-14T00:21:23.580Z,1607905283.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:23.986Z,1607905283.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:24.806Z,1607905284.806 [Micromodem](INFO): Nmea in: $SNTTA,0.002602,,,,002124.74*40

2020-12-14T00:21:24.843Z,1607905284.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 332.682013 deg, deltaT: 4.028107 s, approachRate: -0.014895 m/s, LOS rate: 0.158175 deg/s, posRepo size: 4
2020-12-14T00:21:24.845Z,1607905284.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 332.682013 deg,
      approachRate: -0.014895 m/s,
      LOS rate: 0.158175 deg/s,
      cmd update: 0.474526 deg/s,
      cmd heading: 314.110746 deg,
      new cmd heading: 313.546232 deg.

2020-12-14T00:21:27.417Z,1607905287.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:28.024Z,1607905288.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:28.449Z,1607905288.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:29.239Z,1607905289.239 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:21:29.386Z,1607905289.386 [Micromodem](INFO): Nmea in: $SNTTA,0.002632,,0.021800,,002129.18*51

2020-12-14T00:21:29.637Z,1607905289.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 339.497558 deg, deltaT: 4.412973 s, approachRate: 0.040789 m/s, LOS rate: 1.544434 deg/s, posRepo size: 4
2020-12-14T00:21:29.639Z,1607905289.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 339.497558 deg,
      approachRate: 0.040789 m/s,
      LOS rate: 1.544434 deg/s,
      cmd update: 4.633302 deg/s,
      cmd heading: 316.215407 deg,
      new cmd heading: 316.567228 deg.

2020-12-14T00:21:31.553Z,1607905291.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:32.231Z,1607905292.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:32.637Z,1607905292.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:32.684Z,1607905292.684 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:21:33.486Z,1607905293.486 [Micromodem](INFO): Nmea in: $SNTTA,0.002609,,,,002133.39*44

2020-12-14T00:21:33.890Z,1607905293.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 334.229816 deg, deltaT: 4.231999 s, approachRate: -0.042533 m/s, LOS rate: -1.244741 deg/s, posRepo size: 4
2020-12-14T00:21:33.892Z,1607905293.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 334.229816 deg,
      approachRate: -0.042533 m/s,
      LOS rate: -1.244741 deg/s,
      cmd update: -3.734223 deg/s,
      cmd heading: 335.785172 deg,
      new cmd heading: 339.429769 deg.

2020-12-14T00:21:35.840Z,1607905295.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:36.483Z,1607905296.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:36.881Z,1607905296.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:37.730Z,1607905297.730 [Micromodem](INFO): Nmea in: $SNTTA,0.002601,,0.032601,,002137.64*58

2020-12-14T00:21:37.735Z,1607905297.735 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:21:37.772Z,1607905297.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 334.198588 deg, deltaT: 4.241388 s, approachRate: 0.000000 m/s, LOS rate: -0.007363 deg/s, posRepo size: 4
2020-12-14T00:21:37.778Z,1607905297.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 334.198588 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.007363 deg/s,
      cmd update: -0.022088 deg/s,
      cmd heading: 319.915977 deg,
      new cmd heading: 318.351785 deg.

2020-12-14T00:21:40.275Z,1607905300.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:40.919Z,1607905300.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:41.357Z,1607905301.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:42.254Z,1607905302.254 [Micromodem](INFO): Nmea in: $SNTTA,0.002587,,,,002142.08*45

2020-12-14T00:21:42.541Z,1607905302.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 341.345561 deg, deltaT: 4.423498 s, approachRate: 0.013564 m/s, LOS rate: 1.615684 deg/s, posRepo size: 4
2020-12-14T00:21:42.543Z,1607905302.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 341.345561 deg,
      approachRate: 0.013564 m/s,
      LOS rate: 1.615684 deg/s,
      cmd update: 4.847051 deg/s,
      cmd heading: 319.818271 deg,
      new cmd heading: 319.801479 deg.

2020-12-14T00:21:42.695Z,1607905302.695 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:21:44.352Z,1607905304.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:45.099Z,1607905305.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:45.536Z,1607905305.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:46.444Z,1607905306.444 [Micromodem](INFO): Nmea in: $SNTTA,0.002616,,,,002146.26*46

2020-12-14T00:21:46.666Z,1607905306.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 347.946966 deg, deltaT: 4.185164 s, approachRate: 0.000000 m/s, LOS rate: 1.577335 deg/s, posRepo size: 4
2020-12-14T00:21:46.668Z,1607905306.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 347.946966 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.577335 deg/s,
      cmd update: 4.732005 deg/s,
      cmd heading: 340.102324 deg,
      new cmd heading: 343.513863 deg.

2020-12-14T00:21:47.699Z,1607905307.699 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:21:48.668Z,1607905308.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:49.252Z,1607905309.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:49.657Z,1607905309.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:50.533Z,1607905310.533 [Micromodem](INFO): Nmea in: $SNTTA,0.002594,,,,002150.41*49

2020-12-14T00:21:50.578Z,1607905310.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 341.457057 deg, deltaT: 4.139218 s, approachRate: -0.014496 m/s, LOS rate: -1.567907 deg/s, posRepo size: 4
2020-12-14T00:21:50.580Z,1607905310.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 341.457057 deg,
      approachRate: -0.014496 m/s,
      LOS rate: -1.567907 deg/s,
      cmd update: -4.703721 deg/s,
      cmd heading: 359.687566 deg,
      new cmd heading: 1.948702 deg.

2020-12-14T00:21:52.625Z,1607905312.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:53.331Z,1607905313.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:53.707Z,1607905313.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:54.614Z,1607905314.614 [Micromodem](INFO): Nmea in: $SNTTA,0.002615,,,,002154.49*4F

2020-12-14T00:21:54.672Z,1607905314.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 343.448658 deg, deltaT: 4.057547 s, approachRate: 0.000000 m/s, LOS rate: 0.490839 deg/s, posRepo size: 4
2020-12-14T00:21:54.674Z,1607905314.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 343.448658 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.490839 deg/s,
      cmd update: 1.472516 deg/s,
      cmd heading: 340.611380 deg,
      new cmd heading: 338.183728 deg.

2020-12-14T00:21:56.952Z,1607905316.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:21:57.736Z,1607905317.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:21:57.786Z,1607905317.786 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T00:21:58.141Z,1607905318.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:21:58.588Z,1607905318.588 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:21:58.978Z,1607905318.978 [Micromodem](INFO): Nmea in: $SNTTA,0.002598,,,,002158.90*41

2020-12-14T00:21:59.114Z,1607905319.114 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:21:59.115Z,1607905319.115 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:21:59.333Z,1607905319.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 341.263025 deg, deltaT: 4.501611 s, approachRate: 0.000000 m/s, LOS rate: -0.485522 deg/s, posRepo size: 4
2020-12-14T00:21:59.335Z,1607905319.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 341.263025 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.485522 deg/s,
      cmd update: -1.456567 deg/s,
      cmd heading: 347.237925 deg,
      new cmd heading: 348.234340 deg.

2020-12-14T00:21:59.491Z,1607905319.491 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:21:59.492Z,1607905319.492 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:21:59.492Z,1607905319.492 [DDM](ERROR): Hardware Fault
2020-12-14T00:21:59.720Z,1607905319.720 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:21:59.866Z,1607905319.866 [DDM](INFO): Powering down
2020-12-14T00:22:00.304Z,1607905320.304 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:22:00.710Z,1607905320.710 [Micromodem](INFO): Nmea in: $CADRQ,002200,1,9,0,64,1*4E

2020-12-14T00:22:00.710Z,1607905320.710 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:22:00.932Z,1607905320.932 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:22:00.932Z,1607905320.932 [DDM] No Fault, FailCount= 1
2020-12-14T00:22:01.097Z,1607905321.097 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:22:01.286Z,1607905321.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:01.546Z,1607905321.546 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:22:01.894Z,1607905321.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:02.715Z,1607905322.715 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:22:02.715Z,1607905322.715 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:22:03.148Z,1607905323.148 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,002201.892067,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-14T00:22:03.148Z,1607905323.148 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,002201.892067,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-14T00:22:03.931Z,1607905323.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:05.118Z,1607905325.118 [DDM](INFO): Powering up
2020-12-14T00:22:05.118Z,1607905325.118 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:22:06.798Z,1607905326.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:09.619Z,1607905329.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:12.162Z,1607905332.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:12.818Z,1607905332.818 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T00:22:13.202Z,1607905333.202 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:13.613Z,1607905333.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:14.454Z,1607905334.454 [Micromodem](INFO): Nmea in: $SNTTA,0.002603,,,0.031947,002214.36*51

2020-12-14T00:22:14.493Z,1607905334.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 342.101089 deg, deltaT: 15.515581 s, approachRate: 0.003867 m/s, LOS rate: 0.054014 deg/s, posRepo size: 4
2020-12-14T00:22:14.500Z,1607905334.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 342.101089 deg,
      approachRate: 0.003867 m/s,
      LOS rate: 0.054014 deg/s,
      cmd update: 0.162043 deg/s,
      cmd heading: 324.632410 deg,
      new cmd heading: 324.172496 deg.

2020-12-14T00:22:16.871Z,1607905336.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:17.647Z,1607905337.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:17.747Z,1607905337.747 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T00:22:18.057Z,1607905338.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:18.890Z,1607905338.890 [Micromodem](INFO): Nmea in: $SNTTA,0.002603,,,,002218.81*47

2020-12-14T00:22:18.919Z,1607905338.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 337.247065 deg, deltaT: 4.534359 s, approachRate: 0.000000 m/s, LOS rate: -1.070498 deg/s, posRepo size: 4
2020-12-14T00:22:18.921Z,1607905338.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 337.247065 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.070498 deg/s,
      cmd update: -3.211495 deg/s,
      cmd heading: 325.367170 deg,
      new cmd heading: 325.401011 deg.

2020-12-14T00:22:20.875Z,1607905340.875 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:22:21.362Z,1607905341.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:22.123Z,1607905342.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:22.557Z,1607905342.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:23.378Z,1607905343.378 [Micromodem](INFO): Nmea in: $SNTTA,0.002586,,0.019636,,002223.28*57

2020-12-14T00:22:23.403Z,1607905343.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 337.651303 deg, deltaT: 4.251088 s, approachRate: 0.000000 m/s, LOS rate: 0.095090 deg/s, posRepo size: 4
2020-12-14T00:22:23.430Z,1607905343.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 337.651303 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.095090 deg/s,
      cmd update: 0.285271 deg/s,
      cmd heading: 311.715233 deg,
      new cmd heading: 310.295392 deg.

2020-12-14T00:22:25.795Z,1607905345.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:26.579Z,1607905346.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:26.978Z,1607905346.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:27.798Z,1607905347.798 [Micromodem](INFO): Nmea in: $SNTTA,0.002783,,,,002227.74*48

2020-12-14T00:22:27.846Z,1607905347.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 337.731681 deg, deltaT: 4.454694 s, approachRate: 0.013469 m/s, LOS rate: 0.018043 deg/s, posRepo size: 4
2020-12-14T00:22:27.848Z,1607905347.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 337.731681 deg,
      approachRate: 0.013469 m/s,
      LOS rate: 0.018043 deg/s,
      cmd update: 0.054130 deg/s,
      cmd heading: 312.985441 deg,
      new cmd heading: 313.107498 deg.

2020-12-14T00:22:30.236Z,1607905350.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:31.012Z,1607905351.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:31.425Z,1607905351.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:32.289Z,1607905352.289 [Micromodem](INFO): Nmea in: $SNTTA,0.002595,,,,002232.17*4C

2020-12-14T00:22:32.337Z,1607905352.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 335.490259 deg, deltaT: 4.485465 s, approachRate: -0.026753 m/s, LOS rate: -0.499708 deg/s, posRepo size: 4
2020-12-14T00:22:32.339Z,1607905352.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 335.490259 deg,
      approachRate: -0.026753 m/s,
      LOS rate: -0.499708 deg/s,
      cmd update: -1.499124 deg/s,
      cmd heading: 313.228357 deg,
      new cmd heading: 313.251937 deg.

2020-12-14T00:22:34.743Z,1607905354.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:35.519Z,1607905355.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:35.901Z,1607905355.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:36.830Z,1607905356.830 [Micromodem](INFO): Nmea in: $SNTTA,0.002586,,0.024998,,002236.68*52

2020-12-14T00:22:36.878Z,1607905356.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 334.864067 deg, deltaT: 4.467343 s, approachRate: 0.000000 m/s, LOS rate: -0.140171 deg/s, posRepo size: 4
2020-12-14T00:22:36.880Z,1607905356.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 334.864067 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.140171 deg/s,
      cmd update: -0.420513 deg/s,
      cmd heading: 306.537287 deg,
      new cmd heading: 305.767706 deg.

2020-12-14T00:22:39.142Z,1607905359.142 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-14T00:22:39.142Z,1607905359.142 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:22:39.142Z,1607905359.142 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-14T00:22:39.143Z,1607905359.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:22:39.143Z,1607905359.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-14T00:22:39.143Z,1607905359.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.839998 m 
2020-12-14T00:22:39.143Z,1607905359.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-14T00:22:39.143Z,1607905359.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-14T00:22:39.143Z,1607905359.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-14T00:22:39.148Z,1607905359.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201214T002239: (41.552319, -70.708603)
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-14T00:22:39.623Z,1607905359.623 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-14T00:22:39.624Z,1607905359.624 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:22:39.629Z,1607905359.629 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T00:12:39.3Z
2020-12-14T00:22:39.629Z,1607905359.629 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:22:39.629Z,1607905359.629 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:22:39.629Z,1607905359.629 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:22:39.629Z,1607905359.629 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:22:39.629Z,1607905359.629 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T00:22:39.931Z,1607905359.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:40.034Z,1607905360.034 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:22:40.034Z,1607905360.034 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:22:40.034Z,1607905360.034 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:22:40.035Z,1607905360.035 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:22:40.035Z,1607905360.035 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:22:40.419Z,1607905360.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:41.230Z,1607905361.230 [Micromodem](INFO): Nmea in: $SNTTA,0.021211,0.035029,,,002241.09*5E

2020-12-14T00:22:41.255Z,1607905361.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 336.654997 deg, deltaT: 4.461391 s, approachRate: 0.013449 m/s, LOS rate: 0.401429 deg/s, posRepo size: 4
2020-12-14T00:22:41.257Z,1607905361.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 336.654997 deg,
      approachRate: 0.013449 m/s,
      LOS rate: 0.401429 deg/s,
      cmd update: 1.204286 deg/s,
      cmd heading: 304.659530 deg,
      new cmd heading: 304.480814 deg.

2020-12-14T00:22:43.685Z,1607905363.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:44.441Z,1607905364.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:44.853Z,1607905364.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:45.694Z,1607905365.694 [Micromodem](INFO): Nmea in: $SNTTA,0.002595,,0.013445,,002245.60*55

2020-12-14T00:22:45.772Z,1607905365.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 333.676516 deg, deltaT: 4.509487 s, approachRate: -0.013305 m/s, LOS rate: -0.660492 deg/s, posRepo size: 4
2020-12-14T00:22:45.774Z,1607905365.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 333.676516 deg,
      approachRate: -0.013305 m/s,
      LOS rate: -0.660492 deg/s,
      cmd update: -1.981477 deg/s,
      cmd heading: 310.077861 deg,
      new cmd heading: 310.610561 deg.

2020-12-14T00:22:48.117Z,1607905368.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:48.887Z,1607905368.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:49.321Z,1607905369.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:50.130Z,1607905370.130 [Micromodem](INFO): Nmea in: $SNTTA,0.002601,,,,002250.05*45

2020-12-14T00:22:50.168Z,1607905370.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 328.323560 deg, deltaT: 4.423587 s, approachRate: 0.013564 m/s, LOS rate: -1.210094 deg/s, posRepo size: 4
2020-12-14T00:22:50.170Z,1607905370.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 328.323560 deg,
      approachRate: 0.013564 m/s,
      LOS rate: -1.210094 deg/s,
      cmd update: -3.630282 deg/s,
      cmd heading: 301.300114 deg,
      new cmd heading: 300.490007 deg.

2020-12-14T00:22:51.284Z,1607905371.284 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:22:51.284Z,1607905371.284 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:22:51.284Z,1607905371.284 [DDM](ERROR): Hardware Fault
2020-12-14T00:22:51.421Z,1607905371.421 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:22:51.682Z,1607905371.682 [DDM](INFO): Powering down
2020-12-14T00:22:52.625Z,1607905372.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:52.664Z,1607905372.664 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:22:52.665Z,1607905372.665 [DDM] No Fault, FailCount= 1
2020-12-14T00:22:53.343Z,1607905373.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:53.713Z,1607905373.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:54.558Z,1607905374.558 [Micromodem](INFO): Nmea in: $SNTTA,0.002606,,,,002254.50*46

2020-12-14T00:22:54.629Z,1607905374.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 329.090535 deg, deltaT: 4.417191 s, approachRate: -0.013583 m/s, LOS rate: 0.173634 deg/s, posRepo size: 4
2020-12-14T00:22:54.631Z,1607905374.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 329.090535 deg,
      approachRate: -0.013583 m/s,
      LOS rate: 0.173634 deg/s,
      cmd update: 0.520903 deg/s,
      cmd heading: 285.251735 deg,
      new cmd heading: 283.636270 deg.

2020-12-14T00:22:56.934Z,1607905376.934 [DDM](INFO): Powering up
2020-12-14T00:22:56.935Z,1607905376.935 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:22:57.014Z,1607905377.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:22:57.763Z,1607905377.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:22:58.162Z,1607905378.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:22:58.988Z,1607905378.988 [Micromodem](INFO): Nmea in: $SNTTA,0.002741,,,0.034697,002258.92*57

2020-12-14T00:22:59.036Z,1607905379.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 329.156187 deg, deltaT: 4.461874 s, approachRate: 0.067237 m/s, LOS rate: 0.014714 deg/s, posRepo size: 4
2020-12-14T00:22:59.038Z,1607905379.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 329.156187 deg,
      approachRate: 0.067237 m/s,
      LOS rate: 0.014714 deg/s,
      cmd update: 0.044142 deg/s,
      cmd heading: 287.574024 deg,
      new cmd heading: 287.781168 deg.

2020-12-14T00:23:01.426Z,1607905381.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:02.199Z,1607905382.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:02.604Z,1607905382.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:03.431Z,1607905383.431 [Micromodem](INFO): Nmea in: $SNTTA,0.002597,,,,002303.36*4E

2020-12-14T00:23:03.495Z,1607905383.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 327.138904 deg, deltaT: 4.382525 s, approachRate: -0.054763 m/s, LOS rate: -0.460301 deg/s, posRepo size: 4
2020-12-14T00:23:03.510Z,1607905383.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 327.138904 deg,
      approachRate: -0.054763 m/s,
      LOS rate: -0.460301 deg/s,
      cmd update: -1.380904 deg/s,
      cmd heading: 287.767478 deg,
      new cmd heading: 287.788139 deg.

2020-12-14T00:23:04.229Z,1607905384.229 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:23:04.751Z,1607905384.751 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:23:04.752Z,1607905384.752 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:23:05.030Z,1607905385.030 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:23:05.438Z,1607905385.438 [Micromodem](INFO): Nmea in: $CADRQ,002305,1,9,0,64,1*4A

2020-12-14T00:23:05.439Z,1607905385.439 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:23:05.590Z,1607905385.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:05.837Z,1607905385.837 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:23:06.231Z,1607905386.231 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:23:06.232Z,1607905386.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:07.454Z,1607905387.454 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:23:07.454Z,1607905387.454 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:23:07.859Z,1607905387.859 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,002306.619707,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:23:07.859Z,1607905387.859 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,002306.619707,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:23:08.309Z,1607905388.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:11.101Z,1607905391.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:12.693Z,1607905392.693 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:23:13.604Z,1607905393.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:14.008Z,1607905394.008 [DDM](ERROR): Could not parse latch state
2020-12-14T00:23:16.421Z,1607905396.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:17.585Z,1607905397.585 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:17.989Z,1607905397.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:18.803Z,1607905398.803 [Micromodem](INFO): Nmea in: $SNTTA,0.002708,,,,002318.79*4B

2020-12-14T00:23:19.052Z,1607905399.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.989274 deg, deltaT: 15.435489 s, approachRate: 0.000000 m/s, LOS rate: -0.074480 deg/s, posRepo size: 4
2020-12-14T00:23:19.054Z,1607905399.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.989274 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.074480 deg/s,
      cmd update: -0.223439 deg/s,
      cmd heading: 266.475388 deg,
      new cmd heading: 265.629494 deg.

2020-12-14T00:23:21.284Z,1607905401.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:22.097Z,1607905402.097 [DDM](ERROR): Could not parse latch state
2020-12-14T00:23:22.107Z,1607905402.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:22.442Z,1607905402.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:23.489Z,1607905403.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.298026 deg, deltaT: 4.423034 s, approachRate: 0.000000 m/s, LOS rate: 0.069805 deg/s, posRepo size: 4
2020-12-14T00:23:23.499Z,1607905403.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.298026 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.069805 deg/s,
      cmd update: 0.209416 deg/s,
      cmd heading: 265.482532 deg,
      new cmd heading: 265.351632 deg.

2020-12-14T00:23:23.658Z,1607905403.658 [Micromodem](INFO): Nmea in: $SNTTA,0.002587,,,,002323.27*4D

2020-12-14T00:23:25.540Z,1607905405.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:26.053Z,1607905406.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:26.478Z,1607905406.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:27.318Z,1607905407.318 [Micromodem](INFO): Nmea in: $SNTTA,0.002611,,,,002327.21*43

2020-12-14T00:23:27.368Z,1607905407.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 332.933036 deg, deltaT: 3.994852 s, approachRate: 0.000000 m/s, LOS rate: 1.660890 deg/s, posRepo size: 4
2020-12-14T00:23:27.374Z,1607905407.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 332.933036 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.660890 deg/s,
      cmd update: 4.982670 deg/s,
      cmd heading: 266.319153 deg,
      new cmd heading: 266.421688 deg.

2020-12-14T00:23:29.895Z,1607905409.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:30.530Z,1607905410.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:30.917Z,1607905410.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:31.738Z,1607905411.738 [Micromodem](INFO): Nmea in: $SNTTA,0.002583,,,,002331.69*40

2020-12-14T00:23:31.942Z,1607905411.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 336.931183 deg, deltaT: 4.497388 s, approachRate: -0.013341 m/s, LOS rate: 0.888993 deg/s, posRepo size: 4
2020-12-14T00:23:31.944Z,1607905411.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 336.931183 deg,
      approachRate: -0.013341 m/s,
      LOS rate: 0.888993 deg/s,
      cmd update: 2.666979 deg/s,
      cmd heading: 288.728178 deg,
      new cmd heading: 291.546396 deg.

2020-12-14T00:23:34.155Z,1607905414.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:34.959Z,1607905414.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:35.377Z,1607905415.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:36.194Z,1607905416.194 [Micromodem](INFO): Nmea in: $SNTTA,0.002606,,,,002336.12*45

2020-12-14T00:23:36.406Z,1607905416.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 338.702715 deg, deltaT: 4.432724 s, approachRate: 0.013536 m/s, LOS rate: 0.399649 deg/s, posRepo size: 4
2020-12-14T00:23:36.408Z,1607905416.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 338.702715 deg,
      approachRate: 0.013536 m/s,
      LOS rate: 0.399649 deg/s,
      cmd update: 1.198946 deg/s,
      cmd heading: 300.550113 deg,
      new cmd heading: 302.143406 deg.

2020-12-14T00:23:38.405Z,1607905418.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:38.999Z,1607905418.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:39.393Z,1607905419.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:40.222Z,1607905420.222 [Micromodem](INFO): Nmea in: $SNTTA,0.002606,,0.006174,,002340.16*5A

2020-12-14T00:23:40.255Z,1607905420.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 333.343093 deg, deltaT: 4.023113 s, approachRate: 0.000000 m/s, LOS rate: -1.332208 deg/s, posRepo size: 4
2020-12-14T00:23:40.258Z,1607905420.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 333.343093 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.332208 deg/s,
      cmd update: -3.996623 deg/s,
      cmd heading: 305.354479 deg,
      new cmd heading: 305.881847 deg.

2020-12-14T00:23:42.827Z,1607905422.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:42.990Z,1607905422.990 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:23:42.990Z,1607905422.990 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:23:42.990Z,1607905422.990 [DDM](ERROR): Hardware Fault
2020-12-14T00:23:43.096Z,1607905423.096 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:23:43.394Z,1607905423.394 [DDM](INFO): Powering down
2020-12-14T00:23:43.472Z,1607905423.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:43.809Z,1607905423.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:44.328Z,1607905424.328 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:23:44.328Z,1607905424.328 [DDM] No Fault, FailCount= 1
2020-12-14T00:23:44.823Z,1607905424.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 340.208089 deg, deltaT: 4.416389 s, approachRate: 0.040758 m/s, LOS rate: 1.554436 deg/s, posRepo size: 4
2020-12-14T00:23:44.825Z,1607905424.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 340.208089 deg,
      approachRate: 0.040758 m/s,
      LOS rate: 1.554436 deg/s,
      cmd update: 4.663309 deg/s,
      cmd heading: 287.640011 deg,
      new cmd heading: 285.342628 deg.

2020-12-14T00:23:45.034Z,1607905425.034 [Micromodem](INFO): Nmea in: $SNTTA,0.002706,,,0.017268,002344.63*53

2020-12-14T00:23:47.063Z,1607905427.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:47.848Z,1607905427.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:48.254Z,1607905428.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:48.646Z,1607905428.646 [DDM](INFO): Powering up
2020-12-14T00:23:48.647Z,1607905428.647 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:23:49.074Z,1607905429.074 [Micromodem](INFO): Nmea in: $SNTTA,0.002583,,,,002349.01*41

2020-12-14T00:23:49.251Z,1607905429.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 336.193550 deg, deltaT: 4.493825 s, approachRate: -0.040055 m/s, LOS rate: -0.893346 deg/s, posRepo size: 4
2020-12-14T00:23:49.253Z,1607905429.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 336.193550 deg,
      approachRate: -0.040055 m/s,
      LOS rate: -0.893346 deg/s,
      cmd update: -2.680037 deg/s,
      cmd heading: 308.595290 deg,
      new cmd heading: 310.972239 deg.

2020-12-14T00:23:51.255Z,1607905431.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:51.887Z,1607905431.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:52.316Z,1607905432.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:53.129Z,1607905433.129 [Micromodem](INFO): Nmea in: $SNTTA,0.002620,,,,002353.05*44

2020-12-14T00:23:53.148Z,1607905433.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 336.015719 deg, deltaT: 3.991002 s, approachRate: 0.000000 m/s, LOS rate: -0.044558 deg/s, posRepo size: 4
2020-12-14T00:23:53.150Z,1607905433.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 336.015719 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.044558 deg/s,
      cmd update: -0.133674 deg/s,
      cmd heading: 297.899015 deg,
      new cmd heading: 296.785982 deg.

2020-12-14T00:23:55.726Z,1607905435.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:23:56.335Z,1607905436.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:23:56.737Z,1607905436.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:23:57.578Z,1607905437.578 [Micromodem](INFO): Nmea in: $SNTTA,0.002615,0.046058,,,002357.49*5F

2020-12-14T00:23:57.804Z,1607905437.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 333.871067 deg, deltaT: 4.457675 s, approachRate: 0.013460 m/s, LOS rate: -0.481115 deg/s, posRepo size: 4
2020-12-14T00:23:57.808Z,1607905437.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 333.871067 deg,
      approachRate: 0.013460 m/s,
      LOS rate: -0.481115 deg/s,
      cmd update: -1.443344 deg/s,
      cmd heading: 297.303124 deg,
      new cmd heading: 297.221075 deg.

2020-12-14T00:23:59.979Z,1607905439.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:00.773Z,1607905440.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:01.187Z,1607905441.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:02.002Z,1607905442.002 [Micromodem](INFO): Nmea in: $SNTTA,0.002604,,,,002401.93*4D

2020-12-14T00:24:02.180Z,1607905442.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 330.375649 deg, deltaT: 4.456136 s, approachRate: 0.000000 m/s, LOS rate: -0.784405 deg/s, posRepo size: 4
2020-12-14T00:24:02.182Z,1607905442.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 330.375649 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.784405 deg/s,
      cmd update: -2.353217 deg/s,
      cmd heading: 290.871411 deg,
      new cmd heading: 290.101382 deg.

2020-12-14T00:24:04.194Z,1607905444.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:04.403Z,1607905444.403 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:24:04.843Z,1607905444.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:05.254Z,1607905445.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:06.090Z,1607905446.090 [Micromodem](INFO): Nmea in: $SNTTA,0.002616,,,,002406.01*42

2020-12-14T00:24:06.116Z,1607905446.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 331.802722 deg, deltaT: 4.062769 s, approachRate: -0.014768 m/s, LOS rate: 0.351256 deg/s, posRepo size: 4
2020-12-14T00:24:06.118Z,1607905446.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 331.802722 deg,
      approachRate: -0.014768 m/s,
      LOS rate: 0.351256 deg/s,
      cmd update: 1.053768 deg/s,
      cmd heading: 281.310888 deg,
      new cmd heading: 280.353846 deg.

2020-12-14T00:24:08.689Z,1607905448.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:09.375Z,1607905449.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:09.701Z,1607905449.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:10.125Z,1607905450.125 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:24:10.678Z,1607905450.678 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:24:10.678Z,1607905450.678 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:24:10.888Z,1607905450.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 336.384303 deg, deltaT: 4.466065 s, approachRate: 0.053739 m/s, LOS rate: 1.025865 deg/s, posRepo size: 4
2020-12-14T00:24:10.890Z,1607905450.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 336.384303 deg,
      approachRate: 0.053739 m/s,
      LOS rate: 1.025865 deg/s,
      cmd update: 3.077596 deg/s,
      cmd heading: 286.017106 deg,
      new cmd heading: 286.767865 deg.

2020-12-14T00:24:11.014Z,1607905451.014 [Micromodem](INFO): Nmea in: $SNTTA,0.002728,,,,002410.54*49

2020-12-14T00:24:11.014Z,1607905451.014 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.002728,,,,002410.54*49

2020-12-14T00:24:12.229Z,1607905452.229 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:24:12.622Z,1607905452.622 [Micromodem](INFO): Nmea in: $CADRQ,002411,1,9,0,64,1*48

2020-12-14T00:24:12.622Z,1607905452.622 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:24:12.764Z,1607905452.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:13.016Z,1607905453.016 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:24:13.424Z,1607905453.424 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:24:13.425Z,1607905453.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:14.647Z,1607905454.647 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:24:14.647Z,1607905454.647 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:24:15.031Z,1607905455.031 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,002413.800910,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T00:24:15.032Z,1607905455.032 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,002413.800910,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T00:24:15.483Z,1607905455.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:18.332Z,1607905458.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:21.280Z,1607905461.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:23.962Z,1607905463.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:24.814Z,1607905464.814 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:25.141Z,1607905465.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:25.969Z,1607905465.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 330.917146 deg, deltaT: 15.419469 s, approachRate: 0.000000 m/s, LOS rate: -0.354562 deg/s, posRepo size: 4
2020-12-14T00:24:25.975Z,1607905465.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 330.917146 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.354562 deg/s,
      cmd update: -1.063686 deg/s,
      cmd heading: 333.459641 deg,
      new cmd heading: 334.619800 deg.

2020-12-14T00:24:26.382Z,1607905466.382 [Micromodem](INFO): Nmea in: $SNTTA,0.002719,,,0.026350,002425.98*51

2020-12-14T00:24:28.409Z,1607905468.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:29.201Z,1607905469.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:29.585Z,1607905469.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:30.404Z,1607905470.404 [Micromodem](INFO): Nmea in: $SNTTA,0.002602,,0.015984,,002430.36*59

2020-12-14T00:24:30.459Z,1607905470.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 327.177563 deg, deltaT: 4.416345 s, approachRate: -0.040758 m/s, LOS rate: -0.846760 deg/s, posRepo size: 4
2020-12-14T00:24:30.481Z,1607905470.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 327.177563 deg,
      approachRate: -0.040758 m/s,
      LOS rate: -0.846760 deg/s,
      cmd update: -2.540279 deg/s,
      cmd heading: 328.757911 deg,
      new cmd heading: 328.280827 deg.

2020-12-14T00:24:32.852Z,1607905472.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:33.623Z,1607905473.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:34.033Z,1607905474.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:34.820Z,1607905474.820 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:24:34.820Z,1607905474.820 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:24:34.820Z,1607905474.820 [DDM](ERROR): Hardware Fault
2020-12-14T00:24:34.838Z,1607905474.838 [Micromodem](INFO): Nmea in: $SNTTA,0.002614,,,,002434.78*4F

2020-12-14T00:24:34.886Z,1607905474.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 325.378546 deg, deltaT: 4.533217 s, approachRate: -0.013236 m/s, LOS rate: -0.396852 deg/s, posRepo size: 4
2020-12-14T00:24:34.889Z,1607905474.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 325.378546 deg,
      approachRate: -0.013236 m/s,
      LOS rate: -0.396852 deg/s,
      cmd update: -1.190557 deg/s,
      cmd heading: 317.291555 deg,
      new cmd heading: 316.372739 deg.

2020-12-14T00:24:35.011Z,1607905475.011 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:24:35.202Z,1607905475.202 [DDM](INFO): Powering down
2020-12-14T00:24:36.319Z,1607905476.319 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:24:36.319Z,1607905476.319 [DDM] No Fault, FailCount= 1
2020-12-14T00:24:37.321Z,1607905477.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:38.043Z,1607905478.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:38.465Z,1607905478.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:39.281Z,1607905479.281 [Micromodem](INFO): Nmea in: $SNTTA,0.002599,,,,002439.21*48

2020-12-14T00:24:39.343Z,1607905479.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 326.068723 deg, deltaT: 4.327932 s, approachRate: 0.000000 m/s, LOS rate: 0.159470 deg/s, posRepo size: 4
2020-12-14T00:24:39.345Z,1607905479.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 326.068723 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.159470 deg/s,
      cmd update: 0.478411 deg/s,
      cmd heading: 312.115685 deg,
      new cmd heading: 311.555486 deg.

2020-12-14T00:24:40.457Z,1607905480.457 [DDM](INFO): Powering up
2020-12-14T00:24:40.457Z,1607905480.457 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:24:41.748Z,1607905481.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:42.484Z,1607905482.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:42.889Z,1607905482.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:43.714Z,1607905483.714 [Micromodem](INFO): Nmea in: $SNTTA,0.002622,,,,002443.65*46

2020-12-14T00:24:43.776Z,1607905483.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 323.169035 deg, deltaT: 4.479077 s, approachRate: 0.013396 m/s, LOS rate: -0.647385 deg/s, posRepo size: 4
2020-12-14T00:24:43.778Z,1607905483.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 323.169035 deg,
      approachRate: 0.013396 m/s,
      LOS rate: -0.647385 deg/s,
      cmd update: -1.942156 deg/s,
      cmd heading: 314.258550 deg,
      new cmd heading: 314.461688 deg.

2020-12-14T00:24:46.163Z,1607905486.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:46.927Z,1607905486.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:47.368Z,1607905487.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:48.194Z,1607905488.194 [Micromodem](INFO): Nmea in: $SNTTA,0.002605,,,,002448.09*42

2020-12-14T00:24:48.259Z,1607905488.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 320.163341 deg, deltaT: 4.443967 s, approachRate: -0.027003 m/s, LOS rate: -0.676354 deg/s, posRepo size: 4
2020-12-14T00:24:48.266Z,1607905488.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 320.163341 deg,
      approachRate: -0.027003 m/s,
      LOS rate: -0.676354 deg/s,
      cmd update: -2.029061 deg/s,
      cmd heading: 305.627738 deg,
      new cmd heading: 304.731127 deg.

2020-12-14T00:24:50.661Z,1607905490.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:51.411Z,1607905491.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:51.811Z,1607905491.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:52.641Z,1607905492.641 [Micromodem](INFO): Nmea in: $SNTTA,0.002605,,,,002452.57*42

2020-12-14T00:24:52.719Z,1607905492.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 322.108033 deg, deltaT: 4.432738 s, approachRate: 0.013536 m/s, LOS rate: 0.438711 deg/s, posRepo size: 4
2020-12-14T00:24:52.725Z,1607905492.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 322.108033 deg,
      approachRate: 0.013536 m/s,
      LOS rate: 0.438711 deg/s,
      cmd update: 1.316133 deg/s,
      cmd heading: 296.633410 deg,
      new cmd heading: 295.637292 deg.

2020-12-14T00:24:55.088Z,1607905495.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:24:55.855Z,1607905495.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:24:56.251Z,1607905496.251 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:24:56.377Z,1607905496.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:24:57.126Z,1607905497.126 [Micromodem](INFO): Nmea in: $SNTTA,0.002615,,,,002457.02*46

2020-12-14T00:24:57.151Z,1607905497.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 327.262531 deg, deltaT: 4.550439 s, approachRate: -0.013186 m/s, LOS rate: 1.132747 deg/s, posRepo size: 4
2020-12-14T00:24:57.153Z,1607905497.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 327.262531 deg,
      approachRate: -0.013186 m/s,
      LOS rate: 1.132747 deg/s,
      cmd update: 3.398242 deg/s,
      cmd heading: 302.614076 deg,
      new cmd heading: 303.112656 deg.

2020-12-14T00:24:59.656Z,1607905499.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:00.366Z,1607905500.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:00.733Z,1607905500.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:01.590Z,1607905501.590 [Micromodem](INFO): Nmea in: $SNTTA,0.002584,,,,002501.53*4B

2020-12-14T00:25:01.647Z,1607905501.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 329.980891 deg, deltaT: 4.398905 s, approachRate: 0.000000 m/s, LOS rate: 0.617963 deg/s, posRepo size: 4
2020-12-14T00:25:01.650Z,1607905501.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 329.980891 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.617963 deg/s,
      cmd update: 1.853889 deg/s,
      cmd heading: 317.579924 deg,
      new cmd heading: 319.179283 deg.

2020-12-14T00:25:03.992Z,1607905503.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:04.771Z,1607905504.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:05.189Z,1607905505.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:06.021Z,1607905506.021 [Micromodem](INFO): Nmea in: $SNTTA,0.002594,,0.036162,,002505.93*5C

2020-12-14T00:25:06.056Z,1607905506.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 333.705995 deg, deltaT: 4.456947 s, approachRate: 0.000000 m/s, LOS rate: 0.835797 deg/s, posRepo size: 4
2020-12-14T00:25:06.058Z,1607905506.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 333.705995 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.835797 deg/s,
      cmd update: 2.507391 deg/s,
      cmd heading: 325.844641 deg,
      new cmd heading: 326.626215 deg.

2020-12-14T00:25:08.661Z,1607905508.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:09.231Z,1607905509.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:09.637Z,1607905509.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:10.480Z,1607905510.480 [Micromodem](INFO): Nmea in: $SNTTA,0.002740,,,,002510.39*4D

2020-12-14T00:25:10.595Z,1607905510.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 333.820059 deg, deltaT: 4.415982 s, approachRate: 0.067936 m/s, LOS rate: 0.025830 deg/s, posRepo size: 4
2020-12-14T00:25:10.603Z,1607905510.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 333.820059 deg,
      approachRate: 0.067936 m/s,
      LOS rate: 0.025830 deg/s,
      cmd update: 0.077490 deg/s,
      cmd heading: 336.917569 deg,
      new cmd heading: 338.269928 deg.

2020-12-14T00:25:12.563Z,1607905512.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:13.267Z,1607905513.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:13.677Z,1607905513.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:14.517Z,1607905514.517 [Micromodem](INFO): Nmea in: $SNTTA,0.002715,,,,002514.43*44

2020-12-14T00:25:14.594Z,1607905514.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 333.447868 deg, deltaT: 4.081133 s, approachRate: -0.014702 m/s, LOS rate: -0.091198 deg/s, posRepo size: 4
2020-12-14T00:25:14.598Z,1607905514.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 333.447868 deg,
      approachRate: -0.014702 m/s,
      LOS rate: -0.091198 deg/s,
      cmd update: -0.273594 deg/s,
      cmd heading: 337.233807 deg,
      new cmd heading: 337.269695 deg.

2020-12-14T00:25:15.701Z,1607905515.701 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:25:16.236Z,1607905516.236 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:25:16.236Z,1607905516.236 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:25:16.550Z,1607905516.550 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:25:16.937Z,1607905516.937 [Micromodem](INFO): Nmea in: $CADRQ,002517,1,9,0,64,1*4F

2020-12-14T00:25:16.938Z,1607905516.938 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:25:17.036Z,1607905517.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:17.432Z,1607905517.432 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:25:17.735Z,1607905517.735 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:25:17.736Z,1607905517.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:18.955Z,1607905518.955 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:25:18.955Z,1607905518.955 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:25:19.375Z,1607905519.375 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,002518.120076,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T00:25:19.375Z,1607905519.375 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,002518.120076,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T00:25:19.636Z,1607905519.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:22.254Z,1607905522.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:25.078Z,1607905525.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:26.634Z,1607905526.634 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:25:26.634Z,1607905526.634 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:25:26.634Z,1607905526.634 [DDM](ERROR): Hardware Fault
2020-12-14T00:25:26.876Z,1607905526.876 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:25:27.049Z,1607905527.049 [DDM](INFO): Powering down
2020-12-14T00:25:28.034Z,1607905528.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:28.097Z,1607905528.097 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:25:28.097Z,1607905528.097 [DDM] No Fault, FailCount= 1
2020-12-14T00:25:29.062Z,1607905529.062 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:29.482Z,1607905529.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:30.313Z,1607905530.313 [Micromodem](INFO): Nmea in: $SNTTA,0.002602,,,0.007176,002530.22*5B

2020-12-14T00:25:30.371Z,1607905530.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 344.898735 deg, deltaT: 15.768836 s, approachRate: -0.011415 m/s, LOS rate: 0.726171 deg/s, posRepo size: 4
2020-12-14T00:25:30.377Z,1607905530.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 344.898735 deg,
      approachRate: -0.011415 m/s,
      LOS rate: 0.726171 deg/s,
      cmd update: 2.178512 deg/s,
      cmd heading: 332.923912 deg,
      new cmd heading: 332.790862 deg.

2020-12-14T00:25:32.321Z,1607905532.321 [DDM](INFO): Powering up
2020-12-14T00:25:32.321Z,1607905532.321 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:25:32.591Z,1607905532.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:33.147Z,1607905533.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:33.557Z,1607905533.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:34.390Z,1607905534.390 [Micromodem](INFO): Nmea in: $SNTTA,0.002576,,,,002534.31*44

2020-12-14T00:25:34.634Z,1607905534.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 346.090548 deg, deltaT: 4.109487 s, approachRate: 0.000000 m/s, LOS rate: 0.290015 deg/s, posRepo size: 4
2020-12-14T00:25:34.636Z,1607905534.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 346.090548 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.290015 deg/s,
      cmd update: 0.870045 deg/s,
      cmd heading: 341.910851 deg,
      new cmd heading: 343.271822 deg.

2020-12-14T00:25:36.799Z,1607905536.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:37.583Z,1607905537.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:37.987Z,1607905537.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:38.818Z,1607905538.818 [Micromodem](INFO): Nmea in: $SNTTA,0.002612,,,,002538.74*48

2020-12-14T00:25:38.988Z,1607905538.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 339.924117 deg, deltaT: 4.461985 s, approachRate: 0.000000 m/s, LOS rate: -1.381993 deg/s, posRepo size: 4
2020-12-14T00:25:38.990Z,1607905538.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 339.924117 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.381993 deg/s,
      cmd update: -4.145979 deg/s,
      cmd heading: 345.789709 deg,
      new cmd heading: 346.242334 deg.

2020-12-14T00:25:40.999Z,1607905540.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:41.631Z,1607905541.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:42.033Z,1607905542.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:42.862Z,1607905542.862 [Micromodem](INFO): Nmea in: $SNTTA,0.002597,,,,002542.79*46

2020-12-14T00:25:42.919Z,1607905542.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 339.396936 deg, deltaT: 4.075010 s, approachRate: 0.014724 m/s, LOS rate: -0.129369 deg/s, posRepo size: 4
2020-12-14T00:25:42.925Z,1607905542.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 339.396936 deg,
      approachRate: 0.014724 m/s,
      LOS rate: -0.129369 deg/s,
      cmd update: -0.388108 deg/s,
      cmd heading: 328.895244 deg,
      new cmd heading: 327.336410 deg.

2020-12-14T00:25:45.469Z,1607905545.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:46.071Z,1607905546.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:46.487Z,1607905546.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:47.326Z,1607905547.326 [Micromodem](INFO): Nmea in: $SNTTA,0.002598,,,,002547.23*43

2020-12-14T00:25:47.574Z,1607905547.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 339.987419 deg, deltaT: 4.361102 s, approachRate: -0.013758 m/s, LOS rate: 0.135398 deg/s, posRepo size: 4
2020-12-14T00:25:47.576Z,1607905547.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 339.987419 deg,
      approachRate: -0.013758 m/s,
      LOS rate: 0.135398 deg/s,
      cmd update: 0.406193 deg/s,
      cmd heading: 327.201077 deg,
      new cmd heading: 326.942822 deg.

2020-12-14T00:25:48.131Z,1607905548.131 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2020-12-14T00:25:49.425Z,1607905549.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:49.792Z,1607905549.792 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T00:25:50.183Z,1607905550.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:50.601Z,1607905550.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:51.447Z,1607905551.447 [Micromodem](INFO): Nmea in: $SNTTA,0.002651,,,,002551.34*44

2020-12-14T00:25:51.666Z,1607905551.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 341.398482 deg, deltaT: 4.135377 s, approachRate: 0.029018 m/s, LOS rate: 0.341217 deg/s, posRepo size: 4
2020-12-14T00:25:51.668Z,1607905551.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 341.398482 deg,
      approachRate: 0.029018 m/s,
      LOS rate: 0.341217 deg/s,
      cmd update: 1.023652 deg/s,
      cmd heading: 328.880831 deg,
      new cmd heading: 329.133880 deg.

2020-12-14T00:25:53.690Z,1607905553.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:54.256Z,1607905554.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:54.674Z,1607905554.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:55.538Z,1607905555.538 [Micromodem](INFO): Nmea in: $SNTTA,0.002612,,,,002555.42*46

2020-12-14T00:25:55.594Z,1607905555.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 340.430562 deg, deltaT: 4.034785 s, approachRate: -0.029742 m/s, LOS rate: -0.239894 deg/s, posRepo size: 4
2020-12-14T00:25:55.596Z,1607905555.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 340.430562 deg,
      approachRate: -0.029742 m/s,
      LOS rate: -0.239894 deg/s,
      cmd update: -0.719681 deg/s,
      cmd heading: 333.011039 deg,
      new cmd heading: 333.539419 deg.

2020-12-14T00:25:57.594Z,1607905557.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:25:58.306Z,1607905558.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:25:58.709Z,1607905558.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:25:59.586Z,1607905559.586 [Micromodem](INFO): Nmea in: $SNTTA,0.002606,,0.021999,0.017774,002559.47*42

2020-12-14T00:25:59.653Z,1607905559.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 341.694857 deg, deltaT: 4.097934 s, approachRate: 0.000000 m/s, LOS rate: 0.308520 deg/s, posRepo size: 4
2020-12-14T00:25:59.655Z,1607905559.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 341.694857 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.308520 deg/s,
      cmd update: 0.925561 deg/s,
      cmd heading: 330.073359 deg,
      new cmd heading: 329.732940 deg.

2020-12-14T00:26:01.955Z,1607905561.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:02.771Z,1607905562.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:03.145Z,1607905563.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:26:03.978Z,1607905563.978 [Micromodem](INFO): Nmea in: $SNTTA,0.002606,,,,002603.93*4F

2020-12-14T00:26:04.029Z,1607905564.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 342.363533 deg, deltaT: 4.459003 s, approachRate: 0.000000 m/s, LOS rate: 0.149961 deg/s, posRepo size: 4
2020-12-14T00:26:04.031Z,1607905564.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 342.363533 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.149961 deg/s,
      cmd update: 0.449882 deg/s,
      cmd heading: 334.212315 deg,
      new cmd heading: 334.576311 deg.

2020-12-14T00:26:06.629Z,1607905566.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:07.207Z,1607905567.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:07.613Z,1607905567.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:26:08.535Z,1607905568.535 [Micromodem](INFO): Nmea in: $SNTTA,0.002681,,,,002608.37*45

2020-12-14T00:26:08.596Z,1607905568.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 341.886321 deg, deltaT: 4.411049 s, approachRate: 0.027205 m/s, LOS rate: -0.108186 deg/s, posRepo size: 4
2020-12-14T00:26:08.598Z,1607905568.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 341.886321 deg,
      approachRate: 0.027205 m/s,
      LOS rate: -0.108186 deg/s,
      cmd update: -0.324557 deg/s,
      cmd heading: 336.191009 deg,
      new cmd heading: 336.445680 deg.

2020-12-14T00:26:10.589Z,1607905570.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:11.243Z,1607905571.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:11.649Z,1607905571.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:26:12.502Z,1607905572.502 [Micromodem](INFO): Nmea in: $SNTTA,0.002607,,0.006026,,002612.40*5C

2020-12-14T00:26:12.574Z,1607905572.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 338.428825 deg, deltaT: 4.054023 s, approachRate: -0.014800 m/s, LOS rate: -0.852856 deg/s, posRepo size: 4
2020-12-14T00:26:12.576Z,1607905572.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 338.428825 deg,
      approachRate: -0.014800 m/s,
      LOS rate: -0.852856 deg/s,
      cmd update: -2.558567 deg/s,
      cmd heading: 334.870064 deg,
      new cmd heading: 334.716303 deg.

2020-12-14T00:26:14.914Z,1607905574.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:15.691Z,1607905575.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:16.089Z,1607905576.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:26:16.926Z,1607905576.926 [Micromodem](INFO): Nmea in: $SNTTA,0.002582,,,,002616.85*43

2020-12-14T00:26:16.968Z,1607905576.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 338.213400 deg, deltaT: 4.483171 s, approachRate: -0.013383 m/s, LOS rate: -0.048052 deg/s, posRepo size: 4
2020-12-14T00:26:16.970Z,1607905576.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 338.213400 deg,
      approachRate: -0.013383 m/s,
      LOS rate: -0.048052 deg/s,
      cmd update: -0.144155 deg/s,
      cmd heading: 323.430814 deg,
      new cmd heading: 322.415332 deg.

2020-12-14T00:26:18.476Z,1607905578.476 [DDM](FAULT): Failed to close latch before timeout.
2020-12-14T00:26:18.477Z,1607905578.477 [DDM] Hardware Fault, FailCount= 1
2020-12-14T00:26:18.477Z,1607905578.477 [DDM](ERROR): Hardware Fault
2020-12-14T00:26:18.685Z,1607905578.685 [CBIT](ERROR): Hardware Fault in component: DDM
2020-12-14T00:26:18.879Z,1607905578.879 [DDM](INFO): Powering down
2020-12-14T00:26:19.538Z,1607905579.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:19.817Z,1607905579.817 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:26:19.817Z,1607905579.817 [DDM] No Fault, FailCount= 1
2020-12-14T00:26:20.099Z,1607905580.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:20.526Z,1607905580.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:26:21.342Z,1607905581.342 [Micromodem](INFO): Nmea in: $SNTTA,0.002604,,,,002621.26*43

2020-12-14T00:26:21.342Z,1607905581.342 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:26:21.366Z,1607905581.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 337.504181 deg, deltaT: 4.365270 s, approachRate: 0.013745 m/s, LOS rate: -0.162469 deg/s, posRepo size: 4
2020-12-14T00:26:21.368Z,1607905581.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 337.504181 deg,
      approachRate: 0.013745 m/s,
      LOS rate: -0.162469 deg/s,
      cmd update: -0.487406 deg/s,
      cmd heading: 322.800402 deg,
      new cmd heading: 322.739544 deg.

2020-12-14T00:26:21.871Z,1607905581.871 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00
2020-12-14T00:26:21.871Z,1607905581.871 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:26:22.553Z,1607905582.553 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:26:22.950Z,1607905582.950 [Micromodem](INFO): Nmea in: $CADRQ,002622,1,9,0,64,1*4A

2020-12-14T00:26:22.950Z,1607905582.950 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F490000005D00000400260000000000000000151D80030C5669C010EAB30ACB5D26C1B8B95953A5A4E063FBD45291945B190FDC6563851B00*06

2020-12-14T00:26:23.337Z,1607905583.337 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:26:23.739Z,1607905583.739 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:26:23.945Z,1607905583.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:24.131Z,1607905584.131 [DDM](INFO): Powering up
2020-12-14T00:26:24.132Z,1607905584.132 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:26:24.543Z,1607905584.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:24.960Z,1607905584.960 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:26:24.960Z,1607905584.960 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:26:25.348Z,1607905585.348 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,002624.131699,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T00:26:25.348Z,1607905585.348 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,002624.131699,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T00:26:26.617Z,1607905586.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:29.431Z,1607905589.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:32.460Z,1607905592.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:35.117Z,1607905595.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:26:35.850Z,1607905595.850 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:26:36.263Z,1607905596.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:26:36.847Z,1607905596.847 [lineCaptureDepth](INFO): Timed out from 2020-12-13T23:26:36.4Z
2020-12-14T00:26:36.847Z,1607905596.847 [MissionManager](INFO): lineCaptureDepth is completed.
2020-12-14T00:26:36.847Z,1607905596.847 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science:B] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science:C] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science:Read_Oil] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science:OceanCurrent] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2020-12-14T00:26:36.848Z,1607905596.848 [lineCaptureDepth:StandardEnvelopes] Stopped
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:26:36.849Z,1607905596.849 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:J.] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-14T00:26:36.850Z,1607905596.850 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:G] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:H] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-14T00:26:36.851Z,1607905596.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2020-12-14T00:26:36.852Z,1607905596.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-14T00:26:36.853Z,1607905596.853 [lineCaptureDepth:Lap] Stopped
2020-12-14T00:26:36.853Z,1607905596.853 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2020-12-14T00:26:36.853Z,1607905596.853 [lineCaptureDepth:Lap:B] Stopped
2020-12-14T00:26:36.853Z,1607905596.853 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2020-12-14T00:26:37.075Z,1607905597.075 [Micromodem](INFO): Nmea in: $SNTTA,0.002604,,,,002637.01*41

2020-12-14T00:26:37.100Z,1607905597.100 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-14T00:26:37.100Z,1607905597.100 [DefaultWithUndock] Running Loop=1
2020-12-14T00:26:37.100Z,1607905597.100 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-14T00:26:37.105Z,1607905597.105 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-14T00:26:37.105Z,1607905597.105 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-14T00:26:37.141Z,1607905597.141 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-14T00:26:49.178Z,1607905609.178 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: À!C REMUe Rev 1.1
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
!V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
, available: 44A
2020-12-14T00:26:49.178Z,1607905609.178 [DDM] Communications Fault, FailCount= 2
2020-12-14T00:26:49.178Z,1607905609.178 [DDM](ERROR): Communications Fault
2020-12-14T00:26:49.315Z,1607905609.315 [CBIT](ERROR): Communications Fault in component: DDM
2020-12-14T00:26:49.580Z,1607905609.580 [DDM](INFO): Powering down
2020-12-14T00:26:50.457Z,1607905610.457 [CBIT](INFO): Clearing failed state for component DDM
2020-12-14T00:26:50.457Z,1607905610.457 [DDM] No Fault, FailCount= 2
2020-12-14T00:26:54.831Z,1607905614.831 [DDM](INFO): Powering up
2020-12-14T00:26:54.831Z,1607905614.831 [DDM](DEBUG): Initializing DDM.
2020-12-14T00:27:07.364Z,1607905627.364 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T00:27:07.418Z,1607905627.418 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-14T00:27:07.418Z,1607905627.418 [DefaultWithUndock:A.Wait] Stopped
2020-12-14T00:27:07.418Z,1607905627.418 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-14T00:27:07.419Z,1607905627.419 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-14T00:27:08.183Z,1607905628.183 [PowerOnly](INFO): Powering up loadControl
2020-12-14T00:27:10.206Z,1607905630.206 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:10.588Z,1607905630.588 [DDM](INFO): Dynamic Docking Module: Capture Rev 1.1
2020-12-14T00:27:11.051Z,1607905631.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:11.461Z,1607905631.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:12.284Z,1607905632.284 [Micromodem](INFO): Nmea in: $SNTTA,0.002774,,,,002712.21*43

2020-12-14T00:27:14.694Z,1607905634.694 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:15.471Z,1607905635.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:15.877Z,1607905635.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:16.702Z,1607905636.702 [Micromodem](INFO): Nmea in: $SNTTA,0.003062,,,,002716.63*40

2020-12-14T00:27:19.119Z,1607905639.119 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:19.920Z,1607905639.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:20.337Z,1607905640.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:21.162Z,1607905641.162 [Micromodem](INFO): Nmea in: $SNTTA,0.002576,,,,002721.08*48

2020-12-14T00:27:23.602Z,1607905643.602 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:24.363Z,1607905644.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:24.770Z,1607905644.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:25.626Z,1607905645.626 [Micromodem](INFO): Nmea in: $SNTTA,0.002644,,,,002725.52*41

2020-12-14T00:27:25.694Z,1607905645.694 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-14T00:27:25.997Z,1607905645.997 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-12-14T00:27:28.008Z,1607905648.008 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:28.803Z,1607905648.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:29.209Z,1607905649.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:30.042Z,1607905650.042 [Micromodem](INFO): Nmea in: $SNTTA,0.002646,,,,002729.96*47

2020-12-14T00:27:32.472Z,1607905652.472 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:33.251Z,1607905653.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:33.653Z,1607905653.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:34.490Z,1607905654.490 [Micromodem](INFO): Nmea in: $SNTTA,0.002923,,,,002734.41*4D

2020-12-14T00:27:36.121Z,1607905656.121 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-12-14T00:27:36.905Z,1607905656.905 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:37.695Z,1607905657.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:38.101Z,1607905658.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:38.942Z,1607905658.942 [Micromodem](INFO): Nmea in: $SNTTA,0.003681,,,,002738.86*4C

2020-12-14T00:27:41.391Z,1607905661.391 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:42.135Z,1607905662.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:42.573Z,1607905662.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:43.390Z,1607905663.390 [Micromodem](INFO): Nmea in: $SNTTA,0.004415,,,,002743.30*45

2020-12-14T00:27:45.805Z,1607905665.805 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:46.583Z,1607905666.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:46.985Z,1607905666.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:47.822Z,1607905667.822 [Micromodem](INFO): Nmea in: $SNTTA,0.004955,,,,002747.74*48

2020-12-14T00:27:50.229Z,1607905670.229 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:51.023Z,1607905671.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:51.438Z,1607905671.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:52.270Z,1607905672.270 [Micromodem](INFO): Nmea in: $SNTTA,0.005535,,,,002752.18*4D

2020-12-14T00:27:54.694Z,1607905674.694 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:55.467Z,1607905675.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:27:55.877Z,1607905675.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:27:56.706Z,1607905676.706 [Micromodem](INFO): Nmea in: $SNTTA,0.006117,,,,002756.63*42

2020-12-14T00:27:59.183Z,1607905679.183 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:27:59.915Z,1607905679.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:28:00.337Z,1607905680.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:28:01.158Z,1607905681.158 [Micromodem](INFO): Nmea in: $SNTTA,0.006806,,,,002801.07*44

2020-12-14T00:28:01.177Z,1607905681.177 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-14T00:28:03.616Z,1607905683.616 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:28:04.363Z,1607905684.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:28:04.765Z,1607905684.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:28:05.602Z,1607905685.602 [Micromodem](INFO): Nmea in: $SNTTA,0.007390,,,,002805.52*45

2020-12-14T00:28:08.006Z,1607905688.006 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:28:08.803Z,1607905688.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:28:09.205Z,1607905689.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:28:10.042Z,1607905690.042 [Micromodem](INFO): Nmea in: $SNTTA,0.007962,,,,002809.96*46

2020-12-14T00:28:12.461Z,1607905692.461 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:28:13.243Z,1607905693.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:28:13.653Z,1607905693.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:28:14.494Z,1607905694.494 [Micromodem](INFO): Nmea in: $SNTTA,0.008537,,,,002814.41*43

2020-12-14T00:28:16.901Z,1607905696.901 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:28:17.687Z,1607905697.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:28:18.101Z,1607905698.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:28:18.935Z,1607905698.935 [Micromodem](INFO): Nmea in: $SNTTA,0.009063,,,,002818.85*42

2020-12-14T00:28:21.391Z,1607905701.391 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 13.32 m. Transitioning DDM to standby.
2020-12-14T00:28:21.392Z,1607905701.392 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T00:28:22.139Z,1607905702.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:28:22.561Z,1607905702.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:28:23.378Z,1607905703.378 [Micromodem](INFO): Nmea in: $SNTTA,0.009612,,,,002823.30*44

2020-12-14T00:28:24.652Z,1607905704.652 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-14T00:28:24.993Z,1607905704.993 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-14T00:28:24.993Z,1607905704.993 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:LeaveDock] Stopped
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-14T00:28:24.994Z,1607905704.994 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-14T00:28:24.995Z,1607905704.995 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-14T00:28:24.996Z,1607905704.996 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-14T00:28:24.996Z,1607905704.996 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T00:28:24.997Z,1607905704.997 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T00:28:26.129Z,1607905706.129 [Radio_Surface](INFO): Powering up
2020-12-14T00:28:27.374Z,1607905707.374 [DDM](ERROR): Could not parse latch state
2020-12-14T00:28:31.985Z,1607905711.985 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-14T00:28:39.514Z,1607905719.514 [PowerOnly](INFO): Powering down loadControl
2020-12-14T00:29:02.113Z,1607905742.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:29:37.258Z,1607905777.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:29:52.666Z,1607905792.666 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -1.59
2020-12-14T00:30:12.397Z,1607905812.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:30:47.541Z,1607905847.541 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:31:22.681Z,1607905882.681 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:31:30.815Z,1607905890.815 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-14T00:31:30.815Z,1607905890.815 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T00:31:30.816Z,1607905890.816 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-14T00:31:30.816Z,1607905890.816 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-14T00:31:30.816Z,1607905890.816 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-14T00:31:30.816Z,1607905890.816 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-14T00:31:30.816Z,1607905890.816 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-14T00:31:55.009Z,1607905915.009 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=12864, MT Status=1, MTMSN=530
2020-12-14T00:31:55.009Z,1607905915.009 [NAL9602](INFO): Data available in MT queue
2020-12-14T00:31:55.549Z,1607905915.549 [NAL9602](INFO): Received command:configSet LineCapture.armSpeed 1 m/s persist
2020-12-14T00:31:55.714Z,1607905915.714 [CommandLine](IMPORTANT): got command configSet LineCapture.armSpeed 1.000000 meter_per_second persist
2020-12-14T00:31:56.625Z,1607905916.625 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003157.00,A,4133.12527,N,07042.40935,W,0.583,65.43,141220,,,A*4E
2020-12-14T00:31:56.627Z,1607905916.627 [NAL9602](INFO): GPS fix at 20201214T003157: (41.552088, -70.706823)
2020-12-14T00:31:56.678Z,1607905916.678 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-14T00:31:56.678Z,1607905916.678 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-14T00:31:57.545Z,1607905917.545 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:31:57.841Z,1607905917.841 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:32:06.890Z,1607905926.890 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003747
2020-12-14T00:32:10.904Z,1607905930.904 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0073.lzma
2020-12-14T00:32:11.907Z,1607905931.907 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0073.lzma.bak
2020-12-14T00:32:11.907Z,1607905931.907 [DataOverHttps](INFO): SBD MOMSN=65125
2020-12-14T00:32:20.944Z,1607905940.944 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20201213T195538/Courier0076.lzma
2020-12-14T00:32:21.959Z,1607905941.959 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0076.lzma.bak
2020-12-14T00:32:21.959Z,1607905941.959 [DataOverHttps](INFO): SBD MOMSN=65127
2020-12-14T00:32:30.785Z,1607905950.785 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=12865, MT Status=1, MTMSN=531
2020-12-14T00:32:30.833Z,1607905950.833 [NAL9602](INFO): Sent 52 bytes from file Logs/20201213T195538/Courier0073.lzma
2020-12-14T00:32:30.833Z,1607905950.833 [NAL9602](INFO): Packets left to send: 0
2020-12-14T00:32:31.012Z,1607905951.012 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0079.lzma
2020-12-14T00:32:31.330Z,1607905951.330 [NAL9602](INFO): Received command:configSet LineCapture.navigationGain 2 none persist
2020-12-14T00:32:31.533Z,1607905951.533 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 2.000000 none persist
2020-12-14T00:32:32.015Z,1607905952.015 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0079.lzma.bak
2020-12-14T00:32:32.015Z,1607905952.015 [DataOverHttps](INFO): SBD MOMSN=65129
2020-12-14T00:32:41.052Z,1607905961.052 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20201213T195538/Courier0082.lzma
2020-12-14T00:32:42.055Z,1607905962.055 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0082.lzma.bak
2020-12-14T00:32:42.055Z,1607905962.055 [DataOverHttps](INFO): SBD MOMSN=65133
2020-12-14T00:32:51.092Z,1607905971.092 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0085.lzma
2020-12-14T00:32:52.095Z,1607905972.095 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0085.lzma.bak
2020-12-14T00:32:52.095Z,1607905972.095 [DataOverHttps](INFO): SBD MOMSN=65135
2020-12-14T00:33:01.132Z,1607905981.132 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Courier0088.lzma
2020-12-14T00:33:01.885Z,1607905981.885 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T00:33:02.135Z,1607905982.135 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0088.lzma.bak
2020-12-14T00:33:02.135Z,1607905982.135 [DataOverHttps](INFO): SBD MOMSN=65137
2020-12-14T00:33:11.184Z,1607905991.184 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0091.lzma
2020-12-14T00:33:12.187Z,1607905992.187 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0091.lzma.bak
2020-12-14T00:33:12.187Z,1607905992.187 [DataOverHttps](INFO): SBD MOMSN=65139
2020-12-14T00:33:21.224Z,1607906001.224 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0094.lzma
2020-12-14T00:33:22.227Z,1607906002.227 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0094.lzma.bak
2020-12-14T00:33:22.227Z,1607906002.227 [DataOverHttps](INFO): SBD MOMSN=65141
2020-12-14T00:33:31.265Z,1607906011.265 [DataOverHttps](INFO): Sending 80 bytes from file Logs/20201213T195538/Courier0097.lzma
2020-12-14T00:33:32.267Z,1607906012.267 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0097.lzma.bak
2020-12-14T00:33:32.267Z,1607906012.267 [DataOverHttps](INFO): SBD MOMSN=65143
2020-12-14T00:33:41.323Z,1607906021.323 [DataOverHttps](INFO): Sending 631 bytes from file Logs/20201213T195538/Express0074.lzma
2020-12-14T00:33:42.318Z,1607906022.318 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0074.lzma.bak
2020-12-14T00:33:42.318Z,1607906022.318 [DataOverHttps](INFO): SBD MOMSN=65146
2020-12-14T00:33:51.349Z,1607906031.349 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20201213T195538/Express0077.lzma
2020-12-14T00:33:52.351Z,1607906032.351 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0077.lzma.bak
2020-12-14T00:33:52.351Z,1607906032.351 [DataOverHttps](INFO): SBD MOMSN=65169
2020-12-14T00:34:01.388Z,1607906041.388 [DataOverHttps](INFO): Sending 113 bytes from file Logs/20201213T195538/Express0080.lzma
2020-12-14T00:34:02.391Z,1607906042.391 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0080.lzma.bak
2020-12-14T00:34:02.391Z,1607906042.391 [DataOverHttps](INFO): SBD MOMSN=65171
2020-12-14T00:34:11.440Z,1607906051.440 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20201213T195538/Express0083.lzma
2020-12-14T00:34:12.443Z,1607906052.443 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0083.lzma.bak
2020-12-14T00:34:12.443Z,1607906052.443 [DataOverHttps](INFO): SBD MOMSN=65173
2020-12-14T00:34:21.481Z,1607906061.481 [DataOverHttps](INFO): Sending 98 bytes from file Logs/20201213T195538/Express0086.lzma
2020-12-14T00:34:22.483Z,1607906062.483 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0086.lzma.bak
2020-12-14T00:34:22.483Z,1607906062.483 [DataOverHttps](INFO): SBD MOMSN=65175
2020-12-14T00:34:31.524Z,1607906071.524 [DataOverHttps](INFO): Sending 99 bytes from file Logs/20201213T195538/Express0089.lzma
2020-12-14T00:34:32.527Z,1607906072.527 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0089.lzma.bak
2020-12-14T00:34:32.527Z,1607906072.527 [DataOverHttps](INFO): SBD MOMSN=65177
2020-12-14T00:34:41.568Z,1607906081.568 [DataOverHttps](INFO): Sending 317 bytes from file Logs/20201213T195538/Express0092.lzma
2020-12-14T00:34:42.567Z,1607906082.567 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0092.lzma.bak
2020-12-14T00:34:42.567Z,1607906082.567 [DataOverHttps](INFO): SBD MOMSN=65179
2020-12-14T00:34:51.613Z,1607906091.613 [DataOverHttps](INFO): Sending 457 bytes from file Logs/20201213T195538/Express0095.lzma
2020-12-14T00:34:52.615Z,1607906092.615 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0095.lzma.bak
2020-12-14T00:34:52.615Z,1607906092.615 [DataOverHttps](INFO): SBD MOMSN=65192
2020-12-14T00:35:01.660Z,1607906101.660 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20201213T195538/Express0098.lzma
2020-12-14T00:35:02.663Z,1607906102.663 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0098.lzma.bak
2020-12-14T00:35:02.663Z,1607906102.663 [DataOverHttps](INFO): SBD MOMSN=65204
2020-12-14T00:35:04.145Z,1607906104.145 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-14T00:35:04.146Z,1607906104.146 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-14T00:35:04.146Z,1607906104.146 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-14T00:38:05.535Z,1607906285.535 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T00:38:39.587Z,1607906319.587 [DataOverHttps](IMPORTANT): SBD MTMSN=20201214T003839
2020-12-14T00:38:43.605Z,1607906323.605 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 3 count;set lineCaptureDepth.MinAltitude 3 meter" ikgf 1 2
2020-12-14T00:38:43.665Z,1607906323.665 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 3 count;set lineCaptureDepth.MinAltitude 3 meter" ikgf 1 2.000000
2020-12-14T00:38:43.666Z,1607906323.666 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=ikgf
2020-12-14T00:38:43.667Z,1607906323.667 [CommandLine](IMPORTANT): Scheduled #7 (#1 of 2 with id='ikgf'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 60 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 3 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP
2020-12-14T00:38:44.606Z,1607906324.606 [DataOverHttps](IMPORTANT): SBD MTMSN=20201214T003844
2020-12-14T00:38:48.624Z,1607906328.624 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ikgf 2 2
2020-12-14T00:38:48.666Z,1607906328.666 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ikgf 2 2.000000
2020-12-14T00:38:48.666Z,1607906328.666 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=ikgf
2020-12-14T00:38:48.667Z,1607906328.667 [CommandLine](IMPORTANT): Scheduled #8 (#2 of 2 with id='ikgf'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2020-12-14T00:38:48.849Z,1607906328.849 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2020-12-14T00:38:48.850Z,1607906328.850 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2020-12-14T00:38:48.915Z,1607906328.915 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2020-12-14T00:38:48.917Z,1607906328.917 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2020-12-14T00:38:48.919Z,1607906328.919 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2020-12-14T00:38:48.922Z,1607906328.922 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2020-12-14T00:38:48.924Z,1607906328.924 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2020-12-14T00:38:48.926Z,1607906328.926 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2020-12-14T00:38:48.928Z,1607906328.928 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2020-12-14T00:38:48.931Z,1607906328.931 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2020-12-14T00:38:48.933Z,1607906328.933 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2020-12-14T00:38:48.935Z,1607906328.935 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2020-12-14T00:38:48.938Z,1607906328.938 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2020-12-14T00:38:48.940Z,1607906328.940 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2020-12-14T00:38:48.940Z,1607906328.940 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-14T00:38:49.195Z,1607906329.195 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2020-12-14T00:38:49.199Z,1607906329.199 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2020-12-14T00:38:49.201Z,1607906329.201 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2020-12-14T00:38:49.203Z,1607906329.203 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2020-12-14T00:38:49.205Z,1607906329.205 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2020-12-14T00:38:49.207Z,1607906329.207 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-14T00:38:49.209Z,1607906329.209 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-14T00:38:49.211Z,1607906329.211 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2020-12-14T00:38:49.241Z,1607906329.241 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2020-12-14T00:38:49.243Z,1607906329.243 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2020-12-14T00:38:49.249Z,1607906329.249 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-14T00:38:49.251Z,1607906329.251 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-14T00:38:49.254Z,1607906329.254 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2020-12-14T00:38:49.256Z,1607906329.256 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2020-12-14T00:38:49.271Z,1607906329.271 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-12-14T00:38:49.289Z,1607906329.289 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-12-14T00:38:49.291Z,1607906329.291 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-14T00:38:49.297Z,1607906329.297 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2020-12-14T00:38:49.299Z,1607906329.299 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2020-12-14T00:38:49.308Z,1607906329.308 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2020-12-14T00:38:49.327Z,1607906329.327 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2020-12-14T00:38:49.344Z,1607906329.344 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2020-12-14T00:38:49.358Z,1607906329.358 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2020-12-14T00:38:49.365Z,1607906329.365 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2020-12-14T00:38:49.367Z,1607906329.367 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2020-12-14T00:38:49.369Z,1607906329.369 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2020-12-14T00:38:49.371Z,1607906329.371 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2020-12-14T00:38:49.378Z,1607906329.378 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2020-12-14T00:38:49.385Z,1607906329.385 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2020-12-14T00:38:49.387Z,1607906329.387 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2020-12-14T00:38:49.391Z,1607906329.391 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2020-12-14T00:38:49.405Z,1607906329.405 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2020-12-14T00:38:49.414Z,1607906329.414 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2020-12-14T00:38:49.416Z,1607906329.416 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2020-12-14T00:38:49.423Z,1607906329.423 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2020-12-14T00:38:49.429Z,1607906329.429 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2020-12-14T00:38:49.431Z,1607906329.431 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2020-12-14T00:38:49.434Z,1607906329.434 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2020-12-14T00:38:49.436Z,1607906329.436 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2020-12-14T00:38:49.446Z,1607906329.446 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2020-12-14T00:38:49.453Z,1607906329.453 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2020-12-14T00:38:49.455Z,1607906329.455 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2020-12-14T00:38:49.469Z,1607906329.469 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2020-12-14T00:38:49.471Z,1607906329.471 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2020-12-14T00:38:49.513Z,1607906329.513 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T00:38:49.591Z,1607906329.591 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-14T00:38:49.631Z,1607906329.631 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T00:38:49.665Z,1607906329.665 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T00:38:49.695Z,1607906329.695 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T00:38:49.720Z,1607906329.720 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-14T00:38:49.752Z,1607906329.752 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-14T00:38:49.758Z,1607906329.758 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-14T00:38:49.765Z,1607906329.765 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-14T00:38:49.766Z,1607906329.766 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-14T00:38:49.775Z,1607906329.775 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-14T00:38:49.789Z,1607906329.789 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-14T00:38:49.808Z,1607906329.808 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-14T00:38:49.883Z,1607906329.883 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2020-12-14T00:38:49.889Z,1607906329.889 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-14T00:38:49.891Z,1607906329.891 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-14T00:38:49.901Z,1607906329.901 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2020-12-14T00:38:49.903Z,1607906329.903 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-14T00:38:49.905Z,1607906329.905 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2020-12-14T00:38:49.907Z,1607906329.907 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2020-12-14T00:38:49.928Z,1607906329.928 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-14T00:38:50.002Z,1607906330.002 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2020-12-14T00:38:50.027Z,1607906330.027 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2020-12-14T00:38:50.034Z,1607906330.034 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2020-12-14T00:38:50.042Z,1607906330.042 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2020-12-14T00:38:50.059Z,1607906330.059 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-12-14T00:38:50.211Z,1607906330.211 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2020-12-14T00:38:50.214Z,1607906330.214 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2020-12-14T00:38:50.216Z,1607906330.216 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2020-12-14T00:38:50.218Z,1607906330.218 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2020-12-14T00:38:50.221Z,1607906330.221 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-12-14T00:38:50.223Z,1607906330.223 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2020-12-14T00:38:50.225Z,1607906330.225 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2020-12-14T00:38:50.228Z,1607906330.228 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2020-12-14T00:38:50.230Z,1607906330.230 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2020-12-14T00:38:50.233Z,1607906330.233 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2020-12-14T00:38:50.235Z,1607906330.235 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2020-12-14T00:38:50.236Z,1607906330.236 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2020-12-14T00:38:50.259Z,1607906330.259 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2020-12-14T00:38:50.265Z,1607906330.265 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-12-14T00:38:50.267Z,1607906330.267 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2020-12-14T00:38:50.271Z,1607906330.271 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2020-12-14T00:38:50.286Z,1607906330.286 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2020-12-14T00:38:50.290Z,1607906330.290 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2020-12-14T00:38:50.292Z,1607906330.292 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2020-12-14T00:38:50.314Z,1607906330.314 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2020-12-14T00:38:50.369Z,1607906330.369 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2020-12-14T00:38:50.371Z,1607906330.371 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2020-12-14T00:38:50.385Z,1607906330.385 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2020-12-14T00:38:50.387Z,1607906330.387 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2020-12-14T00:38:50.398Z,1607906330.398 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2020-12-14T00:38:50.400Z,1607906330.400 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2020-12-14T00:38:50.408Z,1607906330.408 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-14T00:38:50.475Z,1607906330.475 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-14T00:38:50.485Z,1607906330.485 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-14T00:38:50.488Z,1607906330.488 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-14T00:38:50.497Z,1607906330.497 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-14T00:38:50.510Z,1607906330.510 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-14T00:38:50.526Z,1607906330.526 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-14T00:38:50.569Z,1607906330.569 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2020-12-14T00:38:50.572Z,1607906330.572 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-14T00:38:50.586Z,1607906330.586 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-12-14T00:38:50.586Z,1607906330.586 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-14T00:38:50.635Z,1607906330.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2020-12-14T00:38:50.640Z,1607906330.640 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2020-12-14T00:38:50.663Z,1607906330.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-12-14T00:38:50.697Z,1607906330.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-12-14T00:38:50.712Z,1607906330.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2020-12-14T00:38:50.719Z,1607906330.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2020-12-14T00:38:50.727Z,1607906330.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-14T00:38:50.727Z,1607906330.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-14T00:38:50.730Z,1607906330.730 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-12-14T00:38:50.736Z,1607906330.736 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-12-14T00:38:50.825Z,1607906330.825 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2020-12-14T00:38:50.828Z,1607906330.828 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2020-12-14T00:38:50.838Z,1607906330.838 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2020-12-14T00:38:50.845Z,1607906330.845 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-12-14T00:38:50.866Z,1607906330.866 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-12-14T00:38:50.893Z,1607906330.893 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2020-12-14T00:38:50.893Z,1607906330.893 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2020-12-14T00:38:50.904Z,1607906330.904 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2020-12-14T00:38:50.904Z,1607906330.904 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-14T00:38:50.959Z,1607906330.959 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureDepth">

    <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 (4) Dock: final approach using fixed heading.
    </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>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></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="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>

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

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description> 
    </Insert>

    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

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

    <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>

    <!-- Add LineCapture directives. -->

    <Insert Filename="Insert/LineCapture.xml"/>

    <Assign><Sequence/><Arg Name="LineCapture:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Assign><Sequence/><Arg Name="LineCapture:MinAltitude"/><Arg Name="MinAltitude"/></Assign>
    
    <!-- Add SetNav directives. -->

    <Insert Filename="Insert/SetNavAcoustic.xml"/>

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

        <!-- Execute the LineCapture sequence. -->
        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Docked">
            <Sequence/>

            <Break>
                <Arg Name="Mode"/><Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked>
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">
                <Sequence/>

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2020-12-14T00:38:50.960Z,1607906330.960 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2020-12-14T00:39:01.006Z,1607906341.006 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 60.000000 minute
2020-12-14T00:39:01.007Z,1607906341.007 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2020-12-14T00:39:01.008Z,1607906341.008 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 3.000000 count
2020-12-14T00:39:01.009Z,1607906341.009 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2020-12-14T00:39:03.722Z,1607906343.722 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:39:05.868Z,1607906345.868 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2020-12-14T00:39:05.875Z,1607906345.875 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2020-12-14T00:39:05.876Z,1607906345.876 [CommandLine](IMPORTANT): got command run
2020-12-14T00:39:05.878Z,1607906345.878 [CommandLine](IMPORTANT): Running 
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock] Stopped
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-14T00:39:06.146Z,1607906346.146 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-14T00:39:06.147Z,1607906346.147 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth] Running Loop=1
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth:Science] Running Loop=1
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth:Science:A] Running Loop=1
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-14T00:39:06.147Z,1607906346.147 [lineCaptureDepth:Science:D] Running Loop=1
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:E] Running Loop=1
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:F] Running Loop=1
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T00:39:06.148Z,1607906346.148 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T00:39:06.149Z,1607906346.149 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2020-12-14T00:39:06.150Z,1607906346.150 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-14T00:39:06.150Z,1607906346.150 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-12-14T00:39:06.150Z,1607906346.150 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-12-14T00:39:06.150Z,1607906346.150 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2020-12-14T00:39:06.150Z,1607906346.150 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-14T00:39:06.151Z,1607906346.151 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T00:39:06.151Z,1607906346.151 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T00:39:06.152Z,1607906346.152 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2020-12-14T00:39:06.152Z,1607906346.152 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2020-12-14T00:39:06.152Z,1607906346.152 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T00:39:06.152Z,1607906346.152 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T00:39:06.153Z,1607906346.153 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2020-12-14T00:39:06.154Z,1607906346.154 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-14T00:39:06.154Z,1607906346.154 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T00:39:06.154Z,1607906346.154 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T00:39:06.155Z,1607906346.155 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2020-12-14T00:39:06.155Z,1607906346.155 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2020-12-14T00:39:06.155Z,1607906346.155 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-14T00:39:06.155Z,1607906346.155 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-12-14T00:39:06.155Z,1607906346.155 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-14T00:39:06.155Z,1607906346.155 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:39:06.156Z,1607906346.156 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:39:06.165Z,1607906346.165 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:39:06.165Z,1607906346.165 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:39:06.165Z,1607906346.165 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:39:06.165Z,1607906346.165 [lineCaptureDepth:J.] Running Loop=1
2020-12-14T00:39:06.165Z,1607906346.165 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2020-12-14T00:39:06.165Z,1607906346.165 [lineCaptureDepth:C] Running Loop=1
2020-12-14T00:39:06.166Z,1607906346.166 [lineCaptureDepth:J.] Running Loop=1
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:C] Stopped
2020-12-14T00:39:06.167Z,1607906346.167 [lineCaptureDepth:D] Running Loop=1
2020-12-14T00:39:06.168Z,1607906346.168 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2020-12-14T00:39:06.168Z,1607906346.168 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-14T00:39:06.168Z,1607906346.168 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-14T00:39:06.168Z,1607906346.168 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-14T00:39:06.173Z,1607906346.173 [lineCaptureDepth:Science] Running Loop=1
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T00:39:06.174Z,1607906346.174 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T00:39:06.175Z,1607906346.175 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2020-12-14T00:39:06.181Z,1607906346.181 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2020-12-14T00:39:06.184Z,1607906346.184 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-12-14T00:39:06.184Z,1607906346.184 [lineCaptureDepth:Science:F] Stopped
2020-12-14T00:39:06.184Z,1607906346.184 [lineCaptureDepth:Science:E] Stopped
2020-12-14T00:39:06.184Z,1607906346.184 [lineCaptureDepth:Science:D] Stopped
2020-12-14T00:39:06.184Z,1607906346.184 [lineCaptureDepth:Science:C] Running Loop=1
2020-12-14T00:39:06.189Z,1607906346.189 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-12-14T00:39:06.189Z,1607906346.189 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-12-14T00:39:06.189Z,1607906346.189 [lineCaptureDepth:Science:B] Running Loop=1
2020-12-14T00:39:06.190Z,1607906346.190 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-12-14T00:39:06.190Z,1607906346.190 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-12-14T00:39:06.190Z,1607906346.190 [lineCaptureDepth:Science:A] Stopped
2020-12-14T00:39:06.310Z,1607906346.310 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-12-14T00:39:06.577Z,1607906346.577 [lineCaptureDepth:D] Stopped
2020-12-14T00:39:06.578Z,1607906346.578 [lineCaptureDepth:E] Running Loop=1
2020-12-14T00:39:06.944Z,1607906346.944 [lineCaptureDepth:E] Stopped
2020-12-14T00:39:06.944Z,1607906346.944 [lineCaptureDepth:G] Running Loop=1
2020-12-14T00:39:07.374Z,1607906347.374 [lineCaptureDepth:G] Stopped
2020-12-14T00:39:07.374Z,1607906347.374 [lineCaptureDepth:H] Running Loop=1
2020-12-14T00:39:07.782Z,1607906347.782 [lineCaptureDepth:H] Stopped
2020-12-14T00:39:07.783Z,1607906347.783 [lineCaptureDepth:L] Running Loop=1
2020-12-14T00:39:08.146Z,1607906348.146 [lineCaptureDepth:L] Stopped
2020-12-14T00:39:08.146Z,1607906348.146 [lineCaptureDepth:M] Running Loop=1
2020-12-14T00:39:08.573Z,1607906348.573 [lineCaptureDepth:M] Stopped
2020-12-14T00:39:08.573Z,1607906348.573 [lineCaptureDepth:N] Running Loop=1
2020-12-14T00:39:08.953Z,1607906348.953 [lineCaptureDepth:N] Stopped
2020-12-14T00:39:08.953Z,1607906348.953 [lineCaptureDepth:Lap] Running Loop=1
2020-12-14T00:39:08.953Z,1607906348.953 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2020-12-14T00:39:08.953Z,1607906348.953 [lineCaptureDepth:Lap:A] Running Loop=1
2020-12-14T00:39:08.954Z,1607906348.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:09.417Z,1607906349.417 [lineCaptureDepth:Lap:A] Stopped
2020-12-14T00:39:09.417Z,1607906349.417 [lineCaptureDepth:Lap:B] Running Loop=1
2020-12-14T00:39:09.417Z,1607906349.417 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2020-12-14T00:39:09.754Z,1607906349.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:09.820Z,1607906349.820 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-12-14T00:39:09.843Z,1607906349.843 [lineCaptureDepth:LineCapture] Running Loop=1
2020-12-14T00:39:09.843Z,1607906349.843 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2020-12-14T00:39:09.843Z,1607906349.843 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-14T00:39:09.843Z,1607906349.843 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-14T00:39:09.843Z,1607906349.843 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-14T00:39:09.844Z,1607906349.844 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-14T00:39:09.844Z,1607906349.844 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-14T00:39:09.844Z,1607906349.844 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-14T00:39:09.861Z,1607906349.861 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:A] Running Loop=1
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-14T00:39:09.862Z,1607906349.862 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-14T00:39:09.863Z,1607906349.863 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-14T00:39:09.863Z,1607906349.863 [lineCaptureDepth:LineCapture:H] Running Loop=1
2020-12-14T00:39:09.863Z,1607906349.863 [lineCaptureDepth:LineCapture:G] Running Loop=1
2020-12-14T00:39:09.863Z,1607906349.863 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2020-12-14T00:39:09.863Z,1607906349.863 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-14T00:39:09.864Z,1607906349.864 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-14T00:39:09.864Z,1607906349.864 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-14T00:39:09.869Z,1607906349.869 [lineCaptureDepth:LineCapture:A] Stopped
2020-12-14T00:39:09.869Z,1607906349.869 [lineCaptureDepth:LineCapture:B] Running Loop=1
2020-12-14T00:39:10.155Z,1607906350.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:10.195Z,1607906350.195 [lineCaptureDepth:LineCapture:B] Stopped
2020-12-14T00:39:10.195Z,1607906350.195 [lineCaptureDepth:LineCapture:D] Running Loop=1
2020-12-14T00:39:10.602Z,1607906350.602 [lineCaptureDepth:LineCapture:D] Stopped
2020-12-14T00:39:10.602Z,1607906350.602 [lineCaptureDepth:LineCapture:E] Running Loop=1
2020-12-14T00:39:10.977Z,1607906350.977 [Micromodem](INFO): Nmea in: $SNTTA,0.146914,,,,003910.91*4C

2020-12-14T00:39:10.000Z,1607906351.000 [lineCaptureDepth:LineCapture:E] Stopped
2020-12-14T00:39:11.000Z,1607906351.000 [lineCaptureDepth:LineCapture:F] Running Loop=1
2020-12-14T00:39:11.405Z,1607906351.405 [lineCaptureDepth:LineCapture:F] Stopped
2020-12-14T00:39:11.405Z,1607906351.405 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2020-12-14T00:39:11.405Z,1607906351.405 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-14T00:39:11.405Z,1607906351.405 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-14T00:39:11.405Z,1607906351.405 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-14T00:39:11.406Z,1607906351.406 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-14T00:39:11.407Z,1607906351.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-14T00:39:11.408Z,1607906351.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-14T00:39:11.806Z,1607906351.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-14T00:39:11.806Z,1607906351.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-14T00:39:11.806Z,1607906351.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-14T00:39:11.807Z,1607906351.807 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2020-12-14T00:39:12.190Z,1607906352.190 [PowerOnly](INFO): Powering up loadControl
2020-12-14T00:39:13.068Z,1607906353.068 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2020-12-14T00:39:13.452Z,1607906353.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:39:13.485Z,1607906353.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-14T00:39:13.879Z,1607906353.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:14.635Z,1607906354.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:15.033Z,1607906355.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:15.875Z,1607906355.875 [Micromodem](INFO): Nmea in: $SNTTA,0.147507,,,,003915.79*40

2020-12-14T00:39:16.695Z,1607906356.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:18.262Z,1607906358.262 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:39:19.518Z,1607906359.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:20.288Z,1607906360.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:20.709Z,1607906360.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:21.558Z,1607906361.558 [Micromodem](INFO): Nmea in: $SNTTA,0.148227,,,,003921.45*42

2020-12-14T00:39:22.365Z,1607906362.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:23.918Z,1607906363.918 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:39:25.156Z,1607906365.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:25.943Z,1607906365.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:26.372Z,1607906366.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:27.183Z,1607906367.183 [Micromodem](INFO): Nmea in: $SNTTA,0.148931,,,,003927.10*48

2020-12-14T00:39:30.011Z,1607906370.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:30.783Z,1607906370.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:31.189Z,1607906371.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:32.039Z,1607906372.039 [Micromodem](INFO): Nmea in: $SNTTA,0.149521,,,0.152034,003931.94*50

2020-12-14T00:39:32.974Z,1607906372.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:33.696Z,1607906373.696 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 223.62 m. Transitioning DDM to standby.
2020-12-14T00:39:34.435Z,1607906374.435 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:39:35.713Z,1607906375.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:36.471Z,1607906376.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:36.886Z,1607906376.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:36.915Z,1607906376.915 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2020-12-14T00:39:37.292Z,1607906377.292 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2020-12-14T00:39:37.292Z,1607906377.292 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2020-12-14T00:39:37.292Z,1607906377.292 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2020-12-14T00:39:37.655Z,1607906377.655 [Micromodem](INFO): Nmea in: $SNTTA,0.150386,,,,003937.63*42

2020-12-14T00:39:37.773Z,1607906377.773 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2020-12-14T00:39:37.773Z,1607906377.773 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2020-12-14T00:39:37.774Z,1607906377.774 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2020-12-14T00:39:38.133Z,1607906378.133 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2020-12-14T00:39:38.134Z,1607906378.134 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-14T00:39:38.134Z,1607906378.134 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2020-12-14T00:39:38.134Z,1607906378.134 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2020-12-14T00:39:38.134Z,1607906378.134 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-14T00:39:38.559Z,1607906378.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-14T00:39:38.559Z,1607906378.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2020-12-14T00:39:38.560Z,1607906378.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2020-12-14T00:39:38.569Z,1607906378.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2020-12-14T00:39:38.569Z,1607906378.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2020-12-14T00:39:38.570Z,1607906378.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2020-12-14T00:39:38.570Z,1607906378.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-14T00:39:38.570Z,1607906378.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2020-12-14T00:39:38.570Z,1607906378.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 225.659988 m 
2020-12-14T00:39:38.570Z,1607906378.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2020-12-14T00:39:38.571Z,1607906378.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2020-12-14T00:39:38.571Z,1607906378.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2020-12-14T00:39:38.572Z,1607906378.572 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2020-12-14T00:39:38.572Z,1607906378.572 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2020-12-14T00:39:38.572Z,1607906378.572 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-14T00:39:38.898Z,1607906378.898 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2020-12-14T00:39:38.899Z,1607906378.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-14T00:39:38.899Z,1607906378.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-14T00:39:38.899Z,1607906378.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2020-12-14T00:39:38.899Z,1607906378.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2020-12-14T00:39:38.899Z,1607906378.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2020-12-14T00:39:38.899Z,1607906378.899 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2020-12-14T00:39:39.294Z,1607906379.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2020-12-14T00:39:39.295Z,1607906379.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2020-12-14T00:39:39.296Z,1607906379.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2020-12-14T00:39:39.296Z,1607906379.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2020-12-14T00:39:39.296Z,1607906379.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2020-12-14T00:39:39.306Z,1607906379.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2020-12-14T00:39:39.306Z,1607906379.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2020-12-14T00:39:39.307Z,1607906379.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2020-12-14T00:39:39.307Z,1607906379.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2020-12-14T00:39:39.307Z,1607906379.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-14T00:39:39.308Z,1607906379.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-14T00:39:39.311Z,1607906379.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2020-12-14T00:39:39.330Z,1607906379.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-14T00:39:39.331Z,1607906379.331 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2020-12-14T00:39:39.331Z,1607906379.331 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2020-12-14T00:39:39.332Z,1607906379.332 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2020-12-14T00:39:39.332Z,1607906379.332 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2020-12-14T00:39:39.341Z,1607906379.341 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2020-12-14T00:39:39.342Z,1607906379.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2020-12-14T00:39:39.342Z,1607906379.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2020-12-14T00:39:39.342Z,1607906379.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2020-12-14T00:39:39.342Z,1607906379.342 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-12-14T00:39:39.741Z,1607906379.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.659988 m, bearing: 78.052110 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-14T00:39:39.742Z,1607906379.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 78.052110deg and heading rate command to 0 deg/s.
2020-12-14T00:39:40.623Z,1607906380.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:41.399Z,1607906381.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:41.913Z,1607906381.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:42.774Z,1607906382.774 [Micromodem](INFO): Nmea in: $SNTTA,0.150950,,,,003942.56*47

2020-12-14T00:39:42.797Z,1607906382.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.559982 m, bearing: 72.605191 deg, deltaT: 4.734987 s, approachRate: 0.190073 m/s, LOS rate: -1.150356 deg/s, posRepo size: 2
2020-12-14T00:39:42.797Z,1607906382.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -1.150356 deg/s. Setting heading cmd to target bearing of 72.605191deg and heading rate command to 0 deg/s.
2020-12-14T00:39:45.290Z,1607906385.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:46.070Z,1607906386.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:46.493Z,1607906386.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:47.406Z,1607906387.406 [Micromodem](INFO): Nmea in: $SNTTA,0.151970,,,,003947.23*43

2020-12-14T00:39:47.494Z,1607906387.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.119995 m, bearing: 54.124939 deg, deltaT: 4.535080 s, approachRate: 0.343988 m/s, LOS rate: -4.074956 deg/s, posRepo size: 3
2020-12-14T00:39:47.515Z,1607906387.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.119995 m,
      bearing: 54.124939 deg,
      approachRate: 0.343988 m/s,
      LOS rate: -4.074956 deg/s,
      cmd update: -8.149912 deg/s,
      cmd heading: 72.605191 deg,
      new cmd heading: 72.605191 deg.

2020-12-14T00:39:49.658Z,1607906389.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:50.383Z,1607906390.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:50.761Z,1607906390.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:51.585Z,1607906391.585 [Micromodem](INFO): Nmea in: $SNTTA,0.153196,,,,003951.54*46

2020-12-14T00:39:52.059Z,1607906392.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.859985 m, bearing: 25.846856 deg, deltaT: 4.632295 s, approachRate: 0.375622 m/s, LOS rate: -6.104552 deg/s, posRepo size: 4
2020-12-14T00:39:52.073Z,1607906392.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.859985 m,
      bearing: 25.846856 deg,
      approachRate: 0.375622 m/s,
      LOS rate: -6.104552 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 34.747732 deg,
      new cmd heading: 31.585305 deg.

2020-12-14T00:39:54.528Z,1607906394.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:39:55.223Z,1607906395.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:39:55.645Z,1607906395.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:39:56.573Z,1607906396.573 [Micromodem](INFO): Nmea in: $SNTTA,0.154840,,,,003956.38*4E

2020-12-14T00:39:57.134Z,1607906397.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.379990 m, bearing: 11.485069 deg, deltaT: 5.053465 s, approachRate: 0.498669 m/s, LOS rate: -2.841968 deg/s, posRepo size: 4
2020-12-14T00:39:57.136Z,1607906397.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.379990 m,
      bearing: 11.485069 deg,
      approachRate: 0.498669 m/s,
      LOS rate: -2.841968 deg/s,
      cmd update: -5.683937 deg/s,
      cmd heading: 334.294442 deg,
      new cmd heading: 329.437118 deg.

2020-12-14T00:39:59.275Z,1607906399.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:00.081Z,1607906400.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:00.494Z,1607906400.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:01.345Z,1607906401.345 [Micromodem](INFO): Nmea in: $SNTTA,0.156474,,,,004001.24*46

2020-12-14T00:40:01.889Z,1607906401.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.679977 m, bearing: 3.209668 deg, deltaT: 4.675613 s, approachRate: 0.705787 m/s, LOS rate: -1.769907 deg/s, posRepo size: 4
2020-12-14T00:40:01.891Z,1607906401.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.679977 m,
      bearing: 3.209668 deg,
      approachRate: 0.705787 m/s,
      LOS rate: -1.769907 deg/s,
      cmd update: -3.539814 deg/s,
      cmd heading: 307.637126 deg,
      new cmd heading: 304.872368 deg.

2020-12-14T00:40:03.919Z,1607906403.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:04.363Z,1607906404.363 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:40:04.363Z,1607906404.363 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:40:04.363Z,1607906404.363 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:40:04.363Z,1607906404.363 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:40:04.363Z,1607906404.363 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:40:04.363Z,1607906404.363 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:40:04.364Z,1607906404.364 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-14T00:40:04.839Z,1607906404.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:05.022Z,1607906405.022 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-14T00:40:05.022Z,1607906405.022 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-14T00:40:05.022Z,1607906405.022 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:40:05.023Z,1607906405.023 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:40:05.023Z,1607906405.023 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:40:05.237Z,1607906405.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:06.074Z,1607906406.074 [Micromodem](INFO): Nmea in: $SNTTA,0.157616,,,,004006.00*40

2020-12-14T00:40:06.523Z,1607906406.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:07.972Z,1607906407.972 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0100.lzma
2020-12-14T00:40:08.474Z,1607906408.474 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:40:08.974Z,1607906408.974 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0100.lzma.bak
2020-12-14T00:40:08.975Z,1607906408.975 [DataOverHttps](INFO): SBD MOMSN=65209
2020-12-14T00:40:09.351Z,1607906409.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:10.095Z,1607906410.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:10.497Z,1607906410.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:11.350Z,1607906411.350 [Micromodem](INFO): Nmea in: $SNTTA,0.158122,,,,004011.26*4D

2020-12-14T00:40:11.740Z,1607906411.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.240005 m, bearing: 355.008890 deg, deltaT: 9.991998 s, approachRate: 0.156128 m/s, LOS rate: -0.820735 deg/s, posRepo size: 4
2020-12-14T00:40:11.742Z,1607906411.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.240005 m,
      bearing: 355.008890 deg,
      approachRate: 0.156128 m/s,
      LOS rate: -0.820735 deg/s,
      cmd update: -1.641469 deg/s,
      cmd heading: 272.248226 deg,
      new cmd heading: 271.030363 deg.

2020-12-14T00:40:13.903Z,1607906413.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:14.704Z,1607906414.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:15.114Z,1607906415.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:15.954Z,1607906415.954 [Micromodem](INFO): Nmea in: $SNTTA,0.157701,,,0.160207,004015.86*57

2020-12-14T00:40:16.395Z,1607906416.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.339981 m, bearing: 267.480371 deg, deltaT: 4.573806 s, approachRate: -0.196778 m/s, LOS rate: -19.136911 deg/s, posRepo size: 4
2020-12-14T00:40:16.395Z,1607906416.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.136911 deg/s. Setting heading cmd to target bearing of 267.480371deg and heading rate command to 0 deg/s.
2020-12-14T00:40:18.763Z,1607906418.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:19.590Z,1607906419.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:19.953Z,1607906419.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:21.186Z,1607906421.186 [Micromodem](INFO): Nmea in: $SNTTA,0.156520,,,,004020.75*41

2020-12-14T00:40:21.220Z,1607906421.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.479980 m, bearing: 279.486368 deg, deltaT: 4.862069 s, approachRate: -0.382553 m/s, LOS rate: 2.469319 deg/s, posRepo size: 4
2020-12-14T00:40:21.222Z,1607906421.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.479980 m,
      bearing: 279.486368 deg,
      approachRate: -0.382553 m/s,
      LOS rate: 2.469319 deg/s,
      cmd update: 4.938637 deg/s,
      cmd heading: 267.480371 deg,
      new cmd heading: 267.480371 deg.

2020-12-14T00:40:23.628Z,1607906423.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:24.395Z,1607906424.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:24.816Z,1607906424.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:25.633Z,1607906425.633 [Micromodem](INFO): Nmea in: $SNTTA,0.154923,,,,004025.55*4B

2020-12-14T00:40:26.059Z,1607906426.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.199997 m, bearing: 278.427471 deg, deltaT: 4.860970 s, approachRate: -0.469039 m/s, LOS rate: -0.217837 deg/s, posRepo size: 4
2020-12-14T00:40:26.062Z,1607906426.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.199997 m,
      bearing: 278.427471 deg,
      approachRate: -0.469039 m/s,
      LOS rate: -0.217837 deg/s,
      cmd update: -0.435673 deg/s,
      cmd heading: 291.506653 deg,
      new cmd heading: 293.315093 deg.

2020-12-14T00:40:28.514Z,1607906428.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:29.248Z,1607906429.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:29.674Z,1607906429.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:30.497Z,1607906430.497 [Micromodem](INFO): Nmea in: $SNTTA,0.153612,,,0.156145,004030.41*5C

2020-12-14T00:40:30.914Z,1607906430.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.219986 m, bearing: 279.147837 deg, deltaT: 4.851026 s, approachRate: -0.408163 m/s, LOS rate: 0.148498 deg/s, posRepo size: 4
2020-12-14T00:40:30.916Z,1607906430.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.219986 m,
      bearing: 279.147837 deg,
      approachRate: -0.408163 m/s,
      LOS rate: 0.148498 deg/s,
      cmd update: 0.296995 deg/s,
      cmd heading: 289.393182 deg,
      new cmd heading: 289.232046 deg.

2020-12-14T00:40:33.358Z,1607906433.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:34.107Z,1607906434.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:34.532Z,1607906434.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:35.353Z,1607906435.353 [Micromodem](INFO): Nmea in: $SNTTA,0.152062,,,,004035.27*45

2020-12-14T00:40:35.781Z,1607906435.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.879990 m, bearing: 284.117974 deg, deltaT: 4.863438 s, approachRate: -0.481140 m/s, LOS rate: 1.021939 deg/s, posRepo size: 4
2020-12-14T00:40:35.783Z,1607906435.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.879990 m,
      bearing: 284.117974 deg,
      approachRate: -0.481140 m/s,
      LOS rate: 1.021939 deg/s,
      cmd update: 2.043878 deg/s,
      cmd heading: 290.829877 deg,
      new cmd heading: 290.947237 deg.

2020-12-14T00:40:38.185Z,1607906438.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:38.951Z,1607906438.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:39.381Z,1607906439.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:40.207Z,1607906440.207 [Micromodem](INFO): Nmea in: $SNTTA,0.150516,,,,004040.11*46

2020-12-14T00:40:40.626Z,1607906440.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.599991 m, bearing: 282.543834 deg, deltaT: 4.819061 s, approachRate: -0.473121 m/s, LOS rate: -0.326649 deg/s, posRepo size: 4
2020-12-14T00:40:40.628Z,1607906440.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.599991 m,
      bearing: 282.543834 deg,
      approachRate: -0.473121 m/s,
      LOS rate: -0.326649 deg/s,
      cmd update: -0.653297 deg/s,
      cmd heading: 300.732452 deg,
      new cmd heading: 301.549161 deg.

2020-12-14T00:40:43.053Z,1607906443.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:43.807Z,1607906443.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:43.811Z,1607906443.811 [PowerOnly](INFO): Powering down loadControl
2020-12-14T00:40:44.233Z,1607906444.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:45.056Z,1607906445.056 [Micromodem](INFO): Nmea in: $SNTTA,0.148974,,,,004044.97*4D

2020-12-14T00:40:45.526Z,1607906445.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.259995 m, bearing: 283.306985 deg, deltaT: 4.871593 s, approachRate: -0.480335 m/s, LOS rate: 0.156653 deg/s, posRepo size: 4
2020-12-14T00:40:45.527Z,1607906445.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.259995 m,
      bearing: 283.306985 deg,
      approachRate: -0.480335 m/s,
      LOS rate: 0.156653 deg/s,
      cmd update: 0.313306 deg/s,
      cmd heading: 297.549788 deg,
      new cmd heading: 297.273414 deg.

2020-12-14T00:40:47.894Z,1607906447.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:48.679Z,1607906448.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:49.077Z,1607906449.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:49.909Z,1607906449.909 [Micromodem](INFO): Nmea in: $SNTTA,0.147519,,,,004049.84*4A

2020-12-14T00:40:50.360Z,1607906450.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.979980 m, bearing: 277.748413 deg, deltaT: 4.857351 s, approachRate: -0.469395 m/s, LOS rate: -1.144363 deg/s, posRepo size: 4
2020-12-14T00:40:50.366Z,1607906450.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.979980 m,
      bearing: 277.748413 deg,
      approachRate: -0.469395 m/s,
      LOS rate: -1.144363 deg/s,
      cmd update: -2.288726 deg/s,
      cmd heading: 299.071622 deg,
      new cmd heading: 299.198388 deg.

2020-12-14T00:40:52.727Z,1607906452.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:53.541Z,1607906453.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:53.945Z,1607906453.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:54.764Z,1607906454.764 [Micromodem](INFO): Nmea in: $SNTTA,0.145897,,,,004054.70*44

2020-12-14T00:40:55.184Z,1607906455.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.639999 m, bearing: 278.283436 deg, deltaT: 4.872040 s, approachRate: -0.480288 m/s, LOS rate: 0.109815 deg/s, posRepo size: 4
2020-12-14T00:40:55.204Z,1607906455.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.639999 m,
      bearing: 278.283436 deg,
      approachRate: -0.480288 m/s,
      LOS rate: 0.109815 deg/s,
      cmd update: 0.219630 deg/s,
      cmd heading: 287.939158 deg,
      new cmd heading: 287.105105 deg.

2020-12-14T00:40:57.629Z,1607906457.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:40:58.391Z,1607906458.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:40:58.845Z,1607906458.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:40:59.645Z,1607906459.645 [Micromodem](INFO): Nmea in: $SNTTA,0.144248,,,,004059.55*47

2020-12-14T00:41:00.068Z,1607906460.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.179993 m, bearing: 275.851287 deg, deltaT: 4.887574 s, approachRate: -0.503319 m/s, LOS rate: -0.497619 deg/s, posRepo size: 4
2020-12-14T00:41:00.070Z,1607906460.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.179993 m,
      bearing: 275.851287 deg,
      approachRate: -0.503319 m/s,
      LOS rate: -0.497619 deg/s,
      cmd update: -0.995237 deg/s,
      cmd heading: 289.012620 deg,
      new cmd heading: 289.091861 deg.

2020-12-14T00:41:02.487Z,1607906462.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:03.275Z,1607906463.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:03.685Z,1607906463.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:04.529Z,1607906464.529 [Micromodem](INFO): Nmea in: $SNTTA,0.142667,,,0.145186,004104.43*57

2020-12-14T00:41:04.930Z,1607906464.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.779999 m, bearing: 281.012014 deg, deltaT: 4.883497 s, approachRate: -0.491450 m/s, LOS rate: 1.056769 deg/s, posRepo size: 4
2020-12-14T00:41:04.932Z,1607906464.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.779999 m,
      bearing: 281.012014 deg,
      approachRate: -0.491450 m/s,
      LOS rate: 1.056769 deg/s,
      cmd update: 2.113538 deg/s,
      cmd heading: 284.148435 deg,
      new cmd heading: 283.814670 deg.

2020-12-14T00:41:07.400Z,1607906467.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:08.119Z,1607906468.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:08.567Z,1607906468.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:09.387Z,1607906469.387 [Micromodem](INFO): Nmea in: $SNTTA,0.141039,,,,004109.28*48

2020-12-14T00:41:09.804Z,1607906469.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.380005 m, bearing: 279.455332 deg, deltaT: 4.866655 s, approachRate: -0.493151 m/s, LOS rate: -0.319867 deg/s, posRepo size: 4
2020-12-14T00:41:09.806Z,1607906469.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.380005 m,
      bearing: 279.455332 deg,
      approachRate: -0.493151 m/s,
      LOS rate: -0.319867 deg/s,
      cmd update: -0.639734 deg/s,
      cmd heading: 294.425850 deg,
      new cmd heading: 295.152843 deg.

2020-12-14T00:41:12.204Z,1607906472.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:12.983Z,1607906472.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:13.385Z,1607906473.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:14.217Z,1607906474.217 [Micromodem](INFO): Nmea in: $SNTTA,0.139637,,,,004114.14*4C

2020-12-14T00:41:14.645Z,1607906474.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.099991 m, bearing: 279.479730 deg, deltaT: 4.766607 s, approachRate: -0.478331 m/s, LOS rate: 0.005118 deg/s, posRepo size: 4
2020-12-14T00:41:14.647Z,1607906474.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.099991 m,
      bearing: 279.479730 deg,
      approachRate: -0.478331 m/s,
      LOS rate: 0.005118 deg/s,
      cmd update: 0.010237 deg/s,
      cmd heading: 291.371371 deg,
      new cmd heading: 291.107311 deg.

2020-12-14T00:41:17.043Z,1607906477.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:17.827Z,1607906477.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:18.229Z,1607906478.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:19.077Z,1607906479.077 [Micromodem](INFO): Nmea in: $SNTTA,0.138094,,,,004118.99*4B

2020-12-14T00:41:19.486Z,1607906479.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.819992 m, bearing: 281.070289 deg, deltaT: 4.861496 s, approachRate: -0.468991 m/s, LOS rate: 0.327175 deg/s, posRepo size: 4
2020-12-14T00:41:19.488Z,1607906479.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.819992 m,
      bearing: 281.070289 deg,
      approachRate: -0.468991 m/s,
      LOS rate: 0.327175 deg/s,
      cmd update: 0.654350 deg/s,
      cmd heading: 291.421120 deg,
      new cmd heading: 291.425158 deg.

2020-12-14T00:41:21.916Z,1607906481.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:22.675Z,1607906482.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:23.077Z,1607906483.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:23.913Z,1607906483.913 [Micromodem](INFO): Nmea in: $SNTTA,0.136413,,,,004123.83*4D

2020-12-14T00:41:24.384Z,1607906484.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.299988 m, bearing: 281.556462 deg, deltaT: 4.834601 s, approachRate: -0.521244 m/s, LOS rate: 0.100561 deg/s, posRepo size: 4
2020-12-14T00:41:24.386Z,1607906484.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.299988 m,
      bearing: 281.556462 deg,
      approachRate: -0.521244 m/s,
      LOS rate: 0.100561 deg/s,
      cmd update: 0.201122 deg/s,
      cmd heading: 294.585637 deg,
      new cmd heading: 294.884054 deg.

2020-12-14T00:41:26.754Z,1607906486.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:27.563Z,1607906487.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:27.921Z,1607906487.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:28.763Z,1607906488.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004128.72*54

2020-12-14T00:41:28.775Z,1607906488.775 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:41:29.170Z,1607906489.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.839981 m, bearing: 277.776526 deg, deltaT: 4.894429 s, approachRate: -0.502614 m/s, LOS rate: -0.772294 deg/s, posRepo size: 4
2020-12-14T00:41:29.172Z,1607906489.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.839981 m,
      bearing: 277.776526 deg,
      approachRate: -0.502614 m/s,
      LOS rate: -0.772294 deg/s,
      cmd update: -1.544587 deg/s,
      cmd heading: 295.569213 deg,
      new cmd heading: 295.640014 deg.

2020-12-14T00:41:31.606Z,1607906491.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:32.383Z,1607906492.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:32.819Z,1607906492.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:33.629Z,1607906493.629 [Micromodem](INFO): Nmea in: $SNTTA,0.132930,,,,004133.54*4E

2020-12-14T00:41:33.662Z,1607906493.662 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:41:34.048Z,1607906494.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.079987 m, bearing: 279.998551 deg, deltaT: 4.854208 s, approachRate: -0.568578 m/s, LOS rate: 0.457752 deg/s, posRepo size: 4
2020-12-14T00:41:34.050Z,1607906494.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.079987 m,
      bearing: 279.998551 deg,
      approachRate: -0.568578 m/s,
      LOS rate: 0.457752 deg/s,
      cmd update: 0.915504 deg/s,
      cmd heading: 288.068480 deg,
      new cmd heading: 287.491404 deg.

2020-12-14T00:41:36.485Z,1607906496.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:37.251Z,1607906497.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:37.649Z,1607906497.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:38.484Z,1607906498.484 [Micromodem](INFO): Nmea in: $SNTTA,0.130796,,,,004138.41*41

2020-12-14T00:41:38.569Z,1607906498.569 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:41:38.891Z,1607906498.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.960007 m, bearing: 281.059334 deg, deltaT: 4.905431 s, approachRate: -0.636026 m/s, LOS rate: 0.216247 deg/s, posRepo size: 4
2020-12-14T00:41:38.893Z,1607906498.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.960007 m,
      bearing: 281.059334 deg,
      approachRate: -0.636026 m/s,
      LOS rate: 0.216247 deg/s,
      cmd update: 0.432493 deg/s,
      cmd heading: 292.561082 deg,
      new cmd heading: 292.844487 deg.

2020-12-14T00:41:41.345Z,1607906501.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:42.091Z,1607906502.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:42.542Z,1607906502.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:43.350Z,1607906503.350 [Micromodem](INFO): Nmea in: $SNTTA,0.128761,,,,004143.25*4E

2020-12-14T00:41:43.730Z,1607906503.730 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:41:43.748Z,1607906503.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.959991 m, bearing: 280.210287 deg, deltaT: 4.832893 s, approachRate: -0.620749 m/s, LOS rate: -0.175681 deg/s, posRepo size: 4
2020-12-14T00:41:43.766Z,1607906503.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.959991 m,
      bearing: 280.210287 deg,
      approachRate: -0.620749 m/s,
      LOS rate: -0.175681 deg/s,
      cmd update: -0.351362 deg/s,
      cmd heading: 294.649483 deg,
      new cmd heading: 294.795494 deg.

2020-12-14T00:41:45.378Z,1607906505.378 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259995
2020-12-14T00:41:45.417Z,1607906505.417 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:41:45.417Z,1607906505.417 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:41:45.417Z,1607906505.417 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:41:45.418Z,1607906505.418 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:41:45.418Z,1607906505.418 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:41:45.938Z,1607906505.938 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:41:45.938Z,1607906505.938 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:41:46.016Z,1607906506.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:46.207Z,1607906506.207 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:41:46.595Z,1607906506.595 [Micromodem](INFO): Nmea in: $CADRQ,004147,1,9,0,64,1*48

2020-12-14T00:41:46.596Z,1607906506.596 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:41:46.999Z,1607906506.999 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:41:46.999Z,1607906506.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:47.399Z,1607906507.399 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:41:47.399Z,1607906507.399 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:41:48.727Z,1607906508.727 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:41:48.727Z,1607906508.727 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:41:48.772Z,1607906508.772 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T00:41:48.803Z,1607906508.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:49.129Z,1607906509.129 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004147.775409,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:41:49.129Z,1607906509.129 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,004147.775409,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:41:51.745Z,1607906511.745 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T00:41:51.759Z,1607906511.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:53.767Z,1607906513.767 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:41:54.597Z,1607906514.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:57.419Z,1607906517.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:41:58.311Z,1607906518.311 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:41:58.705Z,1607906518.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:41:58.723Z,1607906518.723 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T00:41:59.553Z,1607906519.553 [Micromodem](INFO): Nmea in: $SNTTA,0.121220,,,,004159.47*48

2020-12-14T00:42:00.080Z,1607906520.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 279.278703 deg, deltaT: 16.219802 s, approachRate: -0.699144 m/s, LOS rate: -0.057435 deg/s, posRepo size: 4
2020-12-14T00:42:00.082Z,1607906520.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 279.278703 deg,
      approachRate: -0.699144 m/s,
      LOS rate: -0.057435 deg/s,
      cmd update: -0.114870 deg/s,
      cmd heading: 288.950293 deg,
      new cmd heading: 288.792396 deg.

2020-12-14T00:42:02.386Z,1607906522.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:03.160Z,1607906523.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:03.625Z,1607906523.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:04.440Z,1607906524.440 [Micromodem](INFO): Nmea in: $SNTTA,0.118981,,,,004204.32*4B

2020-12-14T00:42:04.482Z,1607906524.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 278.855286 deg, deltaT: 4.541346 s, approachRate: -0.726661 m/s, LOS rate: -0.093236 deg/s, posRepo size: 4
2020-12-14T00:42:04.487Z,1607906524.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 278.855286 deg,
      approachRate: -0.726661 m/s,
      LOS rate: -0.093236 deg/s,
      cmd update: -0.186472 deg/s,
      cmd heading: 288.428167 deg,
      new cmd heading: 288.393080 deg.

2020-12-14T00:42:06.886Z,1607906526.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:07.667Z,1607906527.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:08.065Z,1607906528.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:08.911Z,1607906528.911 [Micromodem](INFO): Nmea in: $SNTTA,0.116962,,,,004208.83*4E

2020-12-14T00:42:08.926Z,1607906528.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 278.510690 deg, deltaT: 4.403259 s, approachRate: 0.000000 m/s, LOS rate: -0.078259 deg/s, posRepo size: 4
2020-12-14T00:42:08.928Z,1607906528.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 278.510690 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.078259 deg/s,
      cmd update: -0.156519 deg/s,
      cmd heading: 287.607074 deg,
      new cmd heading: 287.542438 deg.

2020-12-14T00:42:11.376Z,1607906531.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:12.104Z,1607906532.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:12.597Z,1607906532.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:13.406Z,1607906533.406 [Micromodem](INFO): Nmea in: $SNTTA,0.114907,,0.118294,,004213.26*53

2020-12-14T00:42:13.479Z,1607906533.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.199997 m, bearing: 279.138521 deg, deltaT: 4.422859 s, approachRate: -1.383719 m/s, LOS rate: 0.141951 deg/s, posRepo size: 4
2020-12-14T00:42:13.481Z,1607906533.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.199997 m,
      bearing: 279.138521 deg,
      approachRate: -1.383719 m/s,
      LOS rate: 0.141951 deg/s,
      cmd update: 0.283903 deg/s,
      cmd heading: 286.914815 deg,
      new cmd heading: 286.840182 deg.

2020-12-14T00:42:15.887Z,1607906535.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:16.639Z,1607906536.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:17.025Z,1607906537.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:17.849Z,1607906537.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004217.80*56

2020-12-14T00:42:18.481Z,1607906538.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:18.585Z,1607906538.585 [Radio_Surface](INFO): Powering down
2020-12-14T00:42:18.767Z,1607906538.767 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T00:42:19.974Z,1607906539.974 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:42:21.195Z,1607906541.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:21.526Z,1607906541.526 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T00:42:21.987Z,1607906541.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:22.401Z,1607906542.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:22.530Z,1607906542.530 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-14T00:42:23.292Z,1607906543.292 [Micromodem](INFO): Nmea in: $SNTTA,0.110260,,,,004223.15*47

2020-12-14T00:42:23.332Z,1607906543.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 278.838265 deg, deltaT: 9.883081 s, approachRate: -0.698164 m/s, LOS rate: -0.030381 deg/s, posRepo size: 4
2020-12-14T00:42:23.334Z,1607906543.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.299988 m,
      bearing: 278.838265 deg,
      approachRate: -0.698164 m/s,
      LOS rate: -0.030381 deg/s,
      cmd update: -0.060761 deg/s,
      cmd heading: 289.720646 deg,
      new cmd heading: 289.847359 deg.

2020-12-14T00:42:23.741Z,1607906543.741 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T00:42:25.797Z,1607906545.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:26.551Z,1607906546.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:26.953Z,1607906546.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:27.782Z,1607906547.782 [Micromodem](INFO): Nmea in: $SNTTA,0.108099,,,,004227.71*4C

2020-12-14T00:42:27.817Z,1607906547.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.000000 m, bearing: 279.302718 deg, deltaT: 4.520000 s, approachRate: -0.730086 m/s, LOS rate: 0.102755 deg/s, posRepo size: 4
2020-12-14T00:42:27.819Z,1607906547.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.000000 m,
      bearing: 279.302718 deg,
      approachRate: -0.730086 m/s,
      LOS rate: 0.102755 deg/s,
      cmd update: 0.205510 deg/s,
      cmd heading: 289.446005 deg,
      new cmd heading: 289.421023 deg.

2020-12-14T00:42:30.233Z,1607906550.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:30.987Z,1607906550.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:31.479Z,1607906551.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:32.318Z,1607906552.318 [Micromodem](INFO): Nmea in: $SNTTA,0.106028,,,,004232.15*4E

2020-12-14T00:42:32.369Z,1607906552.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.879990 m, bearing: 278.566479 deg, deltaT: 4.483000 s, approachRate: -0.695965 m/s, LOS rate: -0.164229 deg/s, posRepo size: 4
2020-12-14T00:42:32.371Z,1607906552.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.879990 m,
      bearing: 278.566479 deg,
      approachRate: -0.695965 m/s,
      LOS rate: -0.164229 deg/s,
      cmd update: -0.328459 deg/s,
      cmd heading: 290.367302 deg,
      new cmd heading: 290.465953 deg.

2020-12-14T00:42:33.575Z,1607906553.575 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:42:34.767Z,1607906554.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:35.587Z,1607906555.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:35.989Z,1607906555.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:36.822Z,1607906556.822 [Micromodem](INFO): Nmea in: $SNTTA,0.103771,,,,004236.74*43

2020-12-14T00:42:36.867Z,1607906556.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.520004 m, bearing: 278.036893 deg, deltaT: 4.596031 s, approachRate: -0.731062 m/s, LOS rate: -0.115227 deg/s, posRepo size: 4
2020-12-14T00:42:36.869Z,1607906556.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.520004 m,
      bearing: 278.036893 deg,
      approachRate: -0.731062 m/s,
      LOS rate: -0.115227 deg/s,
      cmd update: -0.230453 deg/s,
      cmd heading: 288.859617 deg,
      new cmd heading: 288.731945 deg.

2020-12-14T00:42:39.239Z,1607906559.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:40.023Z,1607906560.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:40.435Z,1607906560.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:41.281Z,1607906561.281 [Micromodem](INFO): Nmea in: $SNTTA,0.101737,,,,004241.18*49

2020-12-14T00:42:41.334Z,1607906561.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.460007 m, bearing: 277.676969 deg, deltaT: 4.389623 s, approachRate: -0.697098 m/s, LOS rate: -0.081994 deg/s, posRepo size: 4
2020-12-14T00:42:41.336Z,1607906561.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.460007 m,
      bearing: 277.676969 deg,
      approachRate: -0.697098 m/s,
      LOS rate: -0.081994 deg/s,
      cmd update: -0.163988 deg/s,
      cmd heading: 287.846730 deg,
      new cmd heading: 287.740575 deg.

2020-12-14T00:42:43.897Z,1607906563.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:44.475Z,1607906564.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:44.881Z,1607906564.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:45.714Z,1607906565.714 [Micromodem](INFO): Nmea in: $SNTTA,0.099878,,,,004245.63*45

2020-12-14T00:42:45.784Z,1607906565.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.759995 m, bearing: 278.257372 deg, deltaT: 4.471961 s, approachRate: -0.603765 m/s, LOS rate: 0.129787 deg/s, posRepo size: 4
2020-12-14T00:42:45.790Z,1607906565.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.759995 m,
      bearing: 278.257372 deg,
      approachRate: -0.603765 m/s,
      LOS rate: 0.129787 deg/s,
      cmd update: 0.259574 deg/s,
      cmd heading: 287.113993 deg,
      new cmd heading: 287.041540 deg.

2020-12-14T00:42:48.327Z,1607906568.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:48.915Z,1607906568.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:49.362Z,1607906569.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:42:50.166Z,1607906570.166 [Micromodem](INFO): Nmea in: $SNTTA,0.097717,,,,004250.07*4B

2020-12-14T00:42:50.396Z,1607906570.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.520004 m, bearing: 278.253683 deg, deltaT: 4.450473 s, approachRate: -0.728010 m/s, LOS rate: -0.000829 deg/s, posRepo size: 4
2020-12-14T00:42:50.414Z,1607906570.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 278.253683 deg,
      approachRate: -0.728010 m/s,
      LOS rate: -0.000829 deg/s,
      cmd update: -0.001657 deg/s,
      cmd heading: 288.269184 deg,
      new cmd heading: 288.425792 deg.

2020-12-14T00:42:51.014Z,1607906571.014 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:42:51.587Z,1607906571.587 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:42:51.587Z,1607906571.587 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:42:51.854Z,1607906571.854 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:42:52.239Z,1607906572.239 [Micromodem](INFO): Nmea in: $CADRQ,004252,1,9,0,64,1*4F

2020-12-14T00:42:52.239Z,1607906572.239 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:42:52.355Z,1607906572.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:52.661Z,1607906572.661 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:42:53.051Z,1607906573.051 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:42:53.052Z,1607906573.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:42:54.283Z,1607906574.283 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:42:54.283Z,1607906574.283 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:42:54.664Z,1607906574.664 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004253.415207,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-14T00:42:54.664Z,1607906574.664 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,004253.415207,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-14T00:42:54.888Z,1607906574.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:42:57.559Z,1607906577.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:00.358Z,1607906580.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:03.330Z,1607906583.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:04.370Z,1607906584.370 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:04.757Z,1607906584.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:05.610Z,1607906585.610 [Micromodem](INFO): Nmea in: $SNTTA,0.090765,,,,004305.53*49

2020-12-14T00:43:05.644Z,1607906585.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 278.189616 deg, deltaT: 15.430833 s, approachRate: -0.676568 m/s, LOS rate: -0.004152 deg/s, posRepo size: 4
2020-12-14T00:43:05.646Z,1607906585.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.080002 m,
      bearing: 278.189616 deg,
      approachRate: -0.676568 m/s,
      LOS rate: -0.004152 deg/s,
      cmd update: -0.008304 deg/s,
      cmd heading: 288.243600 deg,
      new cmd heading: 288.242909 deg.

2020-12-14T00:43:07.795Z,1607906587.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:08.395Z,1607906588.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:08.812Z,1607906588.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:09.646Z,1607906589.646 [Micromodem](INFO): Nmea in: $SNTTA,0.089041,0.091666,,,004309.55*5A

2020-12-14T00:43:09.826Z,1607906589.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.380005 m, bearing: 279.515766 deg, deltaT: 4.014672 s, approachRate: -0.672532 m/s, LOS rate: 0.330326 deg/s, posRepo size: 4
2020-12-14T00:43:09.829Z,1607906589.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.380005 m,
      bearing: 279.515766 deg,
      approachRate: -0.672532 m/s,
      LOS rate: 0.330326 deg/s,
      cmd update: 0.660651 deg/s,
      cmd heading: 288.210266 deg,
      new cmd heading: 288.205409 deg.

2020-12-14T00:43:12.083Z,1607906592.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:12.941Z,1607906592.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:13.382Z,1607906593.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:14.194Z,1607906594.194 [Micromodem](INFO): Nmea in: $SNTTA,0.087007,,,,004314.10*4B

2020-12-14T00:43:14.224Z,1607906594.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.319992 m, bearing: 278.392063 deg, deltaT: 4.722434 s, approachRate: -0.647974 m/s, LOS rate: -0.237950 deg/s, posRepo size: 4
2020-12-14T00:43:14.226Z,1607906594.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.319992 m,
      bearing: 278.392063 deg,
      approachRate: -0.647974 m/s,
      LOS rate: -0.237950 deg/s,
      cmd update: -0.475900 deg/s,
      cmd heading: 291.327567 deg,
      new cmd heading: 291.501944 deg.

2020-12-14T00:43:16.625Z,1607906596.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:17.391Z,1607906597.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:17.791Z,1607906597.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:18.658Z,1607906598.658 [Micromodem](INFO): Nmea in: $SNTTA,0.084849,,,,004318.55*47

2020-12-14T00:43:18.709Z,1607906598.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 277.515394 deg, deltaT: 4.368924 s, approachRate: -0.727865 m/s, LOS rate: -0.200660 deg/s, posRepo size: 4
2020-12-14T00:43:18.711Z,1607906598.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.140007 m,
      bearing: 277.515394 deg,
      approachRate: -0.727865 m/s,
      LOS rate: -0.200660 deg/s,
      cmd update: -0.401320 deg/s,
      cmd heading: 289.256433 deg,
      new cmd heading: 289.067826 deg.

2020-12-14T00:43:21.063Z,1607906601.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:21.831Z,1607906601.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:22.229Z,1607906602.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:23.110Z,1607906603.110 [Micromodem](INFO): Nmea in: $SNTTA,0.082901,,,,004322.99*45

2020-12-14T00:43:23.158Z,1607906603.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.260002 m, bearing: 277.666342 deg, deltaT: 4.402812 s, approachRate: -0.654128 m/s, LOS rate: 0.034284 deg/s, posRepo size: 4
2020-12-14T00:43:23.160Z,1607906603.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.260002 m,
      bearing: 277.666342 deg,
      approachRate: -0.654128 m/s,
      LOS rate: 0.034284 deg/s,
      cmd update: 0.068569 deg/s,
      cmd heading: 287.482767 deg,
      new cmd heading: 287.311800 deg.

2020-12-14T00:43:25.587Z,1607906605.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:26.351Z,1607906606.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:26.729Z,1607906606.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:27.594Z,1607906607.594 [Micromodem](INFO): Nmea in: $SNTTA,0.080812,,,,004327.51*45

2020-12-14T00:43:27.648Z,1607906607.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.839996 m, bearing: 272.884635 deg, deltaT: 4.442371 s, approachRate: -0.769860 m/s, LOS rate: -1.076386 deg/s, posRepo size: 4
2020-12-14T00:43:27.654Z,1607906607.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.839996 m,
      bearing: 272.884635 deg,
      approachRate: -0.769860 m/s,
      LOS rate: -1.076386 deg/s,
      cmd update: -2.152772 deg/s,
      cmd heading: 287.787658 deg,
      new cmd heading: 287.819870 deg.

2020-12-14T00:43:30.021Z,1607906610.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:30.771Z,1607906610.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:31.177Z,1607906611.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:32.030Z,1607906612.030 [Micromodem](INFO): Nmea in: $SNTTA,0.078778,,0.096960,,004331.93*56

2020-12-14T00:43:32.052Z,1607906612.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 277.986759 deg, deltaT: 4.499443 s, approachRate: -0.626742 m/s, LOS rate: 1.133946 deg/s, posRepo size: 4
2020-12-14T00:43:32.054Z,1607906612.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.020004 m,
      bearing: 277.986759 deg,
      approachRate: -0.626742 m/s,
      LOS rate: 1.133946 deg/s,
      cmd update: 2.267891 deg/s,
      cmd heading: 278.106315 deg,
      new cmd heading: 277.295379 deg.

2020-12-14T00:43:34.477Z,1607906614.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:35.215Z,1607906615.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:35.751Z,1607906615.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:36.590Z,1607906616.590 [Micromodem](INFO): Nmea in: $SNTTA,0.076928,,,,004336.38*4B

2020-12-14T00:43:36.658Z,1607906616.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.200005 m, bearing: 278.935090 deg, deltaT: 4.500466 s, approachRate: -0.626602 m/s, LOS rate: 0.210718 deg/s, posRepo size: 4
2020-12-14T00:43:36.659Z,1607906616.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.200005 m,
      bearing: 278.935090 deg,
      approachRate: -0.626602 m/s,
      LOS rate: 0.210718 deg/s,
      cmd update: 0.421437 deg/s,
      cmd heading: 288.316772 deg,
      new cmd heading: 289.404754 deg.

2020-12-14T00:43:39.031Z,1607906619.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:39.790Z,1607906619.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:40.189Z,1607906620.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:41.038Z,1607906621.038 [Micromodem](INFO): Nmea in: $SNTTA,0.074685,,,,004340.95*47

2020-12-14T00:43:41.073Z,1607906621.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.900009 m, bearing: 278.127243 deg, deltaT: 4.477028 s, approachRate: -0.737095 m/s, LOS rate: -0.180443 deg/s, posRepo size: 4
2020-12-14T00:43:41.074Z,1607906621.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.900009 m,
      bearing: 278.127243 deg,
      approachRate: -0.737095 m/s,
      LOS rate: -0.180443 deg/s,
      cmd update: -0.360886 deg/s,
      cmd heading: 290.203794 deg,
      new cmd heading: 290.379580 deg.

2020-12-14T00:43:43.470Z,1607906623.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:44.229Z,1607906624.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:44.633Z,1607906624.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:45.497Z,1607906625.497 [Micromodem](INFO): Nmea in: $SNTTA,0.072605,,,,004345.39*4A

2020-12-14T00:43:45.564Z,1607906625.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.720001 m, bearing: 278.043477 deg, deltaT: 4.396856 s, approachRate: -0.723246 m/s, LOS rate: -0.019051 deg/s, posRepo size: 4
2020-12-14T00:43:45.566Z,1607906625.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.720001 m,
      bearing: 278.043477 deg,
      approachRate: -0.723246 m/s,
      LOS rate: -0.019051 deg/s,
      cmd update: -0.038102 deg/s,
      cmd heading: 288.616956 deg,
      new cmd heading: 288.432352 deg.

2020-12-14T00:43:47.581Z,1607906627.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:48.263Z,1607906628.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:48.689Z,1607906628.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:49.525Z,1607906629.525 [Micromodem](INFO): Nmea in: $SNTTA,0.070803,,,,004349.42*40

2020-12-14T00:43:49.582Z,1607906629.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.080002 m, bearing: 277.310161 deg, deltaT: 4.075123 s, approachRate: -0.647833 m/s, LOS rate: -0.179950 deg/s, posRepo size: 4
2020-12-14T00:43:49.584Z,1607906629.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 277.310161 deg,
      approachRate: -0.647833 m/s,
      LOS rate: -0.179950 deg/s,
      cmd update: -0.359899 deg/s,
      cmd heading: 288.461688 deg,
      new cmd heading: 288.444385 deg.

2020-12-14T00:43:51.961Z,1607906631.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:52.717Z,1607906632.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:53.113Z,1607906633.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:53.958Z,1607906633.958 [Micromodem](INFO): Nmea in: $SNTTA,0.068858,,,,004353.87*45

2020-12-14T00:43:54.008Z,1607906634.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.139999 m, bearing: 276.854560 deg, deltaT: 4.510913 s, approachRate: -0.651753 m/s, LOS rate: -0.101000 deg/s, posRepo size: 4
2020-12-14T00:43:54.014Z,1607906634.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.139999 m,
      bearing: 276.854560 deg,
      approachRate: -0.651753 m/s,
      LOS rate: -0.101000 deg/s,
      cmd update: -0.201999 deg/s,
      cmd heading: 286.839617 deg,
      new cmd heading: 286.705045 deg.

2020-12-14T00:43:56.435Z,1607906636.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:43:56.802Z,1607906636.802 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:43:57.196Z,1607906637.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:43:57.612Z,1607906637.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:43:57.759Z,1607906637.759 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:43:57.759Z,1607906637.759 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:43:58.005Z,1607906638.005 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:43:58.451Z,1607906638.451 [Micromodem](INFO): Nmea in: $CADRQ,004358,1,9,0,64,1*44

2020-12-14T00:43:58.452Z,1607906638.452 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:43:58.581Z,1607906638.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 277.732731 deg, deltaT: 4.381924 s, approachRate: -0.602475 m/s, LOS rate: 0.200408 deg/s, posRepo size: 4
2020-12-14T00:43:58.583Z,1607906638.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.500000 m,
      bearing: 277.732731 deg,
      approachRate: -0.602475 m/s,
      LOS rate: 0.200408 deg/s,
      cmd update: 0.400815 deg/s,
      cmd heading: 285.953704 deg,
      new cmd heading: 285.840392 deg.

2020-12-14T00:43:58.830Z,1607906638.830 [Micromodem](INFO): Nmea in: $SNTTA,0.067123,,,,004358.35*4D

2020-12-14T00:43:58.830Z,1607906638.830 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.067123,,,,004358.35*4D

2020-12-14T00:44:00.041Z,1607906640.041 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:44:00.455Z,1607906640.455 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:44:00.535Z,1607906640.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:00.837Z,1607906640.837 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:44:01.237Z,1607906641.237 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004359.630218,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-14T00:44:01.237Z,1607906641.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:01.656Z,1607906641.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:02.482Z,1607906642.482 [Micromodem](INFO): Nmea in: $SNTTA,0.065065,,,,004402.40*46

2020-12-14T00:44:02.563Z,1607906642.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 276.574631 deg, deltaT: 4.080453 s, approachRate: -0.764620 m/s, LOS rate: -0.283816 deg/s, posRepo size: 4
2020-12-14T00:44:02.565Z,1607906642.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.380005 m,
      bearing: 276.574631 deg,
      approachRate: -0.764620 m/s,
      LOS rate: -0.283816 deg/s,
      cmd update: -0.567633 deg/s,
      cmd heading: 287.589286 deg,
      new cmd heading: 287.774639 deg.

2020-12-14T00:44:04.920Z,1607906644.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:05.711Z,1607906645.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:06.109Z,1607906646.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:06.962Z,1607906646.962 [Micromodem](INFO): Nmea in: $SNTTA,0.063174,,,,004406.87*4E

2020-12-14T00:44:06.996Z,1607906646.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 277.747867 deg, deltaT: 4.512863 s, approachRate: -0.611587 m/s, LOS rate: 0.259976 deg/s, posRepo size: 4
2020-12-14T00:44:07.018Z,1607906647.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.619995 m,
      bearing: 277.747867 deg,
      approachRate: -0.611587 m/s,
      LOS rate: 0.259976 deg/s,
      cmd update: 0.519952 deg/s,
      cmd heading: 285.030694 deg,
      new cmd heading: 284.810482 deg.

2020-12-14T00:44:09.392Z,1607906649.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:10.151Z,1607906650.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:10.576Z,1607906650.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:11.402Z,1607906651.402 [Micromodem](INFO): Nmea in: $SNTTA,0.061059,,0.068496,,004411.31*52

2020-12-14T00:44:11.463Z,1607906651.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 278.106588 deg, deltaT: 4.361641 s, approachRate: -0.742839 m/s, LOS rate: 0.082245 deg/s, posRepo size: 4
2020-12-14T00:44:11.469Z,1607906651.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.379997 m,
      bearing: 278.106588 deg,
      approachRate: -0.742839 m/s,
      LOS rate: 0.082245 deg/s,
      cmd update: 0.164489 deg/s,
      cmd heading: 287.301296 deg,
      new cmd heading: 287.554845 deg.

2020-12-14T00:44:13.986Z,1607906653.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:14.591Z,1607906654.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:14.997Z,1607906654.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:15.842Z,1607906655.842 [Micromodem](INFO): Nmea in: $SNTTA,0.059025,,,,004415.75*4D

2020-12-14T00:44:15.867Z,1607906655.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.560005 m, bearing: 278.756959 deg, deltaT: 4.485533 s, approachRate: -0.628686 m/s, LOS rate: 0.144993 deg/s, posRepo size: 4
2020-12-14T00:44:15.869Z,1607906655.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.560005 m,
      bearing: 278.756959 deg,
      approachRate: -0.628686 m/s,
      LOS rate: 0.144993 deg/s,
      cmd update: 0.289986 deg/s,
      cmd heading: 288.039116 deg,
      new cmd heading: 288.105880 deg.

2020-12-14T00:44:18.454Z,1607906658.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:19.035Z,1607906659.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:19.447Z,1607906659.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:20.280Z,1607906660.280 [Micromodem](INFO): Nmea in: $SNTTA,0.057189,,,,004420.19*48

2020-12-14T00:44:20.571Z,1607906660.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.379997 m, bearing: 279.053171 deg, deltaT: 4.430694 s, approachRate: -0.717722 m/s, LOS rate: 0.066854 deg/s, posRepo size: 4
2020-12-14T00:44:20.577Z,1607906660.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.379997 m,
      bearing: 279.053171 deg,
      approachRate: -0.717722 m/s,
      LOS rate: 0.066854 deg/s,
      cmd update: 0.133709 deg/s,
      cmd heading: 289.323982 deg,
      new cmd heading: 289.521010 deg.

2020-12-14T00:44:22.399Z,1607906662.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:23.179Z,1607906663.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:23.577Z,1607906663.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:24.406Z,1607906664.406 [Micromodem](INFO): Nmea in: $SNTTA,0.055320,,,,004424.34*40

2020-12-14T00:44:24.476Z,1607906664.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 276.522367 deg, deltaT: 4.098897 s, approachRate: -0.570883 m/s, LOS rate: -0.617435 deg/s, posRepo size: 4
2020-12-14T00:44:24.482Z,1607906664.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.040009 m,
      bearing: 276.522367 deg,
      approachRate: -0.570883 m/s,
      LOS rate: -0.617435 deg/s,
      cmd update: -1.234871 deg/s,
      cmd heading: 289.872041 deg,
      new cmd heading: 289.935523 deg.

2020-12-14T00:44:27.018Z,1607906667.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:27.612Z,1607906667.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:28.026Z,1607906668.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:28.862Z,1607906668.862 [Micromodem](INFO): Nmea in: $SNTTA,0.053121,,,,004428.77*4E

2020-12-14T00:44:28.888Z,1607906668.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 276.614520 deg, deltaT: 4.484327 s, approachRate: -0.789416 m/s, LOS rate: 0.020550 deg/s, posRepo size: 4
2020-12-14T00:44:28.892Z,1607906668.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 276.614520 deg,
      approachRate: -0.789416 m/s,
      LOS rate: 0.020550 deg/s,
      cmd update: 0.041100 deg/s,
      cmd heading: 284.336795 deg,
      new cmd heading: 283.826265 deg.

2020-12-14T00:44:31.477Z,1607906671.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:32.056Z,1607906672.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:32.482Z,1607906672.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:33.330Z,1607906673.330 [Micromodem](INFO): Nmea in: $SNTTA,0.051063,,,,004433.21*42

2020-12-14T00:44:33.576Z,1607906673.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 277.133669 deg, deltaT: 4.430345 s, approachRate: -0.690691 m/s, LOS rate: 0.117180 deg/s, posRepo size: 4
2020-12-14T00:44:33.582Z,1607906673.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.440010 m,
      bearing: 277.133669 deg,
      approachRate: -0.690691 m/s,
      LOS rate: 0.117180 deg/s,
      cmd update: 0.234361 deg/s,
      cmd heading: 284.518959 deg,
      new cmd heading: 284.546549 deg.

2020-12-14T00:44:35.432Z,1607906675.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:36.191Z,1607906676.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:36.589Z,1607906676.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:37.431Z,1607906677.431 [Micromodem](INFO): Nmea in: $SNTTA,0.049186,,,,004437.35*40

2020-12-14T00:44:37.487Z,1607906677.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 278.431405 deg, deltaT: 4.105424 s, approachRate: -0.643055 m/s, LOS rate: 0.316103 deg/s, posRepo size: 4
2020-12-14T00:44:37.494Z,1607906677.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 278.431405 deg,
      approachRate: -0.643055 m/s,
      LOS rate: 0.316103 deg/s,
      cmd update: 0.632206 deg/s,
      cmd heading: 285.481125 deg,
      new cmd heading: 285.592708 deg.

2020-12-14T00:44:39.988Z,1607906679.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:40.643Z,1607906680.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:41.037Z,1607906681.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:41.874Z,1607906681.874 [Micromodem](INFO): Nmea in: $SNTTA,0.047246,,,,004441.80*4E

2020-12-14T00:44:41.909Z,1607906681.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 276.362677 deg, deltaT: 4.516801 s, approachRate: -0.690752 m/s, LOS rate: -0.458007 deg/s, posRepo size: 4
2020-12-14T00:44:41.911Z,1607906681.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.680008 m,
      bearing: 276.362677 deg,
      approachRate: -0.690752 m/s,
      LOS rate: -0.458007 deg/s,
      cmd update: -0.916014 deg/s,
      cmd heading: 288.317095 deg,
      new cmd heading: 288.578130 deg.

2020-12-14T00:44:44.482Z,1607906684.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:45.075Z,1607906685.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:45.489Z,1607906685.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:46.334Z,1607906686.334 [Micromodem](INFO): Nmea in: $SNTTA,0.045153,,,,004446.23*45

2020-12-14T00:44:46.555Z,1607906686.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 277.105720 deg, deltaT: 4.421550 s, approachRate: -0.705636 m/s, LOS rate: 0.168050 deg/s, posRepo size: 4
2020-12-14T00:44:46.574Z,1607906686.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.560005 m,
      bearing: 277.105720 deg,
      approachRate: -0.705636 m/s,
      LOS rate: 0.168050 deg/s,
      cmd update: 0.336101 deg/s,
      cmd heading: 284.238547 deg,
      new cmd heading: 283.682810 deg.

2020-12-14T00:44:48.479Z,1607906688.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:49.223Z,1607906689.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:49.625Z,1607906689.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:50.486Z,1607906690.486 [Micromodem](INFO): Nmea in: $SNTTA,0.043406,,,,004450.38*4B

2020-12-14T00:44:50.694Z,1607906690.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 277.798820 deg, deltaT: 4.126620 s, approachRate: -0.639750 m/s, LOS rate: 0.167958 deg/s, posRepo size: 4
2020-12-14T00:44:50.696Z,1607906690.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.919998 m,
      bearing: 277.798820 deg,
      approachRate: -0.639750 m/s,
      LOS rate: 0.167958 deg/s,
      cmd update: 0.335917 deg/s,
      cmd heading: 285.625476 deg,
      new cmd heading: 285.833489 deg.

2020-12-14T00:44:52.694Z,1607906692.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:53.313Z,1607906693.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:53.704Z,1607906693.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:54.550Z,1607906694.550 [Micromodem](INFO): Nmea in: $SNTTA,0.041406,,,,004454.47*45

2020-12-14T00:44:54.592Z,1607906694.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 275.696051 deg, deltaT: 4.043093 s, approachRate: -0.742005 m/s, LOS rate: -0.520089 deg/s, posRepo size: 4
2020-12-14T00:44:54.594Z,1607906694.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.920002 m,
      bearing: 275.696051 deg,
      approachRate: -0.742005 m/s,
      LOS rate: -0.520089 deg/s,
      cmd update: -1.040179 deg/s,
      cmd heading: 286.983473 deg,
      new cmd heading: 287.142657 deg.

2020-12-14T00:44:57.082Z,1607906697.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:44:57.724Z,1607906697.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:44:58.125Z,1607906698.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:44:58.983Z,1607906698.983 [Micromodem](INFO): Nmea in: $SNTTA,0.039509,,,,004458.88*4B

2020-12-14T00:44:59.145Z,1607906699.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.100006 m, bearing: 276.145942 deg, deltaT: 4.495563 s, approachRate: -0.627284 m/s, LOS rate: 0.100074 deg/s, posRepo size: 4
2020-12-14T00:44:59.147Z,1607906699.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.100006 m,
      bearing: 276.145942 deg,
      approachRate: -0.627284 m/s,
      LOS rate: 0.100074 deg/s,
      cmd update: 0.200149 deg/s,
      cmd heading: 282.309804 deg,
      new cmd heading: 281.755194 deg.

2020-12-14T00:45:01.412Z,1607906701.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:02.175Z,1607906702.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:02.589Z,1607906702.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:03.065Z,1607906703.065 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:45:03.513Z,1607906703.513 [Micromodem](INFO): Nmea in: $SNTTA,0.037421,,,,004503.33*41

2020-12-14T00:45:03.683Z,1607906703.683 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:45:03.684Z,1607906703.684 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:45:03.894Z,1607906703.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.980003 m, bearing: 277.328083 deg, deltaT: 4.536709 s, approachRate: -0.687724 m/s, LOS rate: 0.260573 deg/s, posRepo size: 4
2020-12-14T00:45:03.896Z,1607906703.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 277.328083 deg,
      approachRate: -0.687724 m/s,
      LOS rate: 0.260573 deg/s,
      cmd update: 0.521145 deg/s,
      cmd heading: 283.212006 deg,
      new cmd heading: 283.367080 deg.

2020-12-14T00:45:04.914Z,1607906704.914 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:45:05.320Z,1607906705.320 [Micromodem](INFO): Nmea in: $CADRQ,004504,1,9,0,64,1*4B

2020-12-14T00:45:05.320Z,1607906705.320 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:45:05.703Z,1607906705.703 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:45:05.875Z,1607906705.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:06.110Z,1607906706.110 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:45:06.530Z,1607906706.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:07.335Z,1607906707.335 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:45:07.335Z,1607906707.335 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:45:07.719Z,1607906707.719 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004506.499615,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T00:45:07.720Z,1607906707.720 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,004506.499615,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T00:45:08.583Z,1607906708.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:11.445Z,1607906711.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:14.390Z,1607906714.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:17.248Z,1607906717.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:17.610Z,1607906717.610 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:18.091Z,1607906718.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:18.906Z,1607906718.906 [Micromodem](INFO): Nmea in: $SNTTA,0.030406,,,,004518.77*49

2020-12-14T00:45:18.936Z,1607906718.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 277.494822 deg, deltaT: 15.582215 s, approachRate: -0.677696 m/s, LOS rate: 0.010701 deg/s, posRepo size: 4
2020-12-14T00:45:18.938Z,1607906718.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 277.494822 deg,
      approachRate: -0.677696 m/s,
      LOS rate: 0.010701 deg/s,
      cmd update: 0.021401 deg/s,
      cmd heading: 291.348916 deg,
      new cmd heading: 291.455160 deg.

2020-12-14T00:45:21.357Z,1607906721.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:22.123Z,1607906722.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:22.539Z,1607906722.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:23.382Z,1607906723.382 [Micromodem](INFO): Nmea in: $SNTTA,0.028402,,,,004523.28*46

2020-12-14T00:45:23.440Z,1607906723.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 277.889224 deg, deltaT: 4.391184 s, approachRate: -0.669522 m/s, LOS rate: 0.089817 deg/s, posRepo size: 4
2020-12-14T00:45:23.447Z,1607906723.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.480003 m,
      bearing: 277.889224 deg,
      approachRate: -0.669522 m/s,
      LOS rate: 0.089817 deg/s,
      cmd update: 0.179634 deg/s,
      cmd heading: 291.442906 deg,
      new cmd heading: 291.449652 deg.

2020-12-14T00:45:25.805Z,1607906725.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:26.575Z,1607906726.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:26.969Z,1607906726.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:27.818Z,1607906727.818 [Micromodem](INFO): Nmea in: $SNTTA,0.026413,,,,004527.73*42

2020-12-14T00:45:27.842Z,1607906727.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.419998 m, bearing: 276.863494 deg, deltaT: 4.319152 s, approachRate: -0.708474 m/s, LOS rate: -0.237484 deg/s, posRepo size: 4
2020-12-14T00:45:27.842Z,1607906727.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.42 m.
2020-12-14T00:45:27.845Z,1607906727.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 276.863494 deg,
      approachRate: -0.708474 m/s,
      LOS rate: -0.237484 deg/s,
      cmd update: -0.474968 deg/s,
      cmd heading: 292.216757 deg,
      new cmd heading: 292.290347 deg.

2020-12-14T00:45:28.227Z,1607906728.227 [PowerOnly](INFO): Powering up loadControl
2020-12-14T00:45:30.328Z,1607906730.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:31.051Z,1607906731.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:31.560Z,1607906731.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:32.340Z,1607906732.340 [Micromodem](INFO): Nmea in: $SNTTA,0.024611,,,,004532.21*43

2020-12-14T00:45:32.367Z,1607906732.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 278.803923 deg, deltaT: 4.499638 s, approachRate: -0.586714 m/s, LOS rate: 0.431241 deg/s, posRepo size: 4
2020-12-14T00:45:32.368Z,1607906732.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2020-12-14T00:45:32.370Z,1607906732.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 278.803923 deg,
      approachRate: -0.586714 m/s,
      LOS rate: 0.431241 deg/s,
      cmd update: 0.862482 deg/s,
      cmd heading: 290.076719 deg,
      new cmd heading: 289.872614 deg.

2020-12-14T00:45:34.773Z,1607906734.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:35.559Z,1607906735.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:35.942Z,1607906735.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:36.774Z,1607906736.774 [Micromodem](INFO): Nmea in: $SNTTA,0.022883,,,,004536.72*42

2020-12-14T00:45:36.825Z,1607906736.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 281.010184 deg, deltaT: 4.452390 s, approachRate: -0.714222 m/s, LOS rate: 0.495523 deg/s, posRepo size: 4
2020-12-14T00:45:36.826Z,1607906736.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.60 m.
2020-12-14T00:45:36.829Z,1607906736.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 281.010184 deg,
      approachRate: -0.714222 m/s,
      LOS rate: 0.495523 deg/s,
      cmd update: 0.991045 deg/s,
      cmd heading: 293.921217 deg,
      new cmd heading: 294.290665 deg.

2020-12-14T00:45:38.905Z,1607906738.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:39.595Z,1607906739.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:39.991Z,1607906739.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:40.822Z,1607906740.822 [Micromodem](INFO): Nmea in: $SNTTA,0.021300,,,,004540.75*47

2020-12-14T00:45:40.858Z,1607906740.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 282.231831 deg, deltaT: 4.054991 s, approachRate: -0.606661 m/s, LOS rate: 0.301270 deg/s, posRepo size: 4
2020-12-14T00:45:40.859Z,1607906740.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.14 m.
2020-12-14T00:45:40.861Z,1607906740.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.139997 m,
      bearing: 282.231831 deg,
      approachRate: -0.606661 m/s,
      LOS rate: 0.301270 deg/s,
      cmd update: 0.602540 deg/s,
      cmd heading: 297.929013 deg,
      new cmd heading: 298.344520 deg.

2020-12-14T00:45:42.497Z,1607906742.497 [DDM](ERROR): Could not parse whisker state
2020-12-14T00:45:43.358Z,1607906743.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:44.115Z,1607906744.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:44.541Z,1607906744.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:45.378Z,1607906745.378 [Micromodem](INFO): Nmea in: $SNTTA,0.019014,,,,004545.27*48

2020-12-14T00:45:45.403Z,1607906745.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 281.918626 deg, deltaT: 4.508781 s, approachRate: -0.652061 m/s, LOS rate: -0.069466 deg/s, posRepo size: 4
2020-12-14T00:45:45.404Z,1607906745.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.20 m.
2020-12-14T00:45:45.404Z,1607906745.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.20 m.
2020-12-14T00:45:45.429Z,1607906745.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-14T00:45:45.432Z,1607906745.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 281.918626 deg,
      approachRate: -0.652061 m/s,
      LOS rate: -0.069466 deg/s,
      cmd update: -0.138931 deg/s,
      cmd heading: 300.650024 deg,
      new cmd heading: 300.920132 deg.

2020-12-14T00:45:47.801Z,1607906747.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:48.587Z,1607906748.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:48.989Z,1607906748.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:49.818Z,1607906749.818 [Micromodem](INFO): Nmea in: $SNTTA,0.017545,,,,004549.74*4D

2020-12-14T00:45:49.875Z,1607906749.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 279.041259 deg, deltaT: 4.470757 s, approachRate: -0.483140 m/s, LOS rate: -0.643597 deg/s, posRepo size: 4
2020-12-14T00:45:49.877Z,1607906749.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 279.041259 deg,
      approachRate: -0.483140 m/s,
      LOS rate: -0.643597 deg/s,
      cmd update: -1.287195 deg/s,
      cmd heading: 300.030620 deg,
      new cmd heading: 299.966489 deg.

2020-12-14T00:45:52.265Z,1607906752.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:53.019Z,1607906753.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:53.417Z,1607906753.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:54.258Z,1607906754.258 [Micromodem](INFO): Nmea in: $SNTTA,0.015234,,,,004554.18*48

2020-12-14T00:45:54.327Z,1607906754.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 282.763029 deg, deltaT: 4.464200 s, approachRate: -0.792975 m/s, LOS rate: 0.833693 deg/s, posRepo size: 4
2020-12-14T00:45:54.333Z,1607906754.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 282.763029 deg,
      approachRate: -0.792975 m/s,
      LOS rate: 0.833693 deg/s,
      cmd update: 1.667385 deg/s,
      cmd heading: 294.273954 deg,
      new cmd heading: 293.706038 deg.

2020-12-14T00:45:56.735Z,1607906756.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:45:57.479Z,1607906757.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:45:57.941Z,1607906757.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:45:58.802Z,1607906758.802 [Micromodem](INFO): Nmea in: $SNTTA,0.013165,,,0.058802,004558.64*57

2020-12-14T00:45:58.861Z,1607906758.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 282.166043 deg, deltaT: 4.506284 s, approachRate: -0.652422 m/s, LOS rate: -0.132479 deg/s, posRepo size: 4
2020-12-14T00:45:58.862Z,1607906758.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 282.166043 deg,
      approachRate: -0.652422 m/s,
      LOS rate: -0.132479 deg/s,
      cmd update: -0.264957 deg/s,
      cmd heading: 301.801547 deg,
      new cmd heading: 302.568676 deg.

2020-12-14T00:46:01.171Z,1607906761.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:01.963Z,1607906761.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:02.408Z,1607906762.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:03.214Z,1607906763.214 [Micromodem](INFO): Nmea in: $SNTTA,0.011376,,,,004603.12*40

2020-12-14T00:46:03.269Z,1607906763.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 279.532322 deg, deltaT: 4.404047 s, approachRate: -0.613073 m/s, LOS rate: -0.598023 deg/s, posRepo size: 4
2020-12-14T00:46:03.275Z,1607906763.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 279.532322 deg,
      approachRate: -0.613073 m/s,
      LOS rate: -0.598023 deg/s,
      cmd update: -1.196046 deg/s,
      cmd heading: 300.634662 deg,
      new cmd heading: 300.511723 deg.

2020-12-14T00:46:05.362Z,1607906765.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:06.103Z,1607906766.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:06.536Z,1607906766.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:07.362Z,1607906767.362 [Micromodem](INFO): Nmea in: $SNTTA,0.009605,,,,004607.26*4B

2020-12-14T00:46:07.387Z,1607906767.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 276.970236 deg, deltaT: 4.138671 s, approachRate: -0.637886 m/s, LOS rate: -0.619060 deg/s, posRepo size: 4
2020-12-14T00:46:07.410Z,1607906767.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 276.970236 deg,
      approachRate: -0.637886 m/s,
      LOS rate: -0.619060 deg/s,
      cmd update: -1.238120 deg/s,
      cmd heading: 295.689418 deg,
      new cmd heading: 295.153210 deg.

2020-12-14T00:46:08.718Z,1607906768.718 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:46:08.941Z,1607906768.941 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:46:09.543Z,1607906769.543 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:46:09.543Z,1607906769.543 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:46:09.648Z,1607906769.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:09.829Z,1607906769.829 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:46:10.216Z,1607906770.216 [Micromodem](INFO): Nmea in: $CADRQ,004610,1,9,0,64,1*4D

2020-12-14T00:46:10.216Z,1607906770.216 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:46:10.631Z,1607906770.631 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:46:10.631Z,1607906770.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:11.023Z,1607906771.023 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:46:11.023Z,1607906771.023 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:46:12.259Z,1607906772.259 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:46:12.259Z,1607906772.259 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:46:12.349Z,1607906772.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:12.640Z,1607906772.640 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004611.394881,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T00:46:12.640Z,1607906772.640 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,004611.394881,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T00:46:15.425Z,1607906775.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:18.072Z,1607906778.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:20.917Z,1607906780.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:21.686Z,1607906781.686 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:22.113Z,1607906782.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:22.938Z,1607906782.938 [Micromodem](INFO): Nmea in: $SNTTA,0.003278,,,,004622.84*40

2020-12-14T00:46:22.994Z,1607906782.994 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-14T00:46:22.994Z,1607906782.994 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:46:22.994Z,1607906782.994 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-14T00:46:22.994Z,1607906782.994 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:46:22.995Z,1607906782.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-14T00:46:22.995Z,1607906782.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2020-12-14T00:46:22.995Z,1607906782.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-14T00:46:22.995Z,1607906782.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-14T00:46:22.995Z,1607906782.995 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-14T00:46:22.998Z,1607906782.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 278.110249 deg, deltaT: 15.635144 s, approachRate: -0.610164 m/s, LOS rate: 0.072914 deg/s, posRepo size: 4
2020-12-14T00:46:22.000Z,1607906783.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 278.110249 deg,
      approachRate: -0.610164 m/s,
      LOS rate: 0.072914 deg/s,
      cmd update: 0.145827 deg/s,
      cmd heading: 276.326216 deg,
      new cmd heading: 275.806798 deg.

2020-12-14T00:46:23.375Z,1607906783.375 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201214T004623: (41.552319, -70.708603)
2020-12-14T00:46:23.375Z,1607906783.375 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-14T00:46:23.375Z,1607906783.375 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-14T00:46:23.375Z,1607906783.375 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:46:23.376Z,1607906783.376 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-14T00:46:23.376Z,1607906783.376 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T00:46:23.376Z,1607906783.376 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-14T00:46:23.376Z,1607906783.376 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-14T00:46:23.376Z,1607906783.376 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-14T00:46:25.400Z,1607906785.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:26.143Z,1607906786.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:26.577Z,1607906786.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:27.394Z,1607906787.394 [Micromodem](INFO): Nmea in: $SNTTA,0.002268,,,,004627.30*4A

2020-12-14T00:46:27.420Z,1607906787.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 291.318141 deg, deltaT: 4.392197 s, approachRate: -0.314193 m/s, LOS rate: 3.007127 deg/s, posRepo size: 4
2020-12-14T00:46:27.423Z,1607906787.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 291.318141 deg,
      approachRate: -0.314193 m/s,
      LOS rate: 3.007127 deg/s,
      cmd update: 6.014253 deg/s,
      cmd heading: 276.966718 deg,
      new cmd heading: 277.032103 deg.

2020-12-14T00:46:29.820Z,1607906789.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:30.595Z,1607906790.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:31.007Z,1607906791.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:31.834Z,1607906791.834 [Micromodem](INFO): Nmea in: $SNTTA,0.004959,,0.017915,,004631.75*56

2020-12-14T00:46:31.875Z,1607906791.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 295.180722 deg, deltaT: 4.499681 s, approachRate: 0.906731 m/s, LOS rate: 0.858412 deg/s, posRepo size: 4
2020-12-14T00:46:31.878Z,1607906791.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 295.180722 deg,
      approachRate: 0.906731 m/s,
      LOS rate: 0.858412 deg/s,
      cmd update: 1.716825 deg/s,
      cmd heading: 304.026696 deg,
      new cmd heading: 306.467340 deg.

2020-12-14T00:46:34.273Z,1607906794.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:35.046Z,1607906795.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:35.439Z,1607906795.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:36.272Z,1607906796.272 [Micromodem](INFO): Nmea in: $SNTTA,0.007820,,0.023426,,004636.21*56

2020-12-14T00:46:36.342Z,1607906796.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 250.268322 deg, deltaT: 4.429072 s, approachRate: 0.447046 m/s, LOS rate: -10.140364 deg/s, posRepo size: 4
2020-12-14T00:46:36.344Z,1607906796.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 250.268322 deg,
      approachRate: 0.447046 m/s,
      LOS rate: -10.140364 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 311.631195 deg,
      new cmd heading: 312.383876 deg.

2020-12-14T00:46:38.762Z,1607906798.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:39.514Z,1607906799.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:39.916Z,1607906799.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:40.746Z,1607906800.746 [Micromodem](INFO): Nmea in: $SNTTA,0.007414,,,,004640.67*41

2020-12-14T00:46:40.784Z,1607906800.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 347.931476 deg, deltaT: 4.458365 s, approachRate: 0.403735 m/s, LOS rate: 21.905598 deg/s, posRepo size: 4
2020-12-14T00:46:40.785Z,1607906800.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.905598 deg/s. Setting heading cmd to target bearing of 347.931476deg and heading rate command to 0 deg/s.
2020-12-14T00:46:43.329Z,1607906803.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:44.011Z,1607906804.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:44.413Z,1607906804.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:45.264Z,1607906805.264 [Micromodem](INFO): Nmea in: $SNTTA,0.008263,,0.040953,,004645.17*5F

2020-12-14T00:46:45.290Z,1607906805.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 287.899823 deg, deltaT: 4.517007 s, approachRate: 0.252380 m/s, LOS rate: -13.290139 deg/s, posRepo size: 4
2020-12-14T00:46:45.291Z,1607906805.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.30 m. Rolling out.
2020-12-14T00:46:45.293Z,1607906805.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-14T00:46:46.017Z,1607906806.017 [DDM](ERROR): Could not parse latch state
2020-12-14T00:46:47.467Z,1607906807.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:48.043Z,1607906808.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:48.464Z,1607906808.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:49.310Z,1607906809.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004649.20*53

2020-12-14T00:46:49.568Z,1607906809.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.579999 m, bearing: 303.195103 deg, deltaT: 4.030207 s, approachRate: 0.565728 m/s, LOS rate: 3.795160 deg/s, posRepo size: 4
2020-12-14T00:46:51.734Z,1607906811.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:52.541Z,1607906812.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:52.925Z,1607906812.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:53.772Z,1607906813.772 [Micromodem](INFO): Nmea in: $SNTTA,0.012307,,,,004653.70*44

2020-12-14T00:46:53.961Z,1607906813.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.540001 m, bearing: 313.883584 deg, deltaT: 4.536599 s, approachRate: 0.872901 m/s, LOS rate: 2.356056 deg/s, posRepo size: 4
2020-12-14T00:46:56.169Z,1607906816.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:46:56.963Z,1607906816.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:46:57.373Z,1607906817.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:46:58.222Z,1607906818.222 [Micromodem](INFO): Nmea in: $SNTTA,0.013453,,,,004658.12*4C

2020-12-14T00:46:58.259Z,1607906818.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 340.042443 deg, deltaT: 4.365266 s, approachRate: 0.549794 m/s, LOS rate: 5.992501 deg/s, posRepo size: 4
2020-12-14T00:47:00.398Z,1607906820.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:00.999Z,1607906820.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:01.409Z,1607906821.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:02.281Z,1607906822.281 [Micromodem](INFO): Nmea in: $SNTTA,0.014594,,,,004702.16*4B

2020-12-14T00:47:02.502Z,1607906822.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 280.298013 deg, deltaT: 4.088693 s, approachRate: 0.454913 m/s, LOS rate: -14.612109 deg/s, posRepo size: 4
2020-12-14T00:47:02.699Z,1607906822.699 [PowerOnly](INFO): Powering down loadControl
2020-12-14T00:47:04.741Z,1607906824.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:05.527Z,1607906825.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:05.931Z,1607906825.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:06.782Z,1607906826.782 [Micromodem](INFO): Nmea in: $SNTTA,0.016227,,,,004706.69*4A

2020-12-14T00:47:06.825Z,1607906826.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.580000 m, bearing: 331.865860 deg, deltaT: 4.719096 s, approachRate: 0.165286 m/s, LOS rate: 10.927484 deg/s, posRepo size: 4
2020-12-14T00:47:09.297Z,1607906829.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:10.059Z,1607906830.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:10.467Z,1607906830.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:11.331Z,1607906831.331 [Micromodem](INFO): Nmea in: $SNTTA,0.017388,0.038738,0.023163,,004711.22*44

2020-12-14T00:47:11.370Z,1607906831.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 346.201252 deg, deltaT: 4.296267 s, approachRate: 0.418968 m/s, LOS rate: 3.336709 deg/s, posRepo size: 4
2020-12-14T00:47:13.709Z,1607906833.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:14.520Z,1607906834.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:14.917Z,1607906834.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:14.929Z,1607906834.929 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:47:15.476Z,1607906835.476 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:47:15.476Z,1607906835.476 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:47:15.866Z,1607906835.866 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:47:15.919Z,1607906835.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 21.310913 deg, deltaT: 4.701807 s, approachRate: 0.165895 m/s, LOS rate: 7.467267 deg/s, posRepo size: 4
2020-12-14T00:47:16.267Z,1607906836.267 [Micromodem](INFO): Nmea in: $CADRQ,004716,1,9,0,64,1*4A

2020-12-14T00:47:16.268Z,1607906836.268 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:47:16.678Z,1607906836.678 [Micromodem](INFO): Nmea in: $SNTTA,0.021766,,,,004715.68*4D

2020-12-14T00:47:16.678Z,1607906836.678 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.021766,,,,004715.68*4D

2020-12-14T00:47:17.883Z,1607906837.883 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:47:18.307Z,1607906838.307 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:47:18.359Z,1607906838.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:18.687Z,1607906838.687 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:47:19.093Z,1607906839.093 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004717.442136,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-14T00:47:19.094Z,1607906839.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:19.589Z,1607906839.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:20.402Z,1607906840.402 [Micromodem](INFO): Nmea in: $SNTTA,0.018196,,,,004720.25*41

2020-12-14T00:47:20.478Z,1607906840.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 38.939691 deg, deltaT: 4.389048 s, approachRate: 0.273407 m/s, LOS rate: 4.016538 deg/s, posRepo size: 4
2020-12-14T00:47:22.832Z,1607906842.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:23.615Z,1607906843.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:24.035Z,1607906844.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:24.866Z,1607906844.866 [Micromodem](INFO): Nmea in: $SNTTA,0.019738,,,,004724.77*41

2020-12-14T00:47:24.890Z,1607906844.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.699997 m, bearing: 353.098705 deg, deltaT: 4.465943 s, approachRate: 0.523965 m/s, LOS rate: -10.264572 deg/s, posRepo size: 4
2020-12-14T00:47:27.331Z,1607906847.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:28.087Z,1607906848.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:28.511Z,1607906848.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:29.351Z,1607906849.351 [Micromodem](INFO): Nmea in: $SNTTA,0.020526,,,,004729.25*4C

2020-12-14T00:47:29.404Z,1607906849.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 16.488630 deg, deltaT: 4.503288 s, approachRate: 0.359738 m/s, LOS rate: 5.193964 deg/s, posRepo size: 4
2020-12-14T00:47:31.782Z,1607906851.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:32.565Z,1607906852.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:32.950Z,1607906852.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:33.764Z,1607906853.764 [Micromodem](INFO): Nmea in: $SNTTA,0.022122,,,,004733.72*47

2020-12-14T00:47:33.853Z,1607906853.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.239998 m, bearing: 22.183981 deg, deltaT: 4.445024 s, approachRate: 0.431943 m/s, LOS rate: 1.281287 deg/s, posRepo size: 4
2020-12-14T00:47:36.194Z,1607906856.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:36.991Z,1607906856.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:37.385Z,1607906857.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:38.214Z,1607906858.214 [Micromodem](INFO): Nmea in: $SNTTA,0.023312,,,,004738.15*4D

2020-12-14T00:47:38.262Z,1607906858.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 337.373588 deg, deltaT: 4.432262 s, approachRate: 0.392576 m/s, LOS rate: -10.110053 deg/s, posRepo size: 4
2020-12-14T00:47:40.802Z,1607906860.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:41.445Z,1607906861.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:41.841Z,1607906861.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:42.678Z,1607906862.678 [Micromodem](INFO): Nmea in: $SNTTA,0.024752,,,,004742.60*45

2020-12-14T00:47:42.725Z,1607906862.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.620003 m, bearing: 23.718416 deg, deltaT: 4.482253 s, approachRate: 0.588990 m/s, LOS rate: 10.339626 deg/s, posRepo size: 4
2020-12-14T00:47:45.266Z,1607906865.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:45.875Z,1607906865.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:46.321Z,1607906866.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:47.129Z,1607906867.129 [Micromodem](INFO): Nmea in: $SNTTA,0.026550,,,,004747.03*47

2020-12-14T00:47:47.323Z,1607906867.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 344.353303 deg, deltaT: 4.398291 s, approachRate: 0.518383 m/s, LOS rate: -8.950090 deg/s, posRepo size: 4
2020-12-14T00:47:49.618Z,1607906869.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:50.363Z,1607906870.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:50.761Z,1607906870.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:51.609Z,1607906871.609 [Micromodem](INFO): Nmea in: $SNTTA,0.028279,,,,004751.52*46

2020-12-14T00:47:51.830Z,1607906871.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 340.870808 deg, deltaT: 4.476907 s, approachRate: 0.495878 m/s, LOS rate: -0.777880 deg/s, posRepo size: 4
2020-12-14T00:47:53.863Z,1607906873.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:54.433Z,1607906874.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:54.845Z,1607906874.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:47:55.675Z,1607906875.675 [Micromodem](INFO): Nmea in: $SNTTA,0.029463,,0.061882,,004755.59*5E

2020-12-14T00:47:55.724Z,1607906875.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 340.776169 deg, deltaT: 4.040956 s, approachRate: 0.534527 m/s, LOS rate: -0.023420 deg/s, posRepo size: 4
2020-12-14T00:47:58.254Z,1607906878.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:47:58.887Z,1607906878.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:47:59.281Z,1607906879.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:00.119Z,1607906880.119 [Micromodem](INFO): Nmea in: $SNTTA,0.031171,,,,004800.05*4C

2020-12-14T00:48:00.324Z,1607906880.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 343.223781 deg, deltaT: 4.503844 s, approachRate: 0.559523 m/s, LOS rate: 0.543450 deg/s, posRepo size: 4
2020-12-14T00:48:02.644Z,1607906882.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:03.421Z,1607906883.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:03.831Z,1607906883.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:04.654Z,1607906884.654 [Micromodem](INFO): Nmea in: $SNTTA,0.033194,,,,004804.58*49

2020-12-14T00:48:04.678Z,1607906884.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 346.003177 deg, deltaT: 4.703727 s, approachRate: 0.535745 m/s, LOS rate: 0.590892 deg/s, posRepo size: 4
2020-12-14T00:48:07.055Z,1607906887.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:07.851Z,1607906887.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:08.257Z,1607906888.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:09.094Z,1607906889.094 [Micromodem](INFO): Nmea in: $SNTTA,0.034424,,,,004809.01*41

2020-12-14T00:48:09.132Z,1607906889.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 333.774816 deg, deltaT: 4.254732 s, approachRate: 0.564077 m/s, LOS rate: -2.874061 deg/s, posRepo size: 4
2020-12-14T00:48:10.852Z,1607906890.852 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:48:11.577Z,1607906891.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:12.311Z,1607906892.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:12.708Z,1607906892.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:13.594Z,1607906893.594 [Micromodem](INFO): Nmea in: $SNTTA,0.036020,,,,004813.47*4A

2020-12-14T00:48:13.628Z,1607906893.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 334.326121 deg, deltaT: 4.480383 s, approachRate: 0.549060 m/s, LOS rate: 0.123049 deg/s, posRepo size: 4
2020-12-14T00:48:16.018Z,1607906896.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:16.791Z,1607906896.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:17.221Z,1607906897.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:18.046Z,1607906898.046 [Micromodem](INFO): Nmea in: $SNTTA,0.037653,,,,004817.95*42

2020-12-14T00:48:18.100Z,1607906898.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 344.442888 deg, deltaT: 4.508807 s, approachRate: 0.518985 m/s, LOS rate: 2.243779 deg/s, posRepo size: 4
2020-12-14T00:48:20.533Z,1607906900.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:20.858Z,1607906900.858 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:48:21.264Z,1607906901.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:21.666Z,1607906901.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:21.807Z,1607906901.807 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:48:21.807Z,1607906901.807 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:48:22.072Z,1607906902.072 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:48:22.517Z,1607906902.517 [Micromodem](INFO): Nmea in: $CADRQ,004822,1,9,0,64,1*42

2020-12-14T00:48:22.518Z,1607906902.518 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:48:22.643Z,1607906902.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.100006 m, bearing: 333.196271 deg, deltaT: 4.412691 s, approachRate: 0.584679 m/s, LOS rate: -2.548698 deg/s, posRepo size: 4
2020-12-14T00:48:22.938Z,1607906902.938 [Micromodem](INFO): Nmea in: $SNTTA,0.039313,,,,004822.42*41

2020-12-14T00:48:22.938Z,1607906902.938 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.039313,,,,004822.42*41

2020-12-14T00:48:24.133Z,1607906904.133 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:48:24.577Z,1607906904.577 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:48:24.664Z,1607906904.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:24.932Z,1607906904.932 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:48:25.360Z,1607906905.360 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004823.693593,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T00:48:25.361Z,1607906905.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:25.904Z,1607906905.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:26.726Z,1607906906.726 [Micromodem](INFO): Nmea in: $SNTTA,0.041295,,,,004826.52*44

2020-12-14T00:48:26.780Z,1607906906.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 356.334876 deg, deltaT: 4.239123 s, approachRate: 0.551999 m/s, LOS rate: 5.458347 deg/s, posRepo size: 4
2020-12-14T00:48:29.166Z,1607906909.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:29.935Z,1607906909.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:30.360Z,1607906910.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:31.174Z,1607906911.174 [Micromodem](INFO): Nmea in: $SNTTA,0.043181,,0.048055,,004831.09*5A

2020-12-14T00:48:31.219Z,1607906911.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.260010 m, bearing: 358.575233 deg, deltaT: 4.446096 s, approachRate: 0.634267 m/s, LOS rate: 0.503893 deg/s, posRepo size: 4
2020-12-14T00:48:33.623Z,1607906913.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:34.383Z,1607906914.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:34.781Z,1607906914.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:35.618Z,1607906915.618 [Micromodem](INFO): Nmea in: $SNTTA,0.044743,,,,004835.54*4B

2020-12-14T00:48:35.676Z,1607906915.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.900002 m, bearing: 359.080093 deg, deltaT: 4.406349 s, approachRate: 0.599134 m/s, LOS rate: 0.114576 deg/s, posRepo size: 4
2020-12-14T00:48:38.198Z,1607906918.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:38.819Z,1607906918.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:39.221Z,1607906919.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:40.070Z,1607906920.070 [Micromodem](INFO): Nmea in: $SNTTA,0.046340,,,,004839.98*42

2020-12-14T00:48:40.108Z,1607906920.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 356.868341 deg, deltaT: 4.480192 s, approachRate: 0.616044 m/s, LOS rate: -0.493673 deg/s, posRepo size: 4
2020-12-14T00:48:42.704Z,1607906922.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:43.282Z,1607906923.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:43.689Z,1607906923.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:44.550Z,1607906924.550 [Micromodem](INFO): Nmea in: $SNTTA,0.048099,,,,004844.44*40

2020-12-14T00:48:44.749Z,1607906924.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 353.624657 deg, deltaT: 4.467958 s, approachRate: 0.590876 m/s, LOS rate: -0.725988 deg/s, posRepo size: 4
2020-12-14T00:48:47.031Z,1607906927.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:47.816Z,1607906927.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:48.221Z,1607906928.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:49.054Z,1607906929.054 [Micromodem](INFO): Nmea in: $SNTTA,0.049994,,,,004848.97*47

2020-12-14T00:48:49.229Z,1607906929.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 356.902055 deg, deltaT: 4.530036 s, approachRate: 0.556286 m/s, LOS rate: 0.723482 deg/s, posRepo size: 4
2020-12-14T00:48:51.234Z,1607906931.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:51.855Z,1607906931.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:52.274Z,1607906932.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:53.102Z,1607906933.102 [Micromodem](INFO): Nmea in: $SNTTA,0.051437,,,,004853.01*4F

2020-12-14T00:48:53.124Z,1607906933.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.220001 m, bearing: 356.376103 deg, deltaT: 4.022436 s, approachRate: 0.596654 m/s, LOS rate: -0.130755 deg/s, posRepo size: 4
2020-12-14T00:48:55.719Z,1607906935.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:48:56.314Z,1607906936.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:48:56.705Z,1607906936.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:48:57.546Z,1607906937.546 [Micromodem](INFO): Nmea in: $SNTTA,0.053505,,0.064249,,004857.47*58

2020-12-14T00:48:57.729Z,1607906937.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 0.666457 deg, deltaT: 4.437344 s, approachRate: 0.581428 m/s, LOS rate: 0.966876 deg/s, posRepo size: 4
2020-12-14T00:48:59.694Z,1607906939.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:00.456Z,1607906940.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:00.861Z,1607906940.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:01.706Z,1607906941.706 [Micromodem](INFO): Nmea in: $SNTTA,0.054877,,0.072026,,004901.61*5D

2020-12-14T00:49:01.878Z,1607906941.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.500000 m, bearing: 355.217320 deg, deltaT: 4.195299 s, approachRate: 0.643579 m/s, LOS rate: -1.298869 deg/s, posRepo size: 4
2020-12-14T00:49:03.909Z,1607906943.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:04.501Z,1607906944.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:04.913Z,1607906944.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:05.738Z,1607906945.738 [Micromodem](INFO): Nmea in: $SNTTA,0.056654,,,,004905.66*4C

2020-12-14T00:49:05.761Z,1607906945.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 358.476441 deg, deltaT: 4.025407 s, approachRate: 0.566402 m/s, LOS rate: 0.809637 deg/s, posRepo size: 4
2020-12-14T00:49:08.316Z,1607906948.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:08.939Z,1607906948.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:09.349Z,1607906949.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:10.186Z,1607906950.186 [Micromodem](INFO): Nmea in: $SNTTA,0.058283,,,,004910.10*49

2020-12-14T00:49:10.399Z,1607906950.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.540001 m, bearing: 358.511083 deg, deltaT: 4.427039 s, approachRate: 0.623442 m/s, LOS rate: 0.007825 deg/s, posRepo size: 4
2020-12-14T00:49:12.642Z,1607906952.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:13.407Z,1607906953.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:13.797Z,1607906953.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:14.630Z,1607906954.630 [Micromodem](INFO): Nmea in: $SNTTA,0.060144,,,,004914.56*4C

2020-12-14T00:49:14.807Z,1607906954.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.299995 m, bearing: 356.021561 deg, deltaT: 4.456887 s, approachRate: 0.619265 m/s, LOS rate: -0.558579 deg/s, posRepo size: 4
2020-12-14T00:49:16.829Z,1607906956.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:17.445Z,1607906957.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:17.833Z,1607906957.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:18.674Z,1607906958.674 [Micromodem](INFO): Nmea in: $SNTTA,0.061654,,,,004918.60*42

2020-12-14T00:49:18.728Z,1607906958.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.580002 m, bearing: 355.689915 deg, deltaT: 4.014378 s, approachRate: 0.567960 m/s, LOS rate: -0.082615 deg/s, posRepo size: 4
2020-12-14T00:49:20.786Z,1607906960.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:21.485Z,1607906961.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:21.893Z,1607906961.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:22.710Z,1607906962.710 [Micromodem](INFO): Nmea in: $SNTTA,0.063307,,,,004922.64*4E

2020-12-14T00:49:22.752Z,1607906962.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.099998 m, bearing: 354.134517 deg, deltaT: 4.106347 s, approachRate: 0.613683 m/s, LOS rate: -0.378779 deg/s, posRepo size: 4
2020-12-14T00:49:25.130Z,1607906965.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:25.915Z,1607906965.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:26.349Z,1607906966.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:27.174Z,1607906967.174 [Micromodem](INFO): Nmea in: $SNTTA,0.065281,,,,004927.07*47

2020-12-14T00:49:27.174Z,1607906967.174 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:49:27.227Z,1607906967.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 355.192540 deg, deltaT: 4.399625 s, approachRate: 0.600051 m/s, LOS rate: 0.240480 deg/s, posRepo size: 4
2020-12-14T00:49:27.678Z,1607906967.678 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:49:27.679Z,1607906967.679 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:49:28.622Z,1607906968.622 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:49:29.018Z,1607906969.018 [Micromodem](INFO): Nmea in: $CADRQ,004928,1,9,0,64,1*49

2020-12-14T00:49:29.018Z,1607906969.018 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:49:29.422Z,1607906969.422 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:49:29.532Z,1607906969.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:29.814Z,1607906969.814 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:49:30.227Z,1607906970.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:31.047Z,1607906971.047 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:49:31.047Z,1607906971.047 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:49:31.433Z,1607906971.433 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,004930.197001,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7B

2020-12-14T00:49:31.434Z,1607906971.434 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,004930.197001,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7B

2020-12-14T00:49:32.255Z,1607906972.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:35.094Z,1607906975.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:37.600Z,1607906977.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:40.404Z,1607906980.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:41.594Z,1607906981.594 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:41.971Z,1607906981.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:42.783Z,1607906982.783 [Micromodem](INFO): Nmea in: $SNTTA,0.071094,,,,004942.75*42

2020-12-14T00:49:42.964Z,1607906982.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.799995 m, bearing: 353.660447 deg, deltaT: 15.670250 s, approachRate: 0.578165 m/s, LOS rate: -0.097771 deg/s, posRepo size: 4
2020-12-14T00:49:45.215Z,1607906985.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:45.999Z,1607906985.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:46.397Z,1607906986.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:47.249Z,1607906987.249 [Micromodem](INFO): Nmea in: $SNTTA,0.072813,,,,004947.16*46

2020-12-14T00:49:47.472Z,1607906987.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 356.566638 deg, deltaT: 4.409638 s, approachRate: 0.585084 m/s, LOS rate: 0.659054 deg/s, posRepo size: 4
2020-12-14T00:49:49.551Z,1607906989.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:50.124Z,1607906990.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:50.564Z,1607906990.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:51.382Z,1607906991.382 [Micromodem](INFO): Nmea in: $SNTTA,0.074369,,,,004951.28*4C

2020-12-14T00:49:51.407Z,1607906991.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.779999 m, bearing: 349.025235 deg, deltaT: 4.116198 s, approachRate: 0.583061 m/s, LOS rate: -1.832128 deg/s, posRepo size: 4
2020-12-14T00:49:53.684Z,1607906993.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:54.231Z,1607906994.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:54.656Z,1607906994.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:55.493Z,1607906995.493 [Micromodem](INFO): Nmea in: $SNTTA,0.076145,,,,004955.39*46

2020-12-14T00:49:55.710Z,1607906995.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.000008 m, bearing: 2.504259 deg, deltaT: 4.125470 s, approachRate: 0.538123 m/s, LOS rate: 3.267267 deg/s, posRepo size: 4
2020-12-14T00:49:57.941Z,1607906997.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:49:58.704Z,1607906998.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:49:59.114Z,1607906999.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:49:59.954Z,1607906999.954 [Micromodem](INFO): Nmea in: $SNTTA,0.077781,,,,004959.86*41

2020-12-14T00:50:00.143Z,1607907000.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 355.393621 deg, deltaT: 4.515149 s, approachRate: 0.624564 m/s, LOS rate: -1.574838 deg/s, posRepo size: 4
2020-12-14T00:50:02.119Z,1607907002.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:02.743Z,1607907002.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:03.157Z,1607907003.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:04.006Z,1607907004.006 [Micromodem](INFO): Nmea in: $SNTTA,0.079528,,,,005003.90*4E

2020-12-14T00:50:04.028Z,1607907004.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 356.739769 deg, deltaT: 4.059204 s, approachRate: 0.635591 m/s, LOS rate: 0.331629 deg/s, posRepo size: 4
2020-12-14T00:50:04.380Z,1607907004.380 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:50:06.618Z,1607907006.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:07.183Z,1607907007.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:07.593Z,1607907007.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:08.425Z,1607907008.425 [Micromodem](INFO): Nmea in: $SNTTA,0.081217,,,,005008.34*47

2020-12-14T00:50:09.279Z,1607907009.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:10.462Z,1607907010.462 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:50:12.094Z,1607907012.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:12.883Z,1607907012.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:13.381Z,1607907013.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:14.166Z,1607907014.166 [Micromodem](INFO): Nmea in: $SNTTA,0.083618,,,,005014.04*40

2020-12-14T00:50:14.220Z,1607907014.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.579994 m, bearing: 357.436258 deg, deltaT: 10.137683 s, approachRate: 0.609606 m/s, LOS rate: 0.068703 deg/s, posRepo size: 4
2020-12-14T00:50:16.624Z,1607907016.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:17.383Z,1607907017.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:17.799Z,1607907017.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:18.634Z,1607907018.634 [Micromodem](INFO): Nmea in: $SNTTA,0.085513,,,,005018.54*47

2020-12-14T00:50:18.677Z,1607907018.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 354.602904 deg, deltaT: 4.430694 s, approachRate: 0.650010 m/s, LOS rate: -0.639483 deg/s, posRepo size: 4
2020-12-14T00:50:21.067Z,1607907021.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:21.835Z,1607907021.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:22.242Z,1607907022.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:23.074Z,1607907023.074 [Micromodem](INFO): Nmea in: $SNTTA,0.087180,,,,005022.99*43

2020-12-14T00:50:23.089Z,1607907023.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.919998 m, bearing: 354.982580 deg, deltaT: 4.507341 s, approachRate: 0.545778 m/s, LOS rate: 0.084235 deg/s, posRepo size: 4
2020-12-14T00:50:25.557Z,1607907025.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:26.271Z,1607907026.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:26.673Z,1607907026.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:27.550Z,1607907027.550 [Micromodem](INFO): Nmea in: $SNTTA,0.089047,,,,005027.43*45

2020-12-14T00:50:27.643Z,1607907027.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.680008 m, bearing: 356.298266 deg, deltaT: 4.407211 s, approachRate: 0.626249 m/s, LOS rate: 0.298530 deg/s, posRepo size: 4
2020-12-14T00:50:29.933Z,1607907029.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:30.723Z,1607907030.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:31.129Z,1607907031.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:31.958Z,1607907031.958 [Micromodem](INFO): Nmea in: $SNTTA,0.090872,,,,005031.88*43

2020-12-14T00:50:32.008Z,1607907032.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 356.615815 deg, deltaT: 4.455531 s, approachRate: 0.605988 m/s, LOS rate: 0.071271 deg/s, posRepo size: 4
2020-12-14T00:50:32.766Z,1607907032.766 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:50:33.305Z,1607907033.305 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:50:33.306Z,1607907033.306 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:50:33.598Z,1607907033.598 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:50:34.022Z,1607907034.022 [Micromodem](INFO): Nmea in: $CADRQ,005034,1,9,0,64,1*4C

2020-12-14T00:50:34.022Z,1607907034.022 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:50:34.128Z,1607907034.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:34.372Z,1607907034.372 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:50:34.779Z,1607907034.779 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:50:34.780Z,1607907034.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:36.386Z,1607907036.386 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:50:36.387Z,1607907036.387 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:50:36.796Z,1607907036.796 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005035.200542,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T00:50:36.796Z,1607907036.796 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,005035.200542,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T00:50:36.822Z,1607907036.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:39.671Z,1607907039.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:42.514Z,1607907042.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:45.535Z,1607907045.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:46.123Z,1607907046.123 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:46.544Z,1607907046.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:47.374Z,1607907047.374 [Micromodem](INFO): Nmea in: $SNTTA,0.097141,,,,005047.28*46

2020-12-14T00:50:47.598Z,1607907047.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.860001 m, bearing: 356.944948 deg, deltaT: 15.369995 s, approachRate: 0.616786 m/s, LOS rate: 0.021414 deg/s, posRepo size: 4
2020-12-14T00:50:49.804Z,1607907049.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:50.583Z,1607907050.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:50.993Z,1607907050.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:51.834Z,1607907051.834 [Micromodem](INFO): Nmea in: $SNTTA,0.098855,,,,005051.74*4B

2020-12-14T00:50:52.028Z,1607907052.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 356.729688 deg, deltaT: 4.489540 s, approachRate: 0.574670 m/s, LOS rate: -0.047947 deg/s, posRepo size: 4
2020-12-14T00:50:54.026Z,1607907054.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:54.625Z,1607907054.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:55.021Z,1607907055.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:50:55.886Z,1607907055.886 [Micromodem](INFO): Nmea in: $SNTTA,0.100445,,,,005055.78*4E

2020-12-14T00:50:55.925Z,1607907055.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 356.320478 deg, deltaT: 4.043404 s, approachRate: 0.563881 m/s, LOS rate: -0.101204 deg/s, posRepo size: 4
2020-12-14T00:50:58.551Z,1607907058.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:50:59.115Z,1607907059.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:50:59.545Z,1607907059.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:00.375Z,1607907060.375 [Micromodem](INFO): Nmea in: $SNTTA,0.102313,,,,005100.27*43

2020-12-14T00:51:00.615Z,1607907060.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.540009 m, bearing: 354.047008 deg, deltaT: 4.467830 s, approachRate: 0.631181 m/s, LOS rate: -0.508853 deg/s, posRepo size: 4
2020-12-14T00:51:02.547Z,1607907062.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:03.302Z,1607907063.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:03.691Z,1607907063.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:04.558Z,1607907064.558 [Micromodem](INFO): Nmea in: $SNTTA,0.104030,,,,005104.46*44

2020-12-14T00:51:04.755Z,1607907064.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 355.061073 deg, deltaT: 4.183731 s, approachRate: 0.631016 m/s, LOS rate: 0.242383 deg/s, posRepo size: 4
2020-12-14T00:51:06.764Z,1607907066.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:07.375Z,1607907067.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:07.773Z,1607907067.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:08.618Z,1607907068.618 [Micromodem](INFO): Nmea in: $SNTTA,0.105508,,,,005108.53*43

2020-12-14T00:51:08.653Z,1607907068.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 358.696619 deg, deltaT: 4.106027 s, approachRate: 0.526053 m/s, LOS rate: 0.885417 deg/s, posRepo size: 4
2020-12-14T00:51:11.231Z,1607907071.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:11.823Z,1607907071.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:12.233Z,1607907072.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:13.078Z,1607907073.078 [Micromodem](INFO): Nmea in: $SNTTA,0.107364,,,,005112.98*41

2020-12-14T00:51:13.254Z,1607907073.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 357.487593 deg, deltaT: 4.430515 s, approachRate: 0.000000 m/s, LOS rate: -0.272886 deg/s, posRepo size: 4
2020-12-14T00:51:15.531Z,1607907075.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:16.263Z,1607907076.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:16.670Z,1607907076.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:17.534Z,1607907077.534 [Micromodem](INFO): Nmea in: $SNTTA,0.109143,,,,005117.42*4A

2020-12-14T00:51:17.725Z,1607907077.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 358.733748 deg, deltaT: 4.420440 s, approachRate: 0.000000 m/s, LOS rate: 0.281907 deg/s, posRepo size: 4
2020-12-14T00:51:19.732Z,1607907079.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:20.355Z,1607907080.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:20.745Z,1607907080.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:21.593Z,1607907081.593 [Micromodem](INFO): Nmea in: $SNTTA,0.110912,,,,005121.51*49

2020-12-14T00:51:21.980Z,1607907081.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 357.205288 deg, deltaT: 4.547785 s, approachRate: 1.794284 m/s, LOS rate: -0.336089 deg/s, posRepo size: 4
2020-12-14T00:51:24.262Z,1607907084.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:24.881Z,1607907084.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:25.304Z,1607907085.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:26.098Z,1607907086.098 [Micromodem](INFO): Nmea in: $SNTTA,0.112762,,,,005126.04*45

2020-12-14T00:51:26.267Z,1607907086.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 357.464726 deg, deltaT: 4.075410 s, approachRate: 0.000000 m/s, LOS rate: 0.063659 deg/s, posRepo size: 4
2020-12-14T00:51:28.585Z,1607907088.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:29.323Z,1607907089.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:29.709Z,1607907089.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:30.534Z,1607907090.534 [Micromodem](INFO): Nmea in: $SNTTA,0.114617,,,,005130.48*4F

2020-12-14T00:51:30.959Z,1607907090.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 357.320445 deg, deltaT: 4.994604 s, approachRate: 1.105191 m/s, LOS rate: -0.028887 deg/s, posRepo size: 4
2020-12-14T00:51:33.413Z,1607907093.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:34.159Z,1607907094.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:34.593Z,1607907094.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:35.402Z,1607907095.402 [Micromodem](INFO): Nmea in: $SNTTA,0.116526,,0.137932,,005135.32*57

2020-12-14T00:51:35.451Z,1607907095.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 354.228801 deg, deltaT: 4.259711 s, approachRate: 0.000000 m/s, LOS rate: -0.725787 deg/s, posRepo size: 4
2020-12-14T00:51:37.567Z,1607907097.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:38.227Z,1607907098.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:38.637Z,1607907098.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:38.649Z,1607907098.649 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:51:39.204Z,1607907099.204 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:51:39.204Z,1607907099.204 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:51:39.706Z,1607907099.706 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:51:39.769Z,1607907099.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.299988 m, bearing: 355.243193 deg, deltaT: 4.497958 s, approachRate: 1.173862 m/s, LOS rate: 0.225523 deg/s, posRepo size: 4
2020-12-14T00:51:40.114Z,1607907100.114 [Micromodem](INFO): Nmea in: $CADRQ,005140,1,9,0,64,1*4E

2020-12-14T00:51:40.114Z,1607907100.114 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:51:40.538Z,1607907100.538 [Micromodem](INFO): Nmea in: $SNTTA,0.118141,,,,005139.38*49

2020-12-14T00:51:40.538Z,1607907100.538 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.118141,,,,005139.38*49

2020-12-14T00:51:41.719Z,1607907101.719 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:51:42.123Z,1607907102.123 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:51:42.162Z,1607907102.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:42.531Z,1607907102.531 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:51:42.934Z,1607907102.934 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005141.295825,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7B

2020-12-14T00:51:42.936Z,1607907102.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:43.349Z,1607907103.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:44.190Z,1607907104.190 [Micromodem](INFO): Nmea in: $SNTTA,0.119926,,,,005144.09*49

2020-12-14T00:51:44.212Z,1607907104.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.000000 m, bearing: 353.506522 deg, deltaT: 4.324065 s, approachRate: 0.624415 m/s, LOS rate: -0.401629 deg/s, posRepo size: 4
2020-12-14T00:51:45.605Z,1607907105.605 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T00:41:45.4Z
2020-12-14T00:51:45.605Z,1607907105.605 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T00:51:45.605Z,1607907105.605 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:51:45.605Z,1607907105.605 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T00:51:45.605Z,1607907105.605 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:51:45.606Z,1607907105.606 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T00:51:45.822Z,1607907105.822 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T00:51:45.822Z,1607907105.822 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T00:51:45.822Z,1607907105.822 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T00:51:45.823Z,1607907105.823 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T00:51:45.823Z,1607907105.823 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T00:51:46.352Z,1607907106.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:47.116Z,1607907107.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:47.535Z,1607907107.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:48.527Z,1607907108.527 [Micromodem](INFO): Nmea in: $SNTTA,0.121567,,,,005148.27*4B

2020-12-14T00:51:48.566Z,1607907108.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.520004 m, bearing: 349.003542 deg, deltaT: 4.372979 s, approachRate: 0.576267 m/s, LOS rate: -1.029728 deg/s, posRepo size: 4
2020-12-14T00:51:50.687Z,1607907110.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:51.379Z,1607907111.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:51.744Z,1607907111.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:52.589Z,1607907112.589 [Micromodem](INFO): Nmea in: $SNTTA,0.123347,,,,005152.54*42

2020-12-14T00:51:53.031Z,1607907113.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.160004 m, bearing: 344.864939 deg, deltaT: 4.455792 s, approachRate: 0.592487 m/s, LOS rate: -0.928814 deg/s, posRepo size: 4
2020-12-14T00:51:55.407Z,1607907115.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:51:56.160Z,1607907116.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:51:56.645Z,1607907116.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:51:57.455Z,1607907117.455 [Micromodem](INFO): Nmea in: $SNTTA,0.125829,,,,005157.32*42

2020-12-14T00:51:57.552Z,1607907117.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.879990 m, bearing: 347.026995 deg, deltaT: 4.434768 s, approachRate: 0.838823 m/s, LOS rate: 0.487524 deg/s, posRepo size: 4
2020-12-14T00:51:59.905Z,1607907119.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:00.675Z,1607907120.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:01.081Z,1607907121.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:01.911Z,1607907121.911 [Micromodem](INFO): Nmea in: $SNTTA,0.127669,,,,005201.83*40

2020-12-14T00:52:02.862Z,1607907122.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:03.982Z,1607907123.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:52:05.578Z,1607907125.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:06.355Z,1607907126.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:06.745Z,1607907126.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:07.589Z,1607907127.589 [Micromodem](INFO): Nmea in: $SNTTA,0.129395,,,,005207.51*41

2020-12-14T00:52:07.990Z,1607907127.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.159988 m, bearing: 323.554831 deg, deltaT: 10.584703 s, approachRate: 0.498833 m/s, LOS rate: -2.217555 deg/s, posRepo size: 4
2020-12-14T00:52:10.461Z,1607907130.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:11.207Z,1607907131.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:11.697Z,1607907131.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:12.532Z,1607907132.532 [Micromodem](INFO): Nmea in: $SNTTA,0.131234,,,,005212.36*47

2020-12-14T00:52:12.590Z,1607907132.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.919983 m, bearing: 356.213380 deg, deltaT: 4.464014 s, approachRate: 0.618276 m/s, LOS rate: 7.315961 deg/s, posRepo size: 4
2020-12-14T00:52:14.964Z,1607907134.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:15.755Z,1607907135.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:16.233Z,1607907136.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:17.005Z,1607907137.005 [Micromodem](INFO): Nmea in: $SNTTA,0.132995,,,,005216.91*4D

2020-12-14T00:52:17.661Z,1607907137.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.619980 m, bearing: 353.902126 deg, deltaT: 4.913398 s, approachRate: 0.549517 m/s, LOS rate: -0.470398 deg/s, posRepo size: 4
2020-12-14T00:52:19.636Z,1607907139.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:20.396Z,1607907140.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:20.793Z,1607907140.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:21.617Z,1607907141.617 [Micromodem](INFO): Nmea in: $SNTTA,0.134954,,,,005221.55*4A

2020-12-14T00:52:22.040Z,1607907142.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.499985 m, bearing: 353.459557 deg, deltaT: 4.776058 s, approachRate: 0.603009 m/s, LOS rate: -0.092664 deg/s, posRepo size: 4
2020-12-14T00:52:24.514Z,1607907144.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:25.247Z,1607907145.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:25.656Z,1607907145.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:26.473Z,1607907146.473 [Micromodem](INFO): Nmea in: $SNTTA,0.137325,,,,005226.41*47

2020-12-14T00:52:26.895Z,1607907146.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.440002 m, bearing: 351.915689 deg, deltaT: 4.750624 s, approachRate: 0.618870 m/s, LOS rate: -0.324982 deg/s, posRepo size: 4
2020-12-14T00:52:29.345Z,1607907149.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:30.119Z,1607907150.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:30.534Z,1607907150.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:31.412Z,1607907151.412 [Micromodem](INFO): Nmea in: $SNTTA,0.138794,,,,005231.28*4F

2020-12-14T00:52:31.799Z,1607907151.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.319992 m, bearing: 353.516986 deg, deltaT: 4.886115 s, approachRate: 0.589423 m/s, LOS rate: 0.327724 deg/s, posRepo size: 4
2020-12-14T00:52:34.179Z,1607907154.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:34.957Z,1607907154.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:35.385Z,1607907155.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:36.212Z,1607907156.212 [Micromodem](INFO): Nmea in: $SNTTA,0.141120,,,,005236.11*45

2020-12-14T00:52:36.655Z,1607907156.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.319977 m, bearing: 354.533236 deg, deltaT: 4.878880 s, approachRate: 0.614892 m/s, LOS rate: 0.208296 deg/s, posRepo size: 4
2020-12-14T00:52:39.083Z,1607907159.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:39.827Z,1607907159.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:40.242Z,1607907160.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:41.066Z,1607907161.066 [Micromodem](INFO): Nmea in: $SNTTA,0.142712,,,,005240.99*40

2020-12-14T00:52:41.670Z,1607907161.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.139984 m, bearing: 354.127058 deg, deltaT: 4.796301 s, approachRate: 0.587955 m/s, LOS rate: -0.084686 deg/s, posRepo size: 4
2020-12-14T00:52:43.734Z,1607907163.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:44.327Z,1607907164.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:44.777Z,1607907164.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:44.789Z,1607907164.789 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:52:45.254Z,1607907165.254 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:52:45.254Z,1607907165.254 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:52:45.536Z,1607907165.536 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:52:45.942Z,1607907165.942 [Micromodem](INFO): Nmea in: $CADRQ,005246,1,9,0,64,1*4B

2020-12-14T00:52:45.942Z,1607907165.942 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:52:46.043Z,1607907166.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.899979 m, bearing: 351.741956 deg, deltaT: 4.506036 s, approachRate: 0.612511 m/s, LOS rate: -0.529313 deg/s, posRepo size: 4
2020-12-14T00:52:46.366Z,1607907166.366 [Micromodem](INFO): Nmea in: $SNTTA,0.144545,,,,005245.48*4F

2020-12-14T00:52:46.366Z,1607907166.366 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.144545,,,,005245.48*4F

2020-12-14T00:52:47.550Z,1607907167.550 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:52:47.953Z,1607907167.953 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:52:48.134Z,1607907168.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:48.384Z,1607907168.384 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:52:48.759Z,1607907168.759 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005247.116175,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T00:52:48.760Z,1607907168.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:49.141Z,1607907169.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:49.969Z,1607907169.969 [Micromodem](INFO): Nmea in: $SNTTA,0.146446,,,,005249.92*44

2020-12-14T00:52:50.411Z,1607907170.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.779984 m, bearing: 353.369618 deg, deltaT: 4.533943 s, approachRate: 0.635210 m/s, LOS rate: 0.358995 deg/s, posRepo size: 4
2020-12-14T00:52:52.829Z,1607907172.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:53.597Z,1607907173.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:54.026Z,1607907174.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:54.889Z,1607907174.889 [Micromodem](INFO): Nmea in: $SNTTA,0.148452,,,,005254.76*49

2020-12-14T00:52:55.346Z,1607907175.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.720001 m, bearing: 354.299179 deg, deltaT: 4.771605 s, approachRate: 0.616149 m/s, LOS rate: 0.194811 deg/s, posRepo size: 4
2020-12-14T00:52:57.830Z,1607907177.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:52:58.583Z,1607907178.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:52:58.981Z,1607907178.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:52:59.793Z,1607907179.793 [Micromodem](INFO): Nmea in: $SNTTA,0.150456,,,,005259.74*4B

2020-12-14T00:53:00.216Z,1607907180.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.779999 m, bearing: 353.356039 deg, deltaT: 4.904836 s, approachRate: 0.623874 m/s, LOS rate: -0.192288 deg/s, posRepo size: 4
2020-12-14T00:53:02.662Z,1607907182.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:03.425Z,1607907183.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:03.821Z,1607907183.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:04.651Z,1607907184.651 [Micromodem](INFO): Nmea in: $SNTTA,0.152400,,,,005304.58*4D

2020-12-14T00:53:05.071Z,1607907185.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.719986 m, bearing: 356.658217 deg, deltaT: 4.867166 s, approachRate: 0.604045 m/s, LOS rate: 0.678460 deg/s, posRepo size: 4
2020-12-14T00:53:07.668Z,1607907187.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:08.263Z,1607907188.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:08.673Z,1607907188.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:09.533Z,1607907189.533 [Micromodem](INFO): Nmea in: $SNTTA,0.154306,,,,005309.42*4C

2020-12-14T00:53:09.991Z,1607907189.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.539993 m, bearing: 355.043997 deg, deltaT: 5.015277 s, approachRate: 0.562283 m/s, LOS rate: -0.321860 deg/s, posRepo size: 4
2020-12-14T00:53:12.354Z,1607907192.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:13.109Z,1607907193.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:13.537Z,1607907193.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:14.365Z,1607907194.365 [Micromodem](INFO): Nmea in: $SNTTA,0.156278,,,,005314.27*49

2020-12-14T00:53:14.780Z,1607907194.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.479980 m, bearing: 354.042446 deg, deltaT: 4.695215 s, approachRate: 0.626167 m/s, LOS rate: -0.213313 deg/s, posRepo size: 4
2020-12-14T00:53:17.198Z,1607907197.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:17.972Z,1607907197.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:18.374Z,1607907198.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:19.189Z,1607907199.189 [Micromodem](INFO): Nmea in: $SNTTA,0.158274,,,,005319.13*41

2020-12-14T00:53:19.637Z,1607907199.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.539978 m, bearing: 352.122534 deg, deltaT: 4.812618 s, approachRate: 0.635828 m/s, LOS rate: -0.398933 deg/s, posRepo size: 4
2020-12-14T00:53:22.076Z,1607907202.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:22.959Z,1607907202.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:23.333Z,1607907203.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:24.159Z,1607907204.159 [Micromodem](INFO): Nmea in: $SNTTA,0.160404,,0.173805,,005324.12*52

2020-12-14T00:53:24.586Z,1607907204.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.719986 m, bearing: 353.822131 deg, deltaT: 4.964900 s, approachRate: 0.640498 m/s, LOS rate: 0.342322 deg/s, posRepo size: 4
2020-12-14T00:53:27.106Z,1607907207.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:27.751Z,1607907207.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:28.148Z,1607907208.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:28.977Z,1607907208.977 [Micromodem](INFO): Nmea in: $SNTTA,0.162398,,,,005328.91*43

2020-12-14T00:53:29.438Z,1607907209.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.720001 m, bearing: 355.440039 deg, deltaT: 5.022588 s, approachRate: 0.597305 m/s, LOS rate: 0.322126 deg/s, posRepo size: 4
2020-12-14T00:53:31.845Z,1607907211.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:32.623Z,1607907212.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:33.025Z,1607907213.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:33.897Z,1607907213.897 [Micromodem](INFO): Nmea in: $SNTTA,0.164398,,,,005333.78*48

2020-12-14T00:53:34.375Z,1607907214.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.659988 m, bearing: 353.062396 deg, deltaT: 4.693195 s, approachRate: 0.626436 m/s, LOS rate: -0.506615 deg/s, posRepo size: 4
2020-12-14T00:53:36.464Z,1607907216.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:37.140Z,1607907217.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:37.567Z,1607907217.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:38.443Z,1607907218.443 [Micromodem](INFO): Nmea in: $SNTTA,0.166132,,,,005338.30*4F

2020-12-14T00:53:38.802Z,1607907218.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.300003 m, bearing: 354.454470 deg, deltaT: 4.635028 s, approachRate: 0.569579 m/s, LOS rate: 0.300338 deg/s, posRepo size: 4
2020-12-14T00:53:41.214Z,1607907221.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:41.983Z,1607907221.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:42.417Z,1607907222.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:43.233Z,1607907223.233 [Micromodem](INFO): Nmea in: $SNTTA,0.168074,,,,005343.14*48

2020-12-14T00:53:43.676Z,1607907223.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.179993 m, bearing: 354.483676 deg, deltaT: 4.785221 s, approachRate: 0.601851 m/s, LOS rate: 0.006103 deg/s, posRepo size: 4
2020-12-14T00:53:46.099Z,1607907226.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:46.855Z,1607907226.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:47.261Z,1607907227.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:53:48.081Z,1607907228.081 [Micromodem](INFO): Nmea in: $SNTTA,0.170030,,,,005348.01*4E

2020-12-14T00:53:48.703Z,1607907228.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.180008 m, bearing: 354.429936 deg, deltaT: 4.839865 s, approachRate: 0.619855 m/s, LOS rate: -0.011104 deg/s, posRepo size: 4
2020-12-14T00:53:50.533Z,1607907230.533 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:53:51.025Z,1607907231.025 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:53:51.026Z,1607907231.026 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:53:51.093Z,1607907231.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:51.328Z,1607907231.328 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:53:51.767Z,1607907231.767 [Micromodem](INFO): Nmea in: $CADRQ,005352,1,9,0,64,1*4F

2020-12-14T00:53:51.768Z,1607907231.768 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:53:52.111Z,1607907232.111 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:53:52.111Z,1607907232.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:53:52.536Z,1607907232.536 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:53:52.537Z,1607907232.537 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:53:53.735Z,1607907233.735 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:53:53.735Z,1607907233.735 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:53:53.807Z,1607907233.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:54.152Z,1607907234.152 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005352.941251,3,0,200,4000,14500,1,1,9,1,1,1,3,60*70

2020-12-14T00:53:54.152Z,1607907234.152 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,005352.941251,3,0,200,4000,14500,1,1,9,1,1,1,3,60*70

2020-12-14T00:53:56.627Z,1607907236.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:53:59.632Z,1607907239.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:02.232Z,1607907242.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:03.503Z,1607907243.503 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:03.904Z,1607907243.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:04.855Z,1607907244.855 [Micromodem](INFO): Nmea in: $SNTTA,0.176722,,,,005404.66*42

2020-12-14T00:54:05.151Z,1607907245.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.139984 m, bearing: 354.278989 deg, deltaT: 16.707884 s, approachRate: 0.596124 m/s, LOS rate: -0.009034 deg/s, posRepo size: 4
2020-12-14T00:54:07.590Z,1607907247.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:08.355Z,1607907248.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:08.741Z,1607907248.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:09.565Z,1607907249.565 [Micromodem](INFO): Nmea in: $SNTTA,0.178782,,,,005409.51*4F

2020-12-14T00:54:09.974Z,1607907249.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.319977 m, bearing: 351.574726 deg, deltaT: 4.760625 s, approachRate: 0.667978 m/s, LOS rate: -0.568048 deg/s, posRepo size: 4
2020-12-14T00:54:12.601Z,1607907252.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:13.171Z,1607907253.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:13.581Z,1607907253.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:14.404Z,1607907254.404 [Micromodem](INFO): Nmea in: $SNTTA,0.180779,,,,005414.33*44

2020-12-14T00:54:14.842Z,1607907254.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.260010 m, bearing: 351.145708 deg, deltaT: 4.994094 s, approachRate: 0.588702 m/s, LOS rate: -0.085905 deg/s, posRepo size: 4
2020-12-14T00:54:16.447Z,1607907256.447 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:54:17.337Z,1607907257.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:18.048Z,1607907258.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:18.729Z,1607907258.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:19.482Z,1607907259.482 [Micromodem](INFO): Nmea in: $SNTTA,0.182711,,,,005419.20*47

2020-12-14T00:54:19.570Z,1607907259.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.260010 m, bearing: 349.335762 deg, deltaT: 4.618623 s, approachRate: 0.000000 m/s, LOS rate: -0.391880 deg/s, posRepo size: 4
2020-12-14T00:54:21.915Z,1607907261.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:22.691Z,1607907262.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:23.097Z,1607907263.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:23.927Z,1607907263.927 [Micromodem](INFO): Nmea in: $SNTTA,0.184553,,,,005423.85*43

2020-12-14T00:54:24.784Z,1607907264.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:26.359Z,1607907266.359 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:54:27.756Z,1607907267.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:28.375Z,1607907268.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:28.792Z,1607907268.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:29.614Z,1607907269.614 [Micromodem](INFO): Nmea in: $SNTTA,0.187159,,,,005429.53*4F

2020-12-14T00:54:30.425Z,1607907270.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:32.074Z,1607907272.074 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:54:33.334Z,1607907273.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:34.020Z,1607907274.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:34.535Z,1607907274.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:35.327Z,1607907275.327 [Micromodem](INFO): Nmea in: $SNTTA,0.189271,,,,005435.18*4A

2020-12-14T00:54:35.751Z,1607907275.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.980011 m, bearing: 353.600669 deg, deltaT: 16.138333 s, approachRate: 0.788186 m/s, LOS rate: 0.264272 deg/s, posRepo size: 4
2020-12-14T00:54:38.347Z,1607907278.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:38.947Z,1607907278.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:39.361Z,1607907279.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:40.187Z,1607907280.187 [Micromodem](INFO): Nmea in: $SNTTA,0.191238,,,,005440.10*44

2020-12-14T00:54:40.666Z,1607907280.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.979980 m, bearing: 352.319134 deg, deltaT: 5.049042 s, approachRate: 0.594166 m/s, LOS rate: -0.253817 deg/s, posRepo size: 4
2020-12-14T00:54:43.087Z,1607907283.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:43.859Z,1607907283.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:44.357Z,1607907284.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:45.099Z,1607907285.099 [Micromodem](INFO): Nmea in: $SNTTA,0.193435,,,,005445.02*4B

2020-12-14T00:54:45.653Z,1607907285.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:47.498Z,1607907287.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:54:48.365Z,1607907288.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:49.115Z,1607907289.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:49.533Z,1607907289.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:50.359Z,1607907290.359 [Micromodem](INFO): Nmea in: $SNTTA,0.195548,,,,005450.28*4A

2020-12-14T00:54:51.316Z,1607907291.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:52.742Z,1607907292.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:54:53.997Z,1607907293.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:54.771Z,1607907294.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:54:55.188Z,1607907295.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:54:55.999Z,1607907295.999 [Micromodem](INFO): Nmea in: $SNTTA,0.197879,,,,005455.93*42

2020-12-14T00:54:56.379Z,1607907296.379 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:54:56.925Z,1607907296.925 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:54:56.925Z,1607907296.925 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:54:56.995Z,1607907296.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:54:57.195Z,1607907297.195 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:54:57.671Z,1607907297.671 [Micromodem](INFO): Nmea in: $CADRQ,005458,1,9,0,64,1*42

2020-12-14T00:54:57.672Z,1607907297.672 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:54:58.015Z,1607907298.015 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:54:58.510Z,1607907298.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:54:58.533Z,1607907298.533 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:54:59.659Z,1607907299.659 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:54:59.711Z,1607907299.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:00.051Z,1607907300.051 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005458.850112,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-14T00:55:00.459Z,1607907300.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:00.849Z,1607907300.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:01.667Z,1607907301.667 [Micromodem](INFO): Nmea in: $SNTTA,0.200020,,,,005501.62*45

2020-12-14T00:55:02.086Z,1607907302.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.119995 m, bearing: 352.944916 deg, deltaT: 21.283894 s, approachRate: 0.617369 m/s, LOS rate: 0.029402 deg/s, posRepo size: 4
2020-12-14T00:55:02.087Z,1607907302.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 300.12 m. Resuming terminal guidance.
2020-12-14T00:55:02.087Z,1607907302.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-14T00:55:04.610Z,1607907304.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:05.317Z,1607907305.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:05.709Z,1607907305.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:06.526Z,1607907306.526 [Micromodem](INFO): Nmea in: $SNTTA,0.201956,,,,005506.47*4C

2020-12-14T00:55:07.354Z,1607907307.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:08.945Z,1607907308.945 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:10.353Z,1607907310.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:11.043Z,1607907311.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:11.377Z,1607907311.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:12.252Z,1607907312.252 [Micromodem](INFO): Nmea in: $SNTTA,0.204531,,,,005512.20*40

2020-12-14T00:55:13.148Z,1607907313.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:14.322Z,1607907314.322 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:15.982Z,1607907315.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:16.763Z,1607907316.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:17.175Z,1607907317.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:18.010Z,1607907318.010 [Micromodem](INFO): Nmea in: $SNTTA,0.206837,,,,005517.92*45

2020-12-14T00:55:18.616Z,1607907318.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:20.394Z,1607907320.394 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:21.223Z,1607907321.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:22.019Z,1607907322.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:22.417Z,1607907322.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:23.259Z,1607907323.259 [Micromodem](INFO): Nmea in: $SNTTA,0.209172,,,,005523.17*48

2020-12-14T00:55:24.090Z,1607907324.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:25.722Z,1607907325.722 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:26.909Z,1607907326.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:27.671Z,1607907327.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:28.093Z,1607907328.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:28.899Z,1607907328.899 [Micromodem](INFO): Nmea in: $SNTTA,0.211455,,,,005528.83*47

2020-12-14T00:55:29.515Z,1607907329.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:31.322Z,1607907331.322 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:32.132Z,1607907332.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:33.035Z,1607907333.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:33.373Z,1607907333.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:34.571Z,1607907334.571 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005534.19*51

2020-12-14T00:55:34.961Z,1607907334.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:36.579Z,1607907336.579 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:37.942Z,1607907337.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:38.611Z,1607907338.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:39.001Z,1607907339.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:39.815Z,1607907339.815 [Micromodem](INFO): Nmea in: $SNTTA,0.215862,,,,005539.77*40

2020-12-14T00:55:40.674Z,1607907340.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:42.210Z,1607907342.210 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:55:43.490Z,1607907343.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:44.259Z,1607907344.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:44.681Z,1607907344.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:45.530Z,1607907345.530 [Micromodem](INFO): Nmea in: $SNTTA,0.217694,,,,005545.42*48

2020-12-14T00:55:45.933Z,1607907345.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.579987 m, bearing: 358.164465 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-14T00:55:45.934Z,1607907345.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 358.164465deg and heading rate command to 0 deg/s.
2020-12-14T00:55:48.386Z,1607907348.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:49.125Z,1607907349.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:49.538Z,1607907349.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:50.373Z,1607907350.373 [Micromodem](INFO): Nmea in: $SNTTA,0.219931,,,,005550.28*4E

2020-12-14T00:55:50.926Z,1607907350.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 330.000000 m, bearing: 0.353209 deg, deltaT: 4.863112 s, approachRate: 0.703256 m/s, LOS rate: 0.450069 deg/s, posRepo size: 2
2020-12-14T00:55:50.928Z,1607907350.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.000000 m,
      bearing: 0.353209 deg,
      approachRate: 0.703256 m/s,
      LOS rate: 0.450069 deg/s,
      cmd update: 0.900139 deg/s,
      cmd heading: 358.164465 deg,
      new cmd heading: 358.164465 deg.

2020-12-14T00:55:53.235Z,1607907353.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:53.983Z,1607907353.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:54.385Z,1607907354.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:55:55.201Z,1607907355.201 [Micromodem](INFO): Nmea in: $SNTTA,0.221480,,,,005555.14*48

2020-12-14T00:55:55.690Z,1607907355.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 332.339996 m, bearing: 12.780475 deg, deltaT: 4.996335 s, approachRate: 0.468343 m/s, LOS rate: 2.487276 deg/s, posRepo size: 3
2020-12-14T00:55:55.691Z,1607907355.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.339996 m,
      bearing: 12.780475 deg,
      approachRate: 0.468343 m/s,
      LOS rate: 2.487276 deg/s,
      cmd update: 4.974553 deg/s,
      cmd heading: 2.661452 deg,
      new cmd heading: 2.873518 deg.

2020-12-14T00:55:58.079Z,1607907358.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:55:58.859Z,1607907358.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:55:59.286Z,1607907359.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:00.098Z,1607907360.098 [Micromodem](INFO): Nmea in: $SNTTA,0.223648,,,,005600.02*48

2020-12-14T00:56:00.561Z,1607907360.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.519989 m, bearing: 358.833441 deg, deltaT: 4.708852 s, approachRate: 0.675322 m/s, LOS rate: -2.961878 deg/s, posRepo size: 4
2020-12-14T00:56:00.563Z,1607907360.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.519989 m,
      bearing: 358.833441 deg,
      approachRate: 0.675322 m/s,
      LOS rate: -2.961878 deg/s,
      cmd update: -5.923756 deg/s,
      cmd heading: 26.113861 deg,
      new cmd heading: 28.146095 deg.

2020-12-14T00:56:02.110Z,1607907362.110 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:56:02.653Z,1607907362.653 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:56:02.653Z,1607907362.653 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:56:02.750Z,1607907362.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:03.007Z,1607907363.007 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:56:03.395Z,1607907363.395 [Micromodem](INFO): Nmea in: $CADRQ,005603,1,9,0,64,1*4E

2020-12-14T00:56:03.396Z,1607907363.396 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:56:03.791Z,1607907363.791 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:56:03.791Z,1607907363.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:04.306Z,1607907364.306 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:56:04.306Z,1607907364.306 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:56:05.520Z,1607907365.520 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:56:05.521Z,1607907365.521 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:56:05.614Z,1607907365.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:05.912Z,1607907365.912 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005604.573308,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T00:56:05.912Z,1607907365.912 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,005604.573308,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T00:56:08.461Z,1607907368.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:11.119Z,1607907371.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:13.943Z,1607907373.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:15.134Z,1607907375.134 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:15.576Z,1607907375.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:16.371Z,1607907376.371 [Micromodem](INFO): Nmea in: $SNTTA,0.229590,,,,005616.29*4A

2020-12-14T00:56:16.954Z,1607907376.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:18.431Z,1607907378.431 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:56:19.638Z,1607907379.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:20.453Z,1607907380.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:20.798Z,1607907380.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:21.999Z,1607907381.999 [Micromodem](INFO): Nmea in: $SNTTA,,,0.234969,,005621.61*44

2020-12-14T00:56:22.470Z,1607907382.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:24.022Z,1607907384.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:56:25.315Z,1607907385.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:26.043Z,1607907386.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:26.462Z,1607907386.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:27.305Z,1607907387.305 [Micromodem](INFO): Nmea in: $SNTTA,0.232349,,,,005627.20*49

2020-12-14T00:56:27.739Z,1607907387.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.660004 m, bearing: 300.109988 deg, deltaT: 27.420191 s, approachRate: 0.479209 m/s, LOS rate: -2.141613 deg/s, posRepo size: 4
2020-12-14T00:56:27.741Z,1607907387.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.660004 m,
      bearing: 300.109988 deg,
      approachRate: 0.479209 m/s,
      LOS rate: -2.141613 deg/s,
      cmd update: -4.283227 deg/s,
      cmd heading: 223.652725 deg,
      new cmd heading: 222.696310 deg.

2020-12-14T00:56:30.131Z,1607907390.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:30.923Z,1607907390.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:31.357Z,1607907391.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:32.189Z,1607907392.189 [Micromodem](INFO): Nmea in: $SNTTA,0.232786,,,,005632.08*40

2020-12-14T00:56:32.648Z,1607907392.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.200012 m, bearing: 235.747176 deg, deltaT: 4.640942 s, approachRate: 0.116358 m/s, LOS rate: -13.868481 deg/s, posRepo size: 4
2020-12-14T00:56:32.654Z,1607907392.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.868481 deg/s. Setting heading cmd to target bearing of 235.747176deg and heading rate command to 0 deg/s.
2020-12-14T00:56:35.026Z,1607907395.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:35.780Z,1607907395.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:36.177Z,1607907396.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:37.009Z,1607907397.009 [Micromodem](INFO): Nmea in: $SNTTA,0.233032,,,,005636.94*48

2020-12-14T00:56:37.427Z,1607907397.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.499969 m, bearing: 222.738042 deg, deltaT: 4.842282 s, approachRate: 0.061945 m/s, LOS rate: -2.686571 deg/s, posRepo size: 4
2020-12-14T00:56:37.430Z,1607907397.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.499969 m,
      bearing: 222.738042 deg,
      approachRate: 0.061945 m/s,
      LOS rate: -2.686571 deg/s,
      cmd update: -5.373142 deg/s,
      cmd heading: 235.747176 deg,
      new cmd heading: 235.747176 deg.

2020-12-14T00:56:39.864Z,1607907399.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:40.619Z,1607907400.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:41.033Z,1607907401.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:41.849Z,1607907401.849 [Micromodem](INFO): Nmea in: $SNTTA,0.232938,,,,005641.78*48

2020-12-14T00:56:42.494Z,1607907402.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.200012 m, bearing: 171.066937 deg, deltaT: 4.849025 s, approachRate: -0.061859 m/s, LOS rate: -10.655978 deg/s, posRepo size: 4
2020-12-14T00:56:42.502Z,1607907402.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.200012 m,
      bearing: 171.066937 deg,
      approachRate: -0.061859 m/s,
      LOS rate: -10.655978 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 209.693828 deg,
      new cmd heading: 206.571049 deg.

2020-12-14T00:56:44.801Z,1607907404.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:45.547Z,1607907405.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:45.941Z,1607907405.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:46.755Z,1607907406.755 [Micromodem](INFO): Nmea in: $SNTTA,0.230936,,,,005646.70*4B

2020-12-14T00:56:47.235Z,1607907407.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.200012 m, bearing: 148.611215 deg, deltaT: 5.050276 s, approachRate: -0.594027 m/s, LOS rate: -4.446435 deg/s, posRepo size: 4
2020-12-14T00:56:47.237Z,1607907407.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.200012 m,
      bearing: 148.611215 deg,
      approachRate: -0.594027 m/s,
      LOS rate: -4.446435 deg/s,
      cmd update: -8.892870 deg/s,
      cmd heading: 149.280102 deg,
      new cmd heading: 145.786386 deg.

2020-12-14T00:56:49.650Z,1607907409.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:50.381Z,1607907410.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:50.781Z,1607907410.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:51.609Z,1607907411.609 [Micromodem](INFO): Nmea in: $SNTTA,0.229140,,,,005651.54*4A

2020-12-14T00:56:52.031Z,1607907412.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.979980 m, bearing: 154.572003 deg, deltaT: 4.705389 s, approachRate: -0.471806 m/s, LOS rate: 1.266800 deg/s, posRepo size: 4
2020-12-14T00:56:52.033Z,1607907412.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 343.979980 m,
      bearing: 154.572003 deg,
      approachRate: -0.471806 m/s,
      LOS rate: 1.266800 deg/s,
      cmd update: 2.533601 deg/s,
      cmd heading: 107.293281 deg,
      new cmd heading: 104.041380 deg.

2020-12-14T00:56:54.484Z,1607907414.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:56:55.219Z,1607907415.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:56:55.671Z,1607907415.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:56:56.514Z,1607907416.514 [Micromodem](INFO): Nmea in: $SNTTA,0.226610,0.228611,,,005656.38*5A

2020-12-14T00:56:56.926Z,1607907416.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.720001 m, bearing: 149.115133 deg, deltaT: 4.916886 s, approachRate: -0.866398 m/s, LOS rate: -1.109822 deg/s, posRepo size: 4
2020-12-14T00:56:56.928Z,1607907416.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.720001 m,
      bearing: 149.115133 deg,
      approachRate: -0.866398 m/s,
      LOS rate: -1.109822 deg/s,
      cmd update: -2.219645 deg/s,
      cmd heading: 119.750742 deg,
      new cmd heading: 120.621760 deg.

2020-12-14T00:56:59.390Z,1607907419.390 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:56:59.438Z,1607907419.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:00.115Z,1607907420.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:00.522Z,1607907420.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:01.387Z,1607907421.387 [Micromodem](INFO): Nmea in: $SNTTA,0.223942,,,,005701.27*4A

2020-12-14T00:57:02.147Z,1607907422.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:03.746Z,1607907423.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:57:04.975Z,1607907424.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:05.759Z,1607907425.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:06.165Z,1607907426.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:06.993Z,1607907426.993 [Micromodem](INFO): Nmea in: $SNTTA,0.220942,,,,005706.92*40

2020-12-14T00:57:07.460Z,1607907427.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.259979 m, bearing: 143.529472 deg, deltaT: 10.426470 s, approachRate: -0.811399 m/s, LOS rate: -0.535719 deg/s, posRepo size: 4
2020-12-14T00:57:07.463Z,1607907427.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.259979 m,
      bearing: 143.529472 deg,
      approachRate: -0.811399 m/s,
      LOS rate: -0.535719 deg/s,
      cmd update: -1.071438 deg/s,
      cmd heading: 96.607722 deg,
      new cmd heading: 95.606211 deg.

2020-12-14T00:57:07.794Z,1607907427.794 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:57:08.359Z,1607907428.359 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:57:08.359Z,1607907428.359 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:57:08.870Z,1607907428.870 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:57:09.304Z,1607907429.304 [Micromodem](INFO): Nmea in: $CADRQ,005709,1,9,0,64,1*45

2020-12-14T00:57:09.306Z,1607907429.306 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:57:09.672Z,1607907429.672 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:57:09.844Z,1607907429.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:10.070Z,1607907430.070 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:57:10.479Z,1607907430.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:11.313Z,1607907431.313 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:57:11.314Z,1607907431.314 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:57:11.751Z,1607907431.751 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005710.482989,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-14T00:57:11.752Z,1607907431.752 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,005710.482989,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-14T00:57:12.720Z,1607907432.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:15.425Z,1607907435.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:18.197Z,1607907438.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:21.168Z,1607907441.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:21.787Z,1607907441.787 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:22.189Z,1607907442.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:23.057Z,1607907443.057 [Micromodem](INFO): Nmea in: $SNTTA,0.214654,,,,005722.94*4F

2020-12-14T00:57:23.472Z,1607907443.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.899994 m, bearing: 96.338001 deg, deltaT: 16.062500 s, approachRate: -0.582723 m/s, LOS rate: -2.937991 deg/s, posRepo size: 4
2020-12-14T00:57:23.480Z,1607907443.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.899994 m,
      bearing: 96.338001 deg,
      approachRate: -0.582723 m/s,
      LOS rate: -2.937991 deg/s,
      cmd update: -5.875981 deg/s,
      cmd heading: 79.397740 deg,
      new cmd heading: 78.968772 deg.

2020-12-14T00:57:25.678Z,1607907445.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:26.243Z,1607907446.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:26.645Z,1607907446.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:27.454Z,1607907447.454 [BPC1](ERROR): Battery stick #61 (s/n: 0161) reported OVER_TEMP_ALARM. Status code: 0x1717.
2020-12-14T00:57:27.455Z,1607907447.455 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2020-12-14T00:57:27.458Z,1607907447.458 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T00:57:27.526Z,1607907447.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005727.40*5D

2020-12-14T00:57:27.981Z,1607907447.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.459991 m, bearing: 104.149197 deg, deltaT: 4.699162 s, approachRate: -0.306438 m/s, LOS rate: 1.662253 deg/s, posRepo size: 4
2020-12-14T00:57:27.983Z,1607907447.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.459991 m,
      bearing: 104.149197 deg,
      approachRate: -0.306438 m/s,
      LOS rate: 1.662253 deg/s,
      cmd update: 3.324506 deg/s,
      cmd heading: 51.785471 deg,
      new cmd heading: 50.551568 deg.

2020-12-14T00:57:29.587Z,1607907449.587 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:57:30.399Z,1607907450.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:31.161Z,1607907451.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:31.593Z,1607907451.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:32.400Z,1607907452.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005732.32*5C

2020-12-14T00:57:32.852Z,1607907452.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.720001 m, bearing: 30.761297 deg, deltaT: 4.685109 s, approachRate: -0.371387 m/s, LOS rate: -15.664074 deg/s, posRepo size: 4
2020-12-14T00:57:32.853Z,1607907452.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.664074 deg/s. Setting heading cmd to target bearing of 30.761297deg and heading rate command to 0 deg/s.
2020-12-14T00:57:34.416Z,1607907454.416 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:57:35.223Z,1607907455.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:36.007Z,1607907456.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:36.422Z,1607907456.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:37.250Z,1607907457.250 [Micromodem](INFO): Nmea in: $SNTTA,0.212949,,,,005737.17*45

2020-12-14T00:57:37.809Z,1607907457.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.439972 m, bearing: 32.423130 deg, deltaT: 4.869622 s, approachRate: 0.147849 m/s, LOS rate: 0.341265 deg/s, posRepo size: 4
2020-12-14T00:57:37.811Z,1607907457.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.439972 m,
      bearing: 32.423130 deg,
      approachRate: 0.147849 m/s,
      LOS rate: 0.341265 deg/s,
      cmd update: 0.682531 deg/s,
      cmd heading: 30.761297 deg,
      new cmd heading: 30.761297 deg.

2020-12-14T00:57:39.804Z,1607907459.804 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T00:57:39.833Z,1607907459.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:40.453Z,1607907460.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:40.853Z,1607907460.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:41.693Z,1607907461.693 [Micromodem](INFO): Nmea in: $SNTTA,0.212049,,,,005741.61*4C

2020-12-14T00:57:42.108Z,1607907462.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.059998 m, bearing: 109.434698 deg, deltaT: 4.433460 s, approachRate: -0.311264 m/s, LOS rate: 17.370535 deg/s, posRepo size: 4
2020-12-14T00:57:42.109Z,1607907462.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.370535 deg/s. Setting heading cmd to target bearing of 109.434698deg and heading rate command to 0 deg/s.
2020-12-14T00:57:44.262Z,1607907464.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:44.908Z,1607907464.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:45.322Z,1607907465.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:46.125Z,1607907466.125 [Micromodem](INFO): Nmea in: $SNTTA,0.212828,,,,005746.06*45

2020-12-14T00:57:46.596Z,1607907466.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.320007 m, bearing: 84.554914 deg, deltaT: 4.570452 s, approachRate: 0.275686 m/s, LOS rate: -5.443616 deg/s, posRepo size: 4
2020-12-14T00:57:46.598Z,1607907466.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.320007 m,
      bearing: 84.554914 deg,
      approachRate: 0.275686 m/s,
      LOS rate: -5.443616 deg/s,
      cmd update: -10.887231 deg/s,
      cmd heading: 109.434698 deg,
      new cmd heading: 109.434698 deg.

2020-12-14T00:57:48.952Z,1607907468.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:49.758Z,1607907469.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:50.158Z,1607907470.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:50.977Z,1607907470.977 [Micromodem](INFO): Nmea in: $SNTTA,0.213173,,,,005750.91*4A

2020-12-14T00:57:51.404Z,1607907471.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.399994 m, bearing: 100.675069 deg, deltaT: 4.661858 s, approachRate: 0.231664 m/s, LOS rate: 3.457882 deg/s, posRepo size: 4
2020-12-14T00:57:51.406Z,1607907471.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.399994 m,
      bearing: 100.675069 deg,
      approachRate: 0.231664 m/s,
      LOS rate: 3.457882 deg/s,
      cmd update: 6.915764 deg/s,
      cmd heading: 58.679418 deg,
      new cmd heading: 54.180454 deg.

2020-12-14T00:57:53.859Z,1607907473.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:54.603Z,1607907474.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:54.645Z,1607907474.645 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T00:57:55.003Z,1607907475.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:57:55.833Z,1607907475.833 [Micromodem](INFO): Nmea in: $SNTTA,0.213811,,,,005755.76*4B

2020-12-14T00:57:56.230Z,1607907476.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.359985 m, bearing: 14.299751 deg, deltaT: 4.881983 s, approachRate: 0.196640 m/s, LOS rate: -17.692671 deg/s, posRepo size: 4
2020-12-14T00:57:56.231Z,1607907476.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.692671 deg/s. Setting heading cmd to target bearing of 14.299751deg and heading rate command to 0 deg/s.
2020-12-14T00:57:58.699Z,1607907478.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:57:59.441Z,1607907479.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:57:59.511Z,1607907479.511 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T00:57:59.853Z,1607907479.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:00.685Z,1607907480.685 [Micromodem](INFO): Nmea in: $SNTTA,0.213222,,,,005800.60*49

2020-12-14T00:58:01.078Z,1607907481.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.739990 m, bearing: 44.967524 deg, deltaT: 4.914566 s, approachRate: -0.329631 m/s, LOS rate: 6.240179 deg/s, posRepo size: 4
2020-12-14T00:58:01.079Z,1607907481.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.739990 m,
      bearing: 44.967524 deg,
      approachRate: -0.329631 m/s,
      LOS rate: 6.240179 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.299751 deg,
      new cmd heading: 14.299751 deg.

2020-12-14T00:58:03.698Z,1607907483.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:04.329Z,1607907484.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:04.382Z,1607907484.382 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T00:58:04.705Z,1607907484.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:05.534Z,1607907485.534 [Micromodem](INFO): Nmea in: $SNTTA,0.213131,,,,005805.49*46

2020-12-14T00:58:05.948Z,1607907485.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.019989 m, bearing: 50.303974 deg, deltaT: 4.942973 s, approachRate: -0.145662 m/s, LOS rate: 1.079603 deg/s, posRepo size: 4
2020-12-14T00:58:05.950Z,1607907485.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.019989 m,
      bearing: 50.303974 deg,
      approachRate: -0.145662 m/s,
      LOS rate: 1.079603 deg/s,
      cmd update: 2.159207 deg/s,
      cmd heading: 73.732874 deg,
      new cmd heading: 76.340990 deg.

2020-12-14T00:58:08.388Z,1607907488.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:09.139Z,1607907489.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:09.569Z,1607907489.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:10.384Z,1607907490.384 [Micromodem](INFO): Nmea in: $SNTTA,0.211868,,,,005810.30*4B

2020-12-14T00:58:10.790Z,1607907490.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.480011 m, bearing: 21.370468 deg, deltaT: 4.677549 s, approachRate: -0.115440 m/s, LOS rate: -6.185613 deg/s, posRepo size: 4
2020-12-14T00:58:10.792Z,1607907490.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.480011 m,
      bearing: 21.370468 deg,
      approachRate: -0.115440 m/s,
      LOS rate: -6.185613 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.832584 deg,
      new cmd heading: 84.656600 deg.

2020-12-14T00:58:13.222Z,1607907493.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:13.605Z,1607907493.605 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:58:13.983Z,1607907493.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:14.389Z,1607907494.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:14.666Z,1607907494.666 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:58:14.666Z,1607907494.666 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:58:14.891Z,1607907494.891 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:58:15.318Z,1607907495.318 [Micromodem](INFO): Nmea in: $CADRQ,005815,1,9,0,64,1*47

2020-12-14T00:58:15.318Z,1607907495.318 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:58:15.706Z,1607907495.706 [Micromodem](INFO): Nmea in: $SNTTA,0.211822,,,,005815.14*46

2020-12-14T00:58:15.706Z,1607907495.706 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.211822,,,,005815.14*46

2020-12-14T00:58:15.769Z,1607907495.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.759979 m, bearing: 94.579733 deg, deltaT: 5.050343 s, approachRate: -0.142571 m/s, LOS rate: 14.495900 deg/s, posRepo size: 4
2020-12-14T00:58:15.770Z,1607907495.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.495900 deg/s. Setting heading cmd to target bearing of 94.579733deg and heading rate command to 0 deg/s.
2020-12-14T00:58:16.913Z,1607907496.913 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:58:17.333Z,1607907497.333 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:58:17.738Z,1607907497.738 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:58:18.112Z,1607907498.112 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005816.494138,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T00:58:18.324Z,1607907498.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:18.923Z,1607907498.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:19.381Z,1607907499.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:19.430Z,1607907499.430 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:58:20.153Z,1607907500.153 [Micromodem](INFO): Nmea in: $SNTTA,0.211393,,,,005820.08*4C

2020-12-14T00:58:20.631Z,1607907500.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.099976 m, bearing: 30.911667 deg, deltaT: 4.708555 s, approachRate: -0.140171 m/s, LOS rate: -13.521784 deg/s, posRepo size: 4
2020-12-14T00:58:20.631Z,1607907500.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.521784 deg/s. Setting heading cmd to target bearing of 30.911667deg and heading rate command to 0 deg/s.
2020-12-14T00:58:22.780Z,1607907502.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:23.375Z,1607907503.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:23.769Z,1607907503.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:24.605Z,1607907504.605 [Micromodem](INFO): Nmea in: $SNTTA,0.211516,,,,005824.53*4D

2020-12-14T00:58:25.011Z,1607907505.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.279999 m, bearing: 103.059830 deg, deltaT: 4.650157 s, approachRate: 0.038713 m/s, LOS rate: 15.515210 deg/s, posRepo size: 4
2020-12-14T00:58:25.011Z,1607907505.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.515210 deg/s. Setting heading cmd to target bearing of 103.059830deg and heading rate command to 0 deg/s.
2020-12-14T00:58:27.463Z,1607907507.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:28.219Z,1607907508.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:28.617Z,1607907508.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:29.455Z,1607907509.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005829.38*53

2020-12-14T00:58:30.335Z,1607907510.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:31.862Z,1607907511.862 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:58:33.095Z,1607907513.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:33.871Z,1607907513.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:34.314Z,1607907514.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:35.109Z,1607907515.109 [Micromodem](INFO): Nmea in: $SNTTA,0.213354,,,,005835.03*4A

2020-12-14T00:58:35.702Z,1607907515.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.220001 m, bearing: 95.930089 deg, deltaT: 10.343932 s, approachRate: 0.284225 m/s, LOS rate: -0.689268 deg/s, posRepo size: 4
2020-12-14T00:58:35.704Z,1607907515.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.220001 m,
      bearing: 95.930089 deg,
      approachRate: 0.284225 m/s,
      LOS rate: -0.689268 deg/s,
      cmd update: -1.378536 deg/s,
      cmd heading: 103.059830 deg,
      new cmd heading: 103.059830 deg.

2020-12-14T00:58:37.748Z,1607907517.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:38.359Z,1607907518.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:38.745Z,1607907518.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:39.604Z,1607907519.604 [Micromodem](INFO): Nmea in: $SNTTA,0.213875,,,,005839.52*4A

2020-12-14T00:58:40.010Z,1607907520.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.759979 m, bearing: 125.625361 deg, deltaT: 4.479050 s, approachRate: 0.120556 m/s, LOS rate: 6.629815 deg/s, posRepo size: 4
2020-12-14T00:58:40.013Z,1607907520.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.759979 m,
      bearing: 125.625361 deg,
      approachRate: 0.120556 m/s,
      LOS rate: 6.629815 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 96.885296 deg,
      new cmd heading: 96.378597 deg.

2020-12-14T00:58:42.188Z,1607907522.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:42.787Z,1607907522.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:43.195Z,1607907523.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:44.021Z,1607907524.021 [Micromodem](INFO): Nmea in: $SNTTA,0.213693,,,,005843.94*4B

2020-12-14T00:58:44.454Z,1607907524.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.519989 m, bearing: 46.000416 deg, deltaT: 4.551971 s, approachRate: -0.052722 m/s, LOS rate: -17.492410 deg/s, posRepo size: 4
2020-12-14T00:58:44.455Z,1607907524.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.492410 deg/s. Setting heading cmd to target bearing of 46.000416deg and heading rate command to 0 deg/s.
2020-12-14T00:58:46.856Z,1607907526.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:47.639Z,1607907527.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:48.049Z,1607907528.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:48.889Z,1607907528.889 [Micromodem](INFO): Nmea in: $SNTTA,0.212499,,,,005848.80*4C

2020-12-14T00:58:49.324Z,1607907529.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.899994 m, bearing: 75.574568 deg, deltaT: 4.711598 s, approachRate: -0.343831 m/s, LOS rate: 6.276884 deg/s, posRepo size: 4
2020-12-14T00:58:49.338Z,1607907529.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.899994 m,
      bearing: 75.574568 deg,
      approachRate: -0.343831 m/s,
      LOS rate: 6.276884 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.000416 deg,
      new cmd heading: 46.000416 deg.

2020-12-14T00:58:51.772Z,1607907531.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:52.532Z,1607907532.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:52.921Z,1607907532.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:53.746Z,1607907533.746 [Micromodem](INFO): Nmea in: $SNTTA,0.211239,,,,005853.69*4E

2020-12-14T00:58:54.172Z,1607907534.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.619995 m, bearing: 171.959028 deg, deltaT: 4.878316 s, approachRate: -0.467374 m/s, LOS rate: 19.757733 deg/s, posRepo size: 4
2020-12-14T00:58:54.173Z,1607907534.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.757733 deg/s. Setting heading cmd to target bearing of 171.959028deg and heading rate command to 0 deg/s.
2020-12-14T00:58:56.338Z,1607907536.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:58:57.059Z,1607907537.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:58:57.523Z,1607907537.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:58:58.336Z,1607907538.336 [Micromodem](INFO): Nmea in: $SNTTA,0.209531,,,,005858.22*4C

2020-12-14T00:58:58.762Z,1607907538.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.219971 m, bearing: 163.325191 deg, deltaT: 4.617294 s, approachRate: -0.519790 m/s, LOS rate: -1.869891 deg/s, posRepo size: 4
2020-12-14T00:58:58.764Z,1607907538.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.219971 m,
      bearing: 163.325191 deg,
      approachRate: -0.519790 m/s,
      LOS rate: -1.869891 deg/s,
      cmd update: -3.739782 deg/s,
      cmd heading: 171.959028 deg,
      new cmd heading: 171.959028 deg.

2020-12-14T00:59:01.178Z,1607907541.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:01.951Z,1607907541.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:02.373Z,1607907542.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:03.183Z,1607907543.183 [Micromodem](INFO): Nmea in: $SNTTA,0.208216,,,,005903.11*40

2020-12-14T00:59:03.756Z,1607907543.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:05.598Z,1607907545.598 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T00:59:06.444Z,1607907546.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:07.207Z,1607907547.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:07.615Z,1607907547.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:08.637Z,1607907548.637 [Micromodem](INFO): Nmea in: $SNTTA,0.206555,,,,005908.37*41

2020-12-14T00:59:09.075Z,1607907549.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.779999 m, bearing: 160.206595 deg, deltaT: 10.313070 s, approachRate: -0.430519 m/s, LOS rate: -0.302393 deg/s, posRepo size: 4
2020-12-14T00:59:09.093Z,1607907549.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.779999 m,
      bearing: 160.206595 deg,
      approachRate: -0.430519 m/s,
      LOS rate: -0.302393 deg/s,
      cmd update: -0.604785 deg/s,
      cmd heading: 133.431138 deg,
      new cmd heading: 132.033069 deg.

2020-12-14T00:59:11.559Z,1607907551.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:12.288Z,1607907552.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:12.665Z,1607907552.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:13.531Z,1607907553.531 [Micromodem](INFO): Nmea in: $SNTTA,0.204145,,,,005913.45*49

2020-12-14T00:59:13.925Z,1607907553.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.000000 m, bearing: 165.246824 deg, deltaT: 4.866987 s, approachRate: -0.776661 m/s, LOS rate: 1.035595 deg/s, posRepo size: 4
2020-12-14T00:59:13.927Z,1607907553.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.000000 m,
      bearing: 165.246824 deg,
      approachRate: -0.776661 m/s,
      LOS rate: 1.035595 deg/s,
      cmd update: 2.071191 deg/s,
      cmd heading: 130.481067 deg,
      new cmd heading: 130.272280 deg.

2020-12-14T00:59:16.383Z,1607907556.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:17.111Z,1607907557.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:17.540Z,1607907557.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:18.361Z,1607907558.361 [Micromodem](INFO): Nmea in: $SNTTA,0.201441,,,,005918.27*42

2020-12-14T00:59:18.758Z,1607907558.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.919983 m, bearing: 163.240947 deg, deltaT: 4.807005 s, approachRate: -0.848765 m/s, LOS rate: -0.417282 deg/s, posRepo size: 4
2020-12-14T00:59:18.760Z,1607907558.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.919983 m,
      bearing: 163.240947 deg,
      approachRate: -0.848765 m/s,
      LOS rate: -0.417282 deg/s,
      cmd update: -0.834564 deg/s,
      cmd heading: 140.437254 deg,
      new cmd heading: 141.205491 deg.

2020-12-14T00:59:19.957Z,1607907559.957 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T00:59:20.567Z,1607907560.567 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T00:59:20.569Z,1607907560.569 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T00:59:20.834Z,1607907560.834 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T00:59:21.031Z,1607907561.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:21.235Z,1607907561.235 [Micromodem](INFO): Nmea in: $CADRQ,005921,1,9,0,64,1*41

2020-12-14T00:59:21.238Z,1607907561.238 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T00:59:21.631Z,1607907561.631 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T00:59:21.632Z,1607907561.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:22.043Z,1607907562.043 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T00:59:22.043Z,1607907562.043 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T00:59:23.274Z,1607907563.274 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T00:59:23.274Z,1607907563.274 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T00:59:23.648Z,1607907563.648 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,005922.415795,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T00:59:23.648Z,1607907563.648 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,005922.415795,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T00:59:23.717Z,1607907563.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:26.586Z,1607907566.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:28.623Z,1607907568.623 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T00:59:29.612Z,1607907569.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:32.258Z,1607907572.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:33.022Z,1607907573.022 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:33.435Z,1607907573.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:34.266Z,1607907574.266 [Micromodem](INFO): Nmea in: $SNTTA,0.193322,,,,005934.18*4A

2020-12-14T00:59:34.686Z,1607907574.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.859985 m, bearing: 162.214875 deg, deltaT: 15.939578 s, approachRate: -0.756607 m/s, LOS rate: -0.064373 deg/s, posRepo size: 4
2020-12-14T00:59:34.688Z,1607907574.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.859985 m,
      bearing: 162.214875 deg,
      approachRate: -0.756607 m/s,
      LOS rate: -0.064373 deg/s,
      cmd update: -0.128745 deg/s,
      cmd heading: 127.138227 deg,
      new cmd heading: 126.833801 deg.

2020-12-14T00:59:37.134Z,1607907577.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:37.879Z,1607907577.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:38.307Z,1607907578.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:39.130Z,1607907579.130 [Micromodem](INFO): Nmea in: $SNTTA,0.190783,,,,005939.04*46

2020-12-14T00:59:39.575Z,1607907579.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.019989 m, bearing: 161.760777 deg, deltaT: 4.823980 s, approachRate: -0.796022 m/s, LOS rate: -0.094134 deg/s, posRepo size: 4
2020-12-14T00:59:39.577Z,1607907579.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.019989 m,
      bearing: 161.760777 deg,
      approachRate: -0.796022 m/s,
      LOS rate: -0.094134 deg/s,
      cmd update: -0.188267 deg/s,
      cmd heading: 126.516640 deg,
      new cmd heading: 126.461940 deg.

2020-12-14T00:59:41.658Z,1607907581.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:42.367Z,1607907582.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:42.877Z,1607907582.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:43.669Z,1607907583.669 [Micromodem](INFO): Nmea in: $SNTTA,0.188961,,,,005943.52*43

2020-12-14T00:59:44.135Z,1607907584.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.320007 m, bearing: 162.843253 deg, deltaT: 4.620283 s, approachRate: -0.584376 m/s, LOS rate: 0.234288 deg/s, posRepo size: 4
2020-12-14T00:59:44.141Z,1607907584.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.320007 m,
      bearing: 162.843253 deg,
      approachRate: -0.584376 m/s,
      LOS rate: 0.234288 deg/s,
      cmd update: 0.468576 deg/s,
      cmd heading: 125.646754 deg,
      new cmd heading: 125.578024 deg.

2020-12-14T00:59:46.571Z,1607907586.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:47.328Z,1607907587.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:47.713Z,1607907587.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:48.545Z,1607907588.545 [Micromodem](INFO): Nmea in: $SNTTA,0.186732,,,,005948.48*45

2020-12-14T00:59:49.141Z,1607907589.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.959991 m, bearing: 164.295488 deg, deltaT: 4.852153 s, approachRate: -0.692479 m/s, LOS rate: 0.299297 deg/s, posRepo size: 4
2020-12-14T00:59:49.143Z,1607907589.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.959991 m,
      bearing: 164.295488 deg,
      approachRate: -0.692479 m/s,
      LOS rate: 0.299297 deg/s,
      cmd update: 0.598594 deg/s,
      cmd heading: 127.912884 deg,
      new cmd heading: 128.163190 deg.

2020-12-14T00:59:51.409Z,1607907591.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:52.179Z,1607907592.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:52.577Z,1607907592.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:53.386Z,1607907593.386 [Micromodem](INFO): Nmea in: $SNTTA,0.184458,,,,005953.33*4E

2020-12-14T00:59:53.848Z,1607907593.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.540009 m, bearing: 164.355826 deg, deltaT: 4.990904 s, approachRate: -0.685243 m/s, LOS rate: 0.012090 deg/s, posRepo size: 4
2020-12-14T00:59:53.850Z,1607907593.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.540009 m,
      bearing: 164.355826 deg,
      approachRate: -0.685243 m/s,
      LOS rate: 0.012090 deg/s,
      cmd update: 0.024179 deg/s,
      cmd heading: 130.907780 deg,
      new cmd heading: 131.050323 deg.

2020-12-14T00:59:56.255Z,1607907596.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T00:59:57.047Z,1607907597.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T00:59:57.451Z,1607907597.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T00:59:58.266Z,1607907598.266 [Micromodem](INFO): Nmea in: $SNTTA,0.182130,,,,005958.20*4A

2020-12-14T00:59:58.710Z,1607907598.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.000000 m, bearing: 165.500688 deg, deltaT: 4.714355 s, approachRate: -0.750900 m/s, LOS rate: 0.242846 deg/s, posRepo size: 4
2020-12-14T00:59:58.712Z,1607907598.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.000000 m,
      bearing: 165.500688 deg,
      approachRate: -0.750900 m/s,
      LOS rate: 0.242846 deg/s,
      cmd update: 0.485692 deg/s,
      cmd heading: 131.021756 deg,
      new cmd heading: 131.031114 deg.

2020-12-14T01:00:01.134Z,1607907601.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:01.879Z,1607907601.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:02.340Z,1607907602.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:03.141Z,1607907603.141 [Micromodem](INFO): Nmea in: $SNTTA,0.179913,,,,010003.04*42

2020-12-14T01:00:03.599Z,1607907603.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.699982 m, bearing: 166.864704 deg, deltaT: 4.874425 s, approachRate: -0.677007 m/s, LOS rate: 0.279831 deg/s, posRepo size: 4
2020-12-14T01:00:03.606Z,1607907603.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.699982 m,
      bearing: 166.864704 deg,
      approachRate: -0.677007 m/s,
      LOS rate: 0.279831 deg/s,
      cmd update: 0.559662 deg/s,
      cmd heading: 133.389989 deg,
      new cmd heading: 133.584317 deg.

2020-12-14T01:00:05.997Z,1607907605.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:06.763Z,1607907606.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:07.175Z,1607907607.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:07.979Z,1607907607.979 [Micromodem](INFO): Nmea in: $SNTTA,0.177562,,,,010007.96*49

2020-12-14T01:00:08.680Z,1607907608.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.159973 m, bearing: 167.275882 deg, deltaT: 4.841610 s, approachRate: -0.731164 m/s, LOS rate: 0.084926 deg/s, posRepo size: 4
2020-12-14T01:00:08.682Z,1607907608.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.159973 m,
      bearing: 167.275882 deg,
      approachRate: -0.731164 m/s,
      LOS rate: 0.084926 deg/s,
      cmd update: 0.169852 deg/s,
      cmd heading: 136.098801 deg,
      new cmd heading: 136.457112 deg.

2020-12-14T01:00:10.894Z,1607907610.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:11.671Z,1607907611.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:12.069Z,1607907612.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:12.913Z,1607907612.913 [Micromodem](INFO): Nmea in: $SNTTA,0.175198,,,,010012.83*4A

2020-12-14T01:00:13.336Z,1607907613.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.619995 m, bearing: 167.711320 deg, deltaT: 4.883267 s, approachRate: -0.724920 m/s, LOS rate: 0.089169 deg/s, posRepo size: 4
2020-12-14T01:00:13.338Z,1607907613.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.619995 m,
      bearing: 167.711320 deg,
      approachRate: -0.724920 m/s,
      LOS rate: 0.089169 deg/s,
      cmd update: 0.178339 deg/s,
      cmd heading: 136.928931 deg,
      new cmd heading: 136.998355 deg.

2020-12-14T01:00:15.785Z,1607907615.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:16.530Z,1607907616.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:16.929Z,1607907616.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:17.745Z,1607907617.745 [Micromodem](INFO): Nmea in: $SNTTA,0.172844,,,,010017.69*44

2020-12-14T01:00:18.176Z,1607907618.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.079987 m, bearing: 168.647083 deg, deltaT: 4.862061 s, approachRate: -0.728088 m/s, LOS rate: 0.192462 deg/s, posRepo size: 4
2020-12-14T01:00:18.178Z,1607907618.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.079987 m,
      bearing: 168.647083 deg,
      approachRate: -0.728088 m/s,
      LOS rate: 0.192462 deg/s,
      cmd update: 0.384925 deg/s,
      cmd heading: 137.796004 deg,
      new cmd heading: 137.865064 deg.

2020-12-14T01:00:20.630Z,1607907620.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:21.371Z,1607907621.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:21.765Z,1607907621.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:22.605Z,1607907622.605 [Micromodem](INFO): Nmea in: $SNTTA,0.170377,,0.171559,,010022.53*52

2020-12-14T01:00:23.030Z,1607907623.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.360001 m, bearing: 170.061957 deg, deltaT: 4.869912 s, approachRate: -0.763871 m/s, LOS rate: 0.290534 deg/s, posRepo size: 4
2020-12-14T01:00:23.032Z,1607907623.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.360001 m,
      bearing: 170.061957 deg,
      approachRate: -0.763871 m/s,
      LOS rate: 0.290534 deg/s,
      cmd update: 0.581067 deg/s,
      cmd heading: 139.662836 deg,
      new cmd heading: 139.813328 deg.

2020-12-14T01:00:25.633Z,1607907625.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:25.810Z,1607907625.810 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:00:26.223Z,1607907626.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:26.621Z,1607907626.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:26.763Z,1607907626.763 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:00:26.764Z,1607907626.764 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:00:27.162Z,1607907627.162 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:00:27.586Z,1607907627.586 [Micromodem](INFO): Nmea in: $CADRQ,010027,1,9,0,64,1*4A

2020-12-14T01:00:27.586Z,1607907627.586 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:00:27.850Z,1607907627.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.699997 m, bearing: 170.951302 deg, deltaT: 4.564178 s, approachRate: -0.801898 m/s, LOS rate: 0.194853 deg/s, posRepo size: 4
2020-12-14T01:00:27.852Z,1607907627.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.699997 m,
      bearing: 170.951302 deg,
      approachRate: -0.801898 m/s,
      LOS rate: 0.194853 deg/s,
      cmd update: 0.389707 deg/s,
      cmd heading: 142.325316 deg,
      new cmd heading: 142.690648 deg.

2020-12-14T01:00:28.041Z,1607907628.041 [Micromodem](INFO): Nmea in: $SNTTA,0.167901,,,,010027.38*47

2020-12-14T01:00:28.042Z,1607907628.042 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.167901,,,,010027.38*47

2020-12-14T01:00:29.256Z,1607907629.256 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:00:29.669Z,1607907629.669 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:00:29.730Z,1607907629.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:30.044Z,1607907630.044 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:00:30.464Z,1607907630.464 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010028.762981,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-14T01:00:30.465Z,1607907630.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:30.873Z,1607907630.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:31.677Z,1607907631.677 [Micromodem](INFO): Nmea in: $SNTTA,0.165719,,,,010031.62*4A

2020-12-14T01:00:32.248Z,1607907632.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.399979 m, bearing: 170.109317 deg, deltaT: 4.505955 s, approachRate: -0.732368 m/s, LOS rate: -0.186860 deg/s, posRepo size: 4
2020-12-14T01:00:32.259Z,1607907632.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.399979 m,
      bearing: 170.109317 deg,
      approachRate: -0.732368 m/s,
      LOS rate: -0.186860 deg/s,
      cmd update: -0.373721 deg/s,
      cmd heading: 144.082204 deg,
      new cmd heading: 144.284547 deg.

2020-12-14T01:00:34.321Z,1607907634.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:34.891Z,1607907634.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:35.321Z,1607907635.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:36.144Z,1607907636.144 [Micromodem](INFO): Nmea in: $SNTTA,0.163444,,,,010036.05*41

2020-12-14T01:00:36.572Z,1607907636.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.979980 m, bearing: 170.770179 deg, deltaT: 4.429109 s, approachRate: -0.772164 m/s, LOS rate: 0.149209 deg/s, posRepo size: 4
2020-12-14T01:00:36.574Z,1607907636.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.979980 m,
      bearing: 170.770179 deg,
      approachRate: -0.772164 m/s,
      LOS rate: 0.149209 deg/s,
      cmd update: 0.298417 deg/s,
      cmd heading: 142.426942 deg,
      new cmd heading: 142.272163 deg.

2020-12-14T01:00:38.737Z,1607907638.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:39.367Z,1607907639.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:39.748Z,1607907639.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:40.588Z,1607907640.588 [Micromodem](INFO): Nmea in: $SNTTA,0.161025,,,,010040.52*43

2020-12-14T01:00:40.988Z,1607907640.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.379990 m, bearing: 172.180777 deg, deltaT: 4.607869 s, approachRate: -0.781270 m/s, LOS rate: 0.306128 deg/s, posRepo size: 4
2020-12-14T01:00:40.990Z,1607907640.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.379990 m,
      bearing: 172.180777 deg,
      approachRate: -0.781270 m/s,
      LOS rate: 0.306128 deg/s,
      cmd update: 0.612256 deg/s,
      cmd heading: 143.801945 deg,
      new cmd heading: 143.868264 deg.

2020-12-14T01:00:43.414Z,1607907643.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:44.199Z,1607907644.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:44.597Z,1607907644.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:45.410Z,1607907645.410 [Micromodem](INFO): Nmea in: $SNTTA,0.158466,,,,010045.35*4E

2020-12-14T01:00:45.840Z,1607907645.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.479996 m, bearing: 172.549457 deg, deltaT: 4.692096 s, approachRate: -0.831184 m/s, LOS rate: 0.078575 deg/s, posRepo size: 4
2020-12-14T01:00:45.842Z,1607907645.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.479996 m,
      bearing: 172.549457 deg,
      approachRate: -0.831184 m/s,
      LOS rate: 0.078575 deg/s,
      cmd update: 0.157149 deg/s,
      cmd heading: 146.672921 deg,
      new cmd heading: 146.908763 deg.

2020-12-14T01:00:48.330Z,1607907648.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:49.033Z,1607907649.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:49.482Z,1607907649.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:50.280Z,1607907650.280 [Micromodem](INFO): Nmea in: $SNTTA,0.155981,,,,010050.19*4D

2020-12-14T01:00:50.707Z,1607907650.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.819977 m, bearing: 173.793262 deg, deltaT: 4.881029 s, approachRate: -0.749846 m/s, LOS rate: 0.254824 deg/s, posRepo size: 4
2020-12-14T01:00:50.725Z,1607907650.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.819977 m,
      bearing: 173.793262 deg,
      approachRate: -0.749846 m/s,
      LOS rate: 0.254824 deg/s,
      cmd update: 0.509649 deg/s,
      cmd heading: 147.440466 deg,
      new cmd heading: 147.498232 deg.

2020-12-14T01:00:53.114Z,1607907653.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:53.887Z,1607907653.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:54.315Z,1607907654.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:55.125Z,1607907655.125 [Micromodem](INFO): Nmea in: $SNTTA,0.153371,,,,010055.04*47

2020-12-14T01:00:55.570Z,1607907655.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.800003 m, bearing: 174.036731 deg, deltaT: 4.821747 s, approachRate: -0.833717 m/s, LOS rate: 0.050494 deg/s, posRepo size: 4
2020-12-14T01:00:55.572Z,1607907655.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.800003 m,
      bearing: 174.036731 deg,
      approachRate: -0.833717 m/s,
      LOS rate: 0.050494 deg/s,
      cmd update: 0.100988 deg/s,
      cmd heading: 149.897852 deg,
      new cmd heading: 150.106589 deg.

2020-12-14T01:00:58.110Z,1607907658.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:00:58.743Z,1607907658.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:00:59.150Z,1607907659.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:00:59.973Z,1607907659.973 [Micromodem](INFO): Nmea in: $SNTTA,0.150790,,,,010059.90*4E

2020-12-14T01:01:00.402Z,1607907660.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.019989 m, bearing: 174.430532 deg, deltaT: 5.003370 s, approachRate: -0.755494 m/s, LOS rate: 0.078707 deg/s, posRepo size: 4
2020-12-14T01:01:00.423Z,1607907660.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.019989 m,
      bearing: 174.430532 deg,
      approachRate: -0.755494 m/s,
      LOS rate: 0.078707 deg/s,
      cmd update: 0.157414 deg/s,
      cmd heading: 150.402991 deg,
      new cmd heading: 150.426805 deg.

2020-12-14T01:01:02.818Z,1607907662.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:03.589Z,1607907663.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:04.005Z,1607907664.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:04.853Z,1607907664.853 [Micromodem](INFO): Nmea in: $SNTTA,0.148054,,,,010104.75*4A

2020-12-14T01:01:05.319Z,1607907665.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.879990 m, bearing: 176.138708 deg, deltaT: 4.730751 s, approachRate: -0.875125 m/s, LOS rate: 0.361079 deg/s, posRepo size: 4
2020-12-14T01:01:05.321Z,1607907665.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.879990 m,
      bearing: 176.138708 deg,
      approachRate: -0.875125 m/s,
      LOS rate: 0.361079 deg/s,
      cmd update: 0.722158 deg/s,
      cmd heading: 151.147269 deg,
      new cmd heading: 151.214674 deg.

2020-12-14T01:01:07.751Z,1607907667.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:08.506Z,1607907668.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:08.898Z,1607907668.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:09.737Z,1607907669.737 [Micromodem](INFO): Nmea in: $SNTTA,0.145387,,,,010109.66*45

2020-12-14T01:01:10.202Z,1607907670.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.859985 m, bearing: 175.688325 deg, deltaT: 4.882028 s, approachRate: -0.823429 m/s, LOS rate: -0.092253 deg/s, posRepo size: 4
2020-12-14T01:01:10.204Z,1607907670.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.859985 m,
      bearing: 175.688325 deg,
      approachRate: -0.823429 m/s,
      LOS rate: -0.092253 deg/s,
      cmd update: -0.184506 deg/s,
      cmd heading: 154.675744 deg,
      new cmd heading: 154.982791 deg.

2020-12-14T01:01:12.635Z,1607907672.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:13.362Z,1607907673.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:13.745Z,1607907673.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:14.601Z,1607907674.601 [Micromodem](INFO): Nmea in: $SNTTA,0.142893,,0.150092,,010114.52*56

2020-12-14T01:01:15.010Z,1607907675.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.139984 m, bearing: 175.463994 deg, deltaT: 4.890961 s, approachRate: -0.760587 m/s, LOS rate: -0.045866 deg/s, posRepo size: 4
2020-12-14T01:01:15.014Z,1607907675.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.139984 m,
      bearing: 175.463994 deg,
      approachRate: -0.760587 m/s,
      LOS rate: -0.045866 deg/s,
      cmd update: -0.091733 deg/s,
      cmd heading: 153.775538 deg,
      new cmd heading: 153.710373 deg.

2020-12-14T01:01:17.612Z,1607907677.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:18.201Z,1607907678.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:18.601Z,1607907678.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:19.422Z,1607907679.422 [Micromodem](INFO): Nmea in: $SNTTA,0.140348,,,,010119.36*47

2020-12-14T01:01:19.907Z,1607907679.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.360001 m, bearing: 177.022889 deg, deltaT: 5.029841 s, approachRate: -0.751512 m/s, LOS rate: 0.309929 deg/s, posRepo size: 4
2020-12-14T01:01:19.909Z,1607907679.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.360001 m,
      bearing: 177.022889 deg,
      approachRate: -0.751512 m/s,
      LOS rate: 0.309929 deg/s,
      cmd update: 0.619859 deg/s,
      cmd heading: 153.313115 deg,
      new cmd heading: 153.293828 deg.

2020-12-14T01:01:22.357Z,1607907682.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:23.095Z,1607907683.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:23.538Z,1607907683.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:24.357Z,1607907684.357 [Micromodem](INFO): Nmea in: $SNTTA,0.137661,,,,010124.25*45

2020-12-14T01:01:24.782Z,1607907684.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.279999 m, bearing: 176.427816 deg, deltaT: 4.716791 s, approachRate: -0.864995 m/s, LOS rate: -0.126161 deg/s, posRepo size: 4
2020-12-14T01:01:24.784Z,1607907684.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.279999 m,
      bearing: 176.427816 deg,
      approachRate: -0.864995 m/s,
      LOS rate: -0.126161 deg/s,
      cmd update: -0.252321 deg/s,
      cmd heading: 156.234922 deg,
      new cmd heading: 156.464996 deg.

2020-12-14T01:01:27.151Z,1607907687.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:28.027Z,1607907688.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:28.374Z,1607907688.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:29.594Z,1607907689.594 [Micromodem](INFO): Nmea in: $SNTTA,0.134891,,,,010129.18*44

2020-12-14T01:01:29.658Z,1607907689.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.139984 m, bearing: 177.208835 deg, deltaT: 4.770780 s, approachRate: -0.867786 m/s, LOS rate: 0.163709 deg/s, posRepo size: 4
2020-12-14T01:01:29.660Z,1607907689.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.139984 m,
      bearing: 177.208835 deg,
      approachRate: -0.867786 m/s,
      LOS rate: 0.163709 deg/s,
      cmd update: 0.327418 deg/s,
      cmd heading: 155.031432 deg,
      new cmd heading: 154.910838 deg.

2020-12-14T01:01:31.992Z,1607907691.992 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:01:32.162Z,1607907692.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:32.585Z,1607907692.585 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:01:32.585Z,1607907692.585 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:01:32.835Z,1607907692.835 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:01:32.836Z,1607907692.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:33.231Z,1607907693.231 [Micromodem](INFO): Nmea in: $CADRQ,010133,1,9,0,64,1*4E

2020-12-14T01:01:33.232Z,1607907693.232 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,010133,1,9,0,64,1*4E

2020-12-14T01:01:33.650Z,1607907693.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:34.071Z,1607907694.071 [Micromodem](INFO): Nmea in: $SNTTA,0.132296,,,,010133.99*4D

2020-12-14T01:01:34.563Z,1607907694.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.239990 m, bearing: 178.221164 deg, deltaT: 4.910476 s, approachRate: -0.794219 m/s, LOS rate: 0.206157 deg/s, posRepo size: 4
2020-12-14T01:01:34.565Z,1607907694.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 178.221164 deg,
      approachRate: -0.794219 m/s,
      LOS rate: 0.206157 deg/s,
      cmd update: 0.412314 deg/s,
      cmd heading: 156.640007 deg,
      new cmd heading: 156.793686 deg.

2020-12-14T01:01:36.696Z,1607907696.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:37.284Z,1607907697.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:37.681Z,1607907697.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:37.722Z,1607907697.722 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:01:38.527Z,1607907698.527 [Micromodem](INFO): Nmea in: $SNTTA,0.130345,,,,010138.44*4B

2020-12-14T01:01:38.968Z,1607907698.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.639999 m, bearing: 178.306036 deg, deltaT: 4.673605 s, approachRate: -0.770281 m/s, LOS rate: 0.018160 deg/s, posRepo size: 4
2020-12-14T01:01:38.970Z,1607907698.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.639999 m,
      bearing: 178.306036 deg,
      approachRate: -0.770281 m/s,
      LOS rate: 0.018160 deg/s,
      cmd update: 0.036320 deg/s,
      cmd heading: 158.568093 deg,
      new cmd heading: 158.650085 deg.

2020-12-14T01:01:39.772Z,1607907699.772 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:01:41.395Z,1607907701.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:42.159Z,1607907702.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:42.596Z,1607907702.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:43.397Z,1607907703.397 [Micromodem](INFO): Nmea in: $SNTTA,0.127314,,,,010143.31*47

2020-12-14T01:01:43.852Z,1607907703.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 179.140549 deg, deltaT: 4.709039 s, approachRate: -0.828196 m/s, LOS rate: 0.177215 deg/s, posRepo size: 4
2020-12-14T01:01:43.854Z,1607907703.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 179.140549 deg,
      approachRate: -0.828196 m/s,
      LOS rate: 0.177215 deg/s,
      cmd update: 0.354430 deg/s,
      cmd heading: 158.738246 deg,
      new cmd heading: 158.752688 deg.

2020-12-14T01:01:45.895Z,1607907705.895 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T00:51:45.8Z
2020-12-14T01:01:45.895Z,1607907705.895 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T01:01:45.895Z,1607907705.895 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:01:45.895Z,1607907705.895 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T01:01:45.895Z,1607907705.895 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:01:45.896Z,1607907705.896 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T01:01:46.211Z,1607907706.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:46.212Z,1607907706.212 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T01:01:46.212Z,1607907706.212 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T01:01:46.212Z,1607907706.212 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T01:01:46.212Z,1607907706.212 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:01:46.212Z,1607907706.212 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T01:01:47.011Z,1607907707.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:47.417Z,1607907707.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:48.271Z,1607907708.271 [Micromodem](INFO): Nmea in: $SNTTA,0.124591,,,,010148.17*40

2020-12-14T01:01:48.333Z,1607907708.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 180.344451 deg, deltaT: 4.426210 s, approachRate: 0.000000 m/s, LOS rate: 0.271994 deg/s, posRepo size: 4
2020-12-14T01:01:48.335Z,1607907708.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 180.344451 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.271994 deg/s,
      cmd update: 0.543988 deg/s,
      cmd heading: 160.313044 deg,
      new cmd heading: 160.467277 deg.

2020-12-14T01:01:50.728Z,1607907710.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:51.501Z,1607907711.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:51.897Z,1607907711.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:52.705Z,1607907712.705 [Micromodem](INFO): Nmea in: $SNTTA,0.122121,,,,010152.66*44

2020-12-14T01:01:53.123Z,1607907713.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.940002 m, bearing: 179.815604 deg, deltaT: 4.858311 s, approachRate: -1.605494 m/s, LOS rate: -0.108854 deg/s, posRepo size: 4
2020-12-14T01:01:53.125Z,1607907713.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.940002 m,
      bearing: 179.815604 deg,
      approachRate: -1.605494 m/s,
      LOS rate: -0.108854 deg/s,
      cmd update: -0.217709 deg/s,
      cmd heading: 162.959832 deg,
      new cmd heading: 163.155452 deg.

2020-12-14T01:01:54.740Z,1607907714.740 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:01:55.733Z,1607907715.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:01:56.365Z,1607907716.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:01:56.745Z,1607907716.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:01:57.577Z,1607907717.577 [Micromodem](INFO): Nmea in: $SNTTA,0.119396,,,,010157.52*40

2020-12-14T01:01:58.014Z,1607907718.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 181.807218 deg, deltaT: 5.022363 s, approachRate: -0.800421 m/s, LOS rate: 0.396549 deg/s, posRepo size: 4
2020-12-14T01:01:58.016Z,1607907718.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 181.807218 deg,
      approachRate: -0.800421 m/s,
      LOS rate: 0.396549 deg/s,
      cmd update: 0.793099 deg/s,
      cmd heading: 161.866445 deg,
      new cmd heading: 161.816645 deg.

2020-12-14T01:01:59.641Z,1607907719.641 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:02:00.442Z,1607907720.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:01.203Z,1607907721.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:01.614Z,1607907721.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:02.458Z,1607907722.458 [Micromodem](INFO): Nmea in: $SNTTA,0.116733,,,,010202.36*45

2020-12-14T01:02:02.487Z,1607907722.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 181.957496 deg, deltaT: 4.404194 s, approachRate: 0.000000 m/s, LOS rate: 0.034122 deg/s, posRepo size: 4
2020-12-14T01:02:02.522Z,1607907722.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 181.957496 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.034122 deg/s,
      cmd update: 0.068243 deg/s,
      cmd heading: 165.359489 deg,
      new cmd heading: 165.595153 deg.

2020-12-14T01:02:03.658Z,1607907723.658 [Micromodem](INFO): Nmea in: $CAERR,010203,DATA_TIMEOUT,1*4E

2020-12-14T01:02:04.911Z,1607907724.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:05.639Z,1607907725.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:06.053Z,1607907726.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:06.894Z,1607907726.894 [Micromodem](INFO): Nmea in: $SNTTA,0.114183,,,,010206.79*45

2020-12-14T01:02:06.918Z,1607907726.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.120010 m, bearing: 182.392279 deg, deltaT: 4.353289 s, approachRate: -1.791746 m/s, LOS rate: 0.099874 deg/s, posRepo size: 4
2020-12-14T01:02:06.920Z,1607907726.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.120010 m,
      bearing: 182.392279 deg,
      approachRate: -1.791746 m/s,
      LOS rate: 0.099874 deg/s,
      cmd update: 0.199749 deg/s,
      cmd heading: 165.656296 deg,
      new cmd heading: 165.682194 deg.

2020-12-14T01:02:09.330Z,1607907729.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:10.096Z,1607907730.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:10.506Z,1607907730.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:11.362Z,1607907731.362 [Micromodem](INFO): Nmea in: $SNTTA,0.111680,,,,010211.25*4B

2020-12-14T01:02:11.386Z,1607907731.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 182.497218 deg, deltaT: 4.404265 s, approachRate: -0.844636 m/s, LOS rate: 0.023827 deg/s, posRepo size: 4
2020-12-14T01:02:11.388Z,1607907731.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 182.497218 deg,
      approachRate: -0.844636 m/s,
      LOS rate: 0.023827 deg/s,
      cmd update: 0.047653 deg/s,
      cmd heading: 166.536035 deg,
      new cmd heading: 166.624548 deg.

2020-12-14T01:02:13.779Z,1607907733.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:14.595Z,1607907734.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:14.961Z,1607907734.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:15.780Z,1607907735.780 [Micromodem](INFO): Nmea in: $SNTTA,0.109110,,,,010215.75*4D

2020-12-14T01:02:15.822Z,1607907735.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 182.941617 deg, deltaT: 4.499896 s, approachRate: 0.000000 m/s, LOS rate: 0.098758 deg/s, posRepo size: 4
2020-12-14T01:02:15.824Z,1607907735.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 182.941617 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.098758 deg/s,
      cmd update: 0.197515 deg/s,
      cmd heading: 166.750165 deg,
      new cmd heading: 166.768544 deg.

2020-12-14T01:02:18.228Z,1607907738.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:18.987Z,1607907738.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:19.393Z,1607907739.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:19.826Z,1607907739.826 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:02:20.238Z,1607907740.238 [Micromodem](INFO): Nmea in: $SNTTA,0.106773,,,,010220.14*40

2020-12-14T01:02:20.265Z,1607907740.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 183.951939 deg, deltaT: 4.391918 s, approachRate: -1.680360 m/s, LOS rate: 0.230041 deg/s, posRepo size: 4
2020-12-14T01:02:20.296Z,1607907740.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.020004 m,
      bearing: 183.951939 deg,
      approachRate: -1.680360 m/s,
      LOS rate: 0.230041 deg/s,
      cmd update: 0.460082 deg/s,
      cmd heading: 167.619705 deg,
      new cmd heading: 167.703796 deg.

2020-12-14T01:02:22.697Z,1607907742.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:23.433Z,1607907743.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:23.877Z,1607907743.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:24.698Z,1607907744.698 [Micromodem](INFO): Nmea in: $SNTTA,0.104360,,,,010224.59*49

2020-12-14T01:02:24.756Z,1607907744.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.360016 m, bearing: 184.802366 deg, deltaT: 4.501903 s, approachRate: -0.812987 m/s, LOS rate: 0.188904 deg/s, posRepo size: 4
2020-12-14T01:02:24.758Z,1607907744.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 184.802366 deg,
      approachRate: -0.812987 m/s,
      LOS rate: 0.188904 deg/s,
      cmd update: 0.377808 deg/s,
      cmd heading: 169.690939 deg,
      new cmd heading: 169.881863 deg.

2020-12-14T01:02:27.265Z,1607907747.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:27.915Z,1607907747.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:28.372Z,1607907748.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:29.170Z,1607907749.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010229.07*51

2020-12-14T01:02:29.228Z,1607907749.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.520004 m, bearing: 183.387615 deg, deltaT: 4.454650 s, approachRate: -0.862023 m/s, LOS rate: -0.317590 deg/s, posRepo size: 4
2020-12-14T01:02:29.230Z,1607907749.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.520004 m,
      bearing: 183.387615 deg,
      approachRate: -0.862023 m/s,
      LOS rate: -0.317590 deg/s,
      cmd update: -0.635179 deg/s,
      cmd heading: 171.367918 deg,
      new cmd heading: 171.537418 deg.

2020-12-14T01:02:31.626Z,1607907751.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:32.395Z,1607907752.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:32.793Z,1607907752.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:33.634Z,1607907753.634 [Micromodem](INFO): Nmea in: $SNTTA,0.099190,,0.148396,,010233.55*54

2020-12-14T01:02:33.691Z,1607907753.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 185.678296 deg, deltaT: 4.448340 s, approachRate: -0.876730 m/s, LOS rate: 0.514952 deg/s, posRepo size: 4
2020-12-14T01:02:33.705Z,1607907753.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.620010 m,
      bearing: 185.678296 deg,
      approachRate: -0.876730 m/s,
      LOS rate: 0.514952 deg/s,
      cmd update: 1.029904 deg/s,
      cmd heading: 168.535178 deg,
      new cmd heading: 168.248183 deg.

2020-12-14T01:02:34.675Z,1607907754.675 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T01:02:35.766Z,1607907755.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:36.497Z,1607907756.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:36.989Z,1607907756.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:37.830Z,1607907757.830 [Micromodem](INFO): Nmea in: $SNTTA,0.096804,,,,010237.66*44

2020-12-14T01:02:37.830Z,1607907757.830 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:02:38.003Z,1607907758.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.020004 m, bearing: 184.863318 deg, deltaT: 4.172835 s, approachRate: -0.862724 m/s, LOS rate: -0.195306 deg/s, posRepo size: 4
2020-12-14T01:02:38.009Z,1607907758.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.020004 m,
      bearing: 184.863318 deg,
      approachRate: -0.862724 m/s,
      LOS rate: -0.195306 deg/s,
      cmd update: -0.390611 deg/s,
      cmd heading: 172.837215 deg,
      new cmd heading: 173.440889 deg.

2020-12-14T01:02:38.375Z,1607907758.375 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:02:38.375Z,1607907758.375 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:02:39.086Z,1607907759.086 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:02:39.500Z,1607907759.500 [Micromodem](INFO): Nmea in: $CADRQ,010239,1,9,0,64,1*47

2020-12-14T01:02:39.502Z,1607907759.502 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:02:39.894Z,1607907759.894 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:02:39.942Z,1607907759.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:40.306Z,1607907760.306 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:02:40.691Z,1607907760.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:41.517Z,1607907761.517 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:02:41.518Z,1607907761.518 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:02:41.906Z,1607907761.906 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010240.683961,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T01:02:41.907Z,1607907761.907 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,010240.683961,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T01:02:42.882Z,1607907762.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:44.732Z,1607907764.732 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:02:45.595Z,1607907765.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:48.441Z,1607907768.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:51.223Z,1607907771.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:52.002Z,1607907772.002 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:52.405Z,1607907772.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:53.250Z,1607907773.250 [Micromodem](INFO): Nmea in: $SNTTA,0.088141,,,,010253.16*46

2020-12-14T01:02:53.332Z,1607907773.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 187.544290 deg, deltaT: 15.453226 s, approachRate: -0.834777 m/s, LOS rate: 0.173489 deg/s, posRepo size: 4
2020-12-14T01:02:53.340Z,1607907773.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.120010 m,
      bearing: 187.544290 deg,
      approachRate: -0.834777 m/s,
      LOS rate: 0.173489 deg/s,
      cmd update: 0.346979 deg/s,
      cmd heading: 166.804356 deg,
      new cmd heading: 166.620578 deg.

2020-12-14T01:02:55.853Z,1607907775.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:02:56.458Z,1607907776.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:02:56.860Z,1607907776.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:02:57.678Z,1607907777.678 [Micromodem](INFO): Nmea in: $SNTTA,0.085662,,,,010257.61*49

2020-12-14T01:02:57.729Z,1607907777.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.279999 m, bearing: 188.680014 deg, deltaT: 4.444920 s, approachRate: -0.863910 m/s, LOS rate: 0.255511 deg/s, posRepo size: 4
2020-12-14T01:02:57.731Z,1607907777.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.279999 m,
      bearing: 188.680014 deg,
      approachRate: -0.863910 m/s,
      LOS rate: 0.255511 deg/s,
      cmd update: 0.511021 deg/s,
      cmd heading: 168.343784 deg,
      new cmd heading: 168.493331 deg.

2020-12-14T01:03:00.259Z,1607907780.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:00.895Z,1607907780.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:01.306Z,1607907781.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:02.126Z,1607907782.126 [Micromodem](INFO): Nmea in: $SNTTA,0.083170,,,,010302.05*48

2020-12-14T01:03:02.375Z,1607907782.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.559998 m, bearing: 188.883513 deg, deltaT: 4.445466 s, approachRate: -0.836808 m/s, LOS rate: 0.045777 deg/s, posRepo size: 4
2020-12-14T01:03:02.383Z,1607907782.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.559998 m,
      bearing: 188.883513 deg,
      approachRate: -0.836808 m/s,
      LOS rate: 0.045777 deg/s,
      cmd update: 0.091553 deg/s,
      cmd heading: 170.622023 deg,
      new cmd heading: 170.938588 deg.

2020-12-14T01:03:04.666Z,1607907784.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:05.409Z,1607907785.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:05.805Z,1607907785.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:06.646Z,1607907786.646 [Micromodem](INFO): Nmea in: $SNTTA,0.080580,,,,010306.56*42

2020-12-14T01:03:06.822Z,1607907786.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.659996 m, bearing: 189.267397 deg, deltaT: 4.489978 s, approachRate: -0.868602 m/s, LOS rate: 0.085498 deg/s, posRepo size: 4
2020-12-14T01:03:06.824Z,1607907786.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.659996 m,
      bearing: 189.267397 deg,
      approachRate: -0.868602 m/s,
      LOS rate: 0.085498 deg/s,
      cmd update: 0.170996 deg/s,
      cmd heading: 171.033287 deg,
      new cmd heading: 171.085788 deg.

2020-12-14T01:03:08.937Z,1607907788.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:09.518Z,1607907789.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:09.905Z,1607907789.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:10.738Z,1607907790.738 [Micromodem](INFO): Nmea in: $SNTTA,0.078277,,,,010310.68*40

2020-12-14T01:03:10.762Z,1607907790.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.119995 m, bearing: 189.499104 deg, deltaT: 4.102673 s, approachRate: -0.862852 m/s, LOS rate: 0.056477 deg/s, posRepo size: 4
2020-12-14T01:03:10.763Z,1607907790.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.119995 m,
      bearing: 189.499104 deg,
      approachRate: -0.862852 m/s,
      LOS rate: 0.056477 deg/s,
      cmd update: 0.112954 deg/s,
      cmd heading: 171.735175 deg,
      new cmd heading: 171.805062 deg.

2020-12-14T01:03:13.074Z,1607907793.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:13.628Z,1607907793.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:14.033Z,1607907794.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:14.874Z,1607907794.874 [Micromodem](INFO): Nmea in: $SNTTA,0.076021,,0.113990,,010314.78*57

2020-12-14T01:03:15.088Z,1607907795.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.820000 m, bearing: 191.006623 deg, deltaT: 4.182212 s, approachRate: -0.789055 m/s, LOS rate: 0.360460 deg/s, posRepo size: 4
2020-12-14T01:03:15.106Z,1607907795.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.820000 m,
      bearing: 191.006623 deg,
      approachRate: -0.789055 m/s,
      LOS rate: 0.360460 deg/s,
      cmd update: 0.720919 deg/s,
      cmd heading: 172.203792 deg,
      new cmd heading: 172.270062 deg.

2020-12-14T01:03:17.366Z,1607907797.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:18.113Z,1607907798.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:18.536Z,1607907798.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:19.375Z,1607907799.375 [Micromodem](INFO): Nmea in: $SNTTA,0.073500,,,,010319.27*4E

2020-12-14T01:03:19.419Z,1607907799.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.040009 m, bearing: 191.857268 deg, deltaT: 4.569110 s, approachRate: -0.827293 m/s, LOS rate: 0.186173 deg/s, posRepo size: 4
2020-12-14T01:03:19.427Z,1607907799.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.040009 m,
      bearing: 191.857268 deg,
      approachRate: -0.827293 m/s,
      LOS rate: 0.186173 deg/s,
      cmd update: 0.372346 deg/s,
      cmd heading: 175.521880 deg,
      new cmd heading: 175.748953 deg.

2020-12-14T01:03:21.793Z,1607907801.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:22.583Z,1607907802.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:22.970Z,1607907802.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:23.800Z,1607907803.800 [Micromodem](INFO): Nmea in: $SNTTA,0.071022,,,,010323.74*46

2020-12-14T01:03:23.824Z,1607907803.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.379997 m, bearing: 193.295078 deg, deltaT: 4.333042 s, approachRate: -0.844675 m/s, LOS rate: 0.331824 deg/s, posRepo size: 4
2020-12-14T01:03:23.826Z,1607907803.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.379997 m,
      bearing: 193.295078 deg,
      approachRate: -0.844675 m/s,
      LOS rate: 0.331824 deg/s,
      cmd update: 0.663649 deg/s,
      cmd heading: 177.127977 deg,
      new cmd heading: 177.279362 deg.

2020-12-14T01:03:26.233Z,1607907806.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:27.015Z,1607907807.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:27.422Z,1607907807.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:28.301Z,1607907808.301 [Micromodem](INFO): Nmea in: $SNTTA,0.068623,,,,010328.17*47

2020-12-14T01:03:28.348Z,1607907808.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 194.014460 deg, deltaT: 4.459020 s, approachRate: -0.820807 m/s, LOS rate: 0.161332 deg/s, posRepo size: 4
2020-12-14T01:03:28.350Z,1607907808.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 194.014460 deg,
      approachRate: -0.820807 m/s,
      LOS rate: 0.161332 deg/s,
      cmd update: 0.322664 deg/s,
      cmd heading: 180.100191 deg,
      new cmd heading: 180.395054 deg.

2020-12-14T01:03:30.734Z,1607907810.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:31.525Z,1607907811.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:31.919Z,1607907811.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:32.754Z,1607907812.754 [Micromodem](INFO): Nmea in: $SNTTA,0.065901,,,,010332.68*46

2020-12-14T01:03:32.778Z,1607907812.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 195.124967 deg, deltaT: 4.499317 s, approachRate: -0.906805 m/s, LOS rate: 0.246817 deg/s, posRepo size: 4
2020-12-14T01:03:32.780Z,1607907812.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.639999 m,
      bearing: 195.124967 deg,
      approachRate: -0.906805 m/s,
      LOS rate: 0.246817 deg/s,
      cmd update: 0.493634 deg/s,
      cmd heading: 181.552039 deg,
      new cmd heading: 181.675233 deg.

2020-12-14T01:03:35.210Z,1607907815.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:35.964Z,1607907815.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:36.365Z,1607907816.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:37.199Z,1607907817.199 [Micromodem](INFO): Nmea in: $SNTTA,0.063336,,,,010337.12*46

2020-12-14T01:03:37.242Z,1607907817.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.800003 m, bearing: 196.508340 deg, deltaT: 4.424805 s, approachRate: -0.867834 m/s, LOS rate: 0.312640 deg/s, posRepo size: 4
2020-12-14T01:03:37.246Z,1607907817.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 196.508340 deg,
      approachRate: -0.867834 m/s,
      LOS rate: 0.312640 deg/s,
      cmd update: 0.625281 deg/s,
      cmd heading: 183.732302 deg,
      new cmd heading: 183.943949 deg.

2020-12-14T01:03:39.712Z,1607907819.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:40.433Z,1607907820.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:40.913Z,1607907820.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:41.726Z,1607907821.726 [Micromodem](INFO): Nmea in: $SNTTA,0.060966,,,,010341.59*44

2020-12-14T01:03:41.792Z,1607907821.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.260002 m, bearing: 197.186619 deg, deltaT: 4.527938 s, approachRate: -0.781813 m/s, LOS rate: 0.149799 deg/s, posRepo size: 4
2020-12-14T01:03:41.794Z,1607907821.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.260002 m,
      bearing: 197.186619 deg,
      approachRate: -0.781813 m/s,
      LOS rate: 0.149799 deg/s,
      cmd update: 0.299597 deg/s,
      cmd heading: 186.568492 deg,
      new cmd heading: 186.845896 deg.

2020-12-14T01:03:43.753Z,1607907823.753 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:03:44.334Z,1607907824.334 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:03:44.334Z,1607907824.334 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:03:44.408Z,1607907824.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:44.611Z,1607907824.611 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:03:44.979Z,1607907824.979 [Micromodem](INFO): Nmea in: $CADRQ,010345,1,9,0,64,1*4D

2020-12-14T01:03:44.979Z,1607907824.979 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:03:45.379Z,1607907825.379 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:03:45.379Z,1607907825.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:45.794Z,1607907825.794 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:03:45.795Z,1607907825.795 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:03:47.015Z,1607907827.015 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:03:47.015Z,1607907827.015 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:03:47.032Z,1607907827.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:47.399Z,1607907827.399 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010346.155369,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T01:03:47.400Z,1607907827.400 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,010346.155369,3,0,200,4000,14500,1,1,9,1,1,1,3,60*76

2020-12-14T01:03:49.856Z,1607907829.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:52.706Z,1607907832.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:55.573Z,1607907835.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:03:56.710Z,1607907836.710 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:03:57.129Z,1607907837.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:03:57.966Z,1607907837.966 [Micromodem](INFO): Nmea in: $SNTTA,0.051539,,,,010357.87*44

2020-12-14T01:03:57.989Z,1607907837.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.099998 m, bearing: 200.444305 deg, deltaT: 16.381114 s, approachRate: -0.864410 m/s, LOS rate: 0.198868 deg/s, posRepo size: 4
2020-12-14T01:03:57.991Z,1607907837.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.099998 m,
      bearing: 200.444305 deg,
      approachRate: -0.864410 m/s,
      LOS rate: 0.198868 deg/s,
      cmd update: 0.397737 deg/s,
      cmd heading: 191.476248 deg,
      new cmd heading: 191.553826 deg.

2020-12-14T01:04:00.417Z,1607907840.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:01.211Z,1607907841.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:01.593Z,1607907841.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:02.416Z,1607907842.416 [Micromodem](INFO): Nmea in: $SNTTA,0.049118,,,,010402.37*46

2020-12-14T01:04:02.466Z,1607907842.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 201.413044 deg, deltaT: 4.291089 s, approachRate: -0.769036 m/s, LOS rate: 0.225756 deg/s, posRepo size: 4
2020-12-14T01:04:02.468Z,1607907842.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 201.413044 deg,
      approachRate: -0.769036 m/s,
      LOS rate: 0.225756 deg/s,
      cmd update: 0.451512 deg/s,
      cmd heading: 193.182946 deg,
      new cmd heading: 193.359912 deg.

2020-12-14T01:04:04.886Z,1607907844.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:05.639Z,1607907845.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:06.041Z,1607907846.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:06.882Z,1607907846.882 [Micromodem](INFO): Nmea in: $SNTTA,0.046422,,0.072497,,010406.80*5C

2020-12-14T01:04:06.931Z,1607907846.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 202.198338 deg, deltaT: 4.480434 s, approachRate: -0.964192 m/s, LOS rate: 0.175272 deg/s, posRepo size: 4
2020-12-14T01:04:06.935Z,1607907846.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.479996 m,
      bearing: 202.198338 deg,
      approachRate: -0.964192 m/s,
      LOS rate: 0.175272 deg/s,
      cmd update: 0.350544 deg/s,
      cmd heading: 195.194127 deg,
      new cmd heading: 195.399510 deg.

2020-12-14T01:04:09.335Z,1607907849.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:10.071Z,1607907850.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:10.496Z,1607907850.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:11.334Z,1607907851.334 [Micromodem](INFO): Nmea in: $SNTTA,0.043942,,,,010411.23*4C

2020-12-14T01:04:11.371Z,1607907851.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.000000 m, bearing: 203.582572 deg, deltaT: 4.415019 s, approachRate: -0.788218 m/s, LOS rate: 0.313528 deg/s, posRepo size: 4
2020-12-14T01:04:11.377Z,1607907851.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 203.582572 deg,
      approachRate: -0.788218 m/s,
      LOS rate: 0.313528 deg/s,
      cmd update: 0.627057 deg/s,
      cmd heading: 196.750963 deg,
      new cmd heading: 196.910495 deg.

2020-12-14T01:04:13.782Z,1607907853.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:14.543Z,1607907854.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:14.929Z,1607907854.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:15.752Z,1607907855.752 [Micromodem](INFO): Nmea in: $SNTTA,0.041571,,,0.048657,010415.70*56

2020-12-14T01:04:15.797Z,1607907855.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 206.204996 deg, deltaT: 4.478242 s, approachRate: -0.844079 m/s, LOS rate: 0.585592 deg/s, posRepo size: 4
2020-12-14T01:04:15.799Z,1607907855.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.220009 m,
      bearing: 206.204996 deg,
      approachRate: -0.844079 m/s,
      LOS rate: 0.585592 deg/s,
      cmd update: 1.171184 deg/s,
      cmd heading: 199.559096 deg,
      new cmd heading: 199.808955 deg.

2020-12-14T01:04:18.219Z,1607907858.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:18.967Z,1607907858.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:19.401Z,1607907859.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:20.222Z,1607907860.222 [Micromodem](INFO): Nmea in: $SNTTA,0.038920,,,,010420.12*44

2020-12-14T01:04:20.315Z,1607907860.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 205.971335 deg, deltaT: 4.421414 s, approachRate: -0.895642 m/s, LOS rate: -0.052848 deg/s, posRepo size: 4
2020-12-14T01:04:20.322Z,1607907860.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 205.971335 deg,
      approachRate: -0.895642 m/s,
      LOS rate: -0.052848 deg/s,
      cmd update: -0.105695 deg/s,
      cmd heading: 204.737365 deg,
      new cmd heading: 205.322666 deg.

2020-12-14T01:04:22.668Z,1607907862.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:23.437Z,1607907863.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:23.904Z,1607907863.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:24.710Z,1607907864.710 [Micromodem](INFO): Nmea in: $SNTTA,0.036235,,0.068247,,010424.59*5F

2020-12-14T01:04:24.766Z,1607907864.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 206.506152 deg, deltaT: 4.531595 s, approachRate: -0.900347 m/s, LOS rate: 0.118020 deg/s, posRepo size: 4
2020-12-14T01:04:24.768Z,1607907864.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.179996 m,
      bearing: 206.506152 deg,
      approachRate: -0.900347 m/s,
      LOS rate: 0.118020 deg/s,
      cmd update: 0.236039 deg/s,
      cmd heading: 204.258394 deg,
      new cmd heading: 204.214119 deg.

2020-12-14T01:04:27.166Z,1607907867.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:27.931Z,1607907867.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:28.357Z,1607907868.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:29.186Z,1607907869.186 [Micromodem](INFO): Nmea in: $SNTTA,0.033755,,,,010429.09*40

2020-12-14T01:04:29.233Z,1607907869.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.760002 m, bearing: 209.600337 deg, deltaT: 4.421404 s, approachRate: -0.773509 m/s, LOS rate: 0.699820 deg/s, posRepo size: 4
2020-12-14T01:04:29.236Z,1607907869.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.760002 m,
      bearing: 209.600337 deg,
      approachRate: -0.773509 m/s,
      LOS rate: 0.699820 deg/s,
      cmd update: 1.399639 deg/s,
      cmd heading: 205.302006 deg,
      new cmd heading: 205.411208 deg.

2020-12-14T01:04:31.646Z,1607907871.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:32.379Z,1607907872.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:32.785Z,1607907872.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:33.628Z,1607907873.628 [Micromodem](INFO): Nmea in: $SNTTA,0.031290,,,,010433.53*4A

2020-12-14T01:04:33.667Z,1607907873.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 210.248604 deg, deltaT: 4.463465 s, approachRate: -0.887203 m/s, LOS rate: 0.145238 deg/s, posRepo size: 4
2020-12-14T01:04:33.669Z,1607907873.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 210.248604 deg,
      approachRate: -0.887203 m/s,
      LOS rate: 0.145238 deg/s,
      cmd update: 0.290477 deg/s,
      cmd heading: 211.549279 deg,
      new cmd heading: 212.158146 deg.

2020-12-14T01:04:36.057Z,1607907876.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:36.847Z,1607907876.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:37.257Z,1607907877.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:38.090Z,1607907878.090 [Micromodem](INFO): Nmea in: $SNTTA,0.028675,,,,010438.00*40

2020-12-14T01:04:38.141Z,1607907878.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 210.748233 deg, deltaT: 4.537866 s, approachRate: -0.872658 m/s, LOS rate: 0.110102 deg/s, posRepo size: 4
2020-12-14T01:04:38.143Z,1607907878.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.840000 m,
      bearing: 210.748233 deg,
      approachRate: -0.872658 m/s,
      LOS rate: 0.110102 deg/s,
      cmd update: 0.220204 deg/s,
      cmd heading: 212.865759 deg,
      new cmd heading: 212.975002 deg.

2020-12-14T01:04:40.562Z,1607907880.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:41.303Z,1607907881.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:41.693Z,1607907881.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:42.532Z,1607907882.532 [Micromodem](INFO): Nmea in: $SNTTA,0.026091,,,,010442.46*4D

2020-12-14T01:04:42.578Z,1607907882.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.479996 m, bearing: 208.146928 deg, deltaT: 4.336280 s, approachRate: 0.608816 m/s, LOS rate: -0.599893 deg/s, posRepo size: 4
2020-12-14T01:04:42.579Z,1607907882.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.479996 m,
      bearing: 208.146928 deg,
      approachRate: 0.608816 m/s,
      LOS rate: -0.599893 deg/s,
      cmd update: -1.199786 deg/s,
      cmd heading: 213.821894 deg,
      new cmd heading: 213.925604 deg.

2020-12-14T01:04:45.090Z,1607907885.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:45.731Z,1607907885.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:46.146Z,1607907886.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:46.970Z,1607907886.970 [Micromodem](INFO): Nmea in: $SNTTA,0.023518,,,,010446.89*4B

2020-12-14T01:04:47.011Z,1607907887.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 212.949575 deg, deltaT: 4.505113 s, approachRate: -2.304048 m/s, LOS rate: 1.066044 deg/s, posRepo size: 4
2020-12-14T01:04:47.012Z,1607907887.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.10 m.
2020-12-14T01:04:47.018Z,1607907887.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.099998 m,
      bearing: 212.949575 deg,
      approachRate: -2.304048 m/s,
      LOS rate: 1.066044 deg/s,
      cmd update: 2.132088 deg/s,
      cmd heading: 208.416724 deg,
      new cmd heading: 207.937059 deg.

2020-12-14T01:04:47.420Z,1607907887.420 [PowerOnly](INFO): Powering up loadControl
2020-12-14T01:04:49.392Z,1607907889.392 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:04:49.680Z,1607907889.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:49.963Z,1607907889.963 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:04:49.964Z,1607907889.964 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:04:50.199Z,1607907890.199 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:04:50.200Z,1607907890.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:50.603Z,1607907890.603 [Micromodem](INFO): Nmea in: $CADRQ,010451,1,9,0,64,1*4F

2020-12-14T01:04:50.604Z,1607907890.604 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,010451,1,9,0,64,1*4F

2020-12-14T01:04:51.014Z,1607907891.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:51.458Z,1607907891.458 [Micromodem](INFO): Nmea in: $SNTTA,0.021478,,,,010451.36*4C

2020-12-14T01:04:51.704Z,1607907891.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.979998 m, bearing: 216.967011 deg, deltaT: 4.468717 s, approachRate: -0.698187 m/s, LOS rate: 0.899013 deg/s, posRepo size: 4
2020-12-14T01:04:51.705Z,1607907891.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.98 m.
2020-12-14T01:04:51.707Z,1607907891.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.979998 m,
      bearing: 216.967011 deg,
      approachRate: -0.698187 m/s,
      LOS rate: 0.899013 deg/s,
      cmd update: 1.798026 deg/s,
      cmd heading: 217.942806 deg,
      new cmd heading: 219.275072 deg.

2020-12-14T01:04:53.870Z,1607907893.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:54.657Z,1607907894.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:55.053Z,1607907895.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:55.894Z,1607907895.894 [Micromodem](INFO): Nmea in: $SNTTA,0.018392,,,,010455.81*4D

2020-12-14T01:04:56.091Z,1607907896.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 219.573793 deg, deltaT: 4.483818 s, approachRate: -1.016989 m/s, LOS rate: 0.581376 deg/s, posRepo size: 4
2020-12-14T01:04:56.092Z,1607907896.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.42 m.
2020-12-14T01:04:56.094Z,1607907896.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.420002 m,
      bearing: 219.573793 deg,
      approachRate: -1.016989 m/s,
      LOS rate: 0.581376 deg/s,
      cmd update: 1.162751 deg/s,
      cmd heading: 225.998715 deg,
      new cmd heading: 226.954438 deg.

2020-12-14T01:04:58.150Z,1607907898.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:04:58.747Z,1607907898.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:04:59.162Z,1607907899.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:04:59.999Z,1607907899.999 [Micromodem](INFO): Nmea in: $SNTTA,0.016312,,,,010459.90*47

2020-12-14T01:05:00.056Z,1607907900.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 222.858021 deg, deltaT: 4.112151 s, approachRate: -0.758727 m/s, LOS rate: 0.798664 deg/s, posRepo size: 4
2020-12-14T01:05:00.057Z,1607907900.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.30 m.
2020-12-14T01:05:00.058Z,1607907900.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.300001 m,
      bearing: 222.858021 deg,
      approachRate: -0.758727 m/s,
      LOS rate: 0.798664 deg/s,
      cmd update: 1.597329 deg/s,
      cmd heading: 230.780109 deg,
      new cmd heading: 231.226546 deg.

2020-12-14T01:05:02.631Z,1607907902.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:03.214Z,1607907903.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:03.593Z,1607907903.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:04.447Z,1607907904.447 [Micromodem](INFO): Nmea in: $SNTTA,0.014029,,,0.016535,010504.37*50

2020-12-14T01:05:04.702Z,1607907904.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 223.641185 deg, deltaT: 4.364653 s, approachRate: -0.797314 m/s, LOS rate: 0.179433 deg/s, posRepo size: 4
2020-12-14T01:05:04.702Z,1607907904.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.82 m.
2020-12-14T01:05:04.702Z,1607907904.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 20.82 m.
2020-12-14T01:05:04.703Z,1607907904.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-14T01:05:04.705Z,1607907904.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 223.641185 deg,
      approachRate: -0.797314 m/s,
      LOS rate: 0.179433 deg/s,
      cmd update: 0.358866 deg/s,
      cmd heading: 237.757598 deg,
      new cmd heading: 238.813659 deg.

2020-12-14T01:05:06.643Z,1607907906.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:07.403Z,1607907907.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:07.805Z,1607907907.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:08.650Z,1607907908.650 [Micromodem](INFO): Nmea in: $SNTTA,0.012608,,0.197758,,010508.56*59

2020-12-14T01:05:08.843Z,1607907908.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 221.318838 deg, deltaT: 4.247842 s, approachRate: -0.790990 m/s, LOS rate: -0.546712 deg/s, posRepo size: 4
2020-12-14T01:05:08.845Z,1607907908.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 221.318838 deg,
      approachRate: -0.790990 m/s,
      LOS rate: -0.546712 deg/s,
      cmd update: -1.093424 deg/s,
      cmd heading: 239.267932 deg,
      new cmd heading: 239.481201 deg.

2020-12-14T01:05:10.835Z,1607907910.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:11.455Z,1607907911.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:11.849Z,1607907911.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:12.686Z,1607907912.686 [Micromodem](INFO): Nmea in: $SNTTA,0.010569,0.040125,0.054830,,010512.61*43

2020-12-14T01:05:12.746Z,1607907912.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 220.645286 deg, deltaT: 4.015213 s, approachRate: -0.806930 m/s, LOS rate: -0.167750 deg/s, posRepo size: 4
2020-12-14T01:05:12.750Z,1607907912.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 220.645286 deg,
      approachRate: -0.806930 m/s,
      LOS rate: -0.167750 deg/s,
      cmd update: -0.335500 deg/s,
      cmd heading: 234.864441 deg,
      new cmd heading: 234.350764 deg.

2020-12-14T01:05:15.265Z,1607907915.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:15.887Z,1607907915.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:16.313Z,1607907916.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:17.146Z,1607907917.146 [Micromodem](INFO): Nmea in: $SNTTA,0.007416,,,,010517.04*42

2020-12-14T01:05:17.351Z,1607907917.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 218.793909 deg, deltaT: 4.440359 s, approachRate: -0.743183 m/s, LOS rate: -0.416943 deg/s, posRepo size: 4
2020-12-14T01:05:17.353Z,1607907917.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 218.793909 deg,
      approachRate: -0.743183 m/s,
      LOS rate: -0.416943 deg/s,
      cmd update: -0.833886 deg/s,
      cmd heading: 233.365393 deg,
      new cmd heading: 233.161937 deg.

2020-12-14T01:05:19.613Z,1607907919.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:20.355Z,1607907920.355 [Micromodem](INFO): Nmea in: $CAERR,010521,DATA_TIMEOUT,1*49

2020-12-14T01:05:20.356Z,1607907920.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:20.762Z,1607907920.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:21.610Z,1607907921.610 [Micromodem](INFO): Nmea in: $SNTTA,0.006675,,,0.142020,010521.51*5A

2020-12-14T01:05:21.786Z,1607907921.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.559999 m, bearing: 215.302972 deg, deltaT: 4.460193 s, approachRate: -0.753331 m/s, LOS rate: -0.782687 deg/s, posRepo size: 4
2020-12-14T01:05:21.788Z,1607907921.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.559999 m,
      bearing: 215.302972 deg,
      approachRate: -0.753331 m/s,
      LOS rate: -0.782687 deg/s,
      cmd update: -1.565375 deg/s,
      cmd heading: 229.646222 deg,
      new cmd heading: 229.161312 deg.

2020-12-14T01:05:23.776Z,1607907923.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:24.406Z,1607907924.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:24.806Z,1607907924.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:25.626Z,1607907925.626 [Micromodem](INFO): Nmea in: $SNTTA,0.005188,,,,010525.56*44

2020-12-14T01:05:25.670Z,1607907925.670 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-14T01:05:25.670Z,1607907925.670 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-14T01:05:25.670Z,1607907925.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-14T01:05:25.670Z,1607907925.670 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T01:05:25.671Z,1607907925.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-14T01:05:25.671Z,1607907925.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2020-12-14T01:05:25.671Z,1607907925.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-14T01:05:25.671Z,1607907925.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-14T01:05:25.671Z,1607907925.671 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-14T01:05:25.674Z,1607907925.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 213.770250 deg, deltaT: 4.048934 s, approachRate: -0.666842 m/s, LOS rate: -0.378549 deg/s, posRepo size: 4
2020-12-14T01:05:25.676Z,1607907925.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 213.770250 deg,
      approachRate: -0.666842 m/s,
      LOS rate: -0.378549 deg/s,
      cmd update: -0.757099 deg/s,
      cmd heading: 223.316436 deg,
      new cmd heading: 222.649865 deg.

2020-12-14T01:05:26.043Z,1607907926.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201214T010526: (41.552319, -70.708603)
2020-12-14T01:05:26.043Z,1607907926.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-14T01:05:26.043Z,1607907926.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-14T01:05:26.043Z,1607907926.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T01:05:26.044Z,1607907926.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-14T01:05:26.044Z,1607907926.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T01:05:26.044Z,1607907926.044 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-14T01:05:26.044Z,1607907926.044 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-14T01:05:26.044Z,1607907926.044 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-14T01:05:26.462Z,1607907926.462 [UniversalFixResidualReporter](INFO): Fix residual: 6.6 %DT, over the last 771.2 m. Residual distance 51.1 m at bearing 53.9 degrees. Fix at (41.5521, -70.7068) with 0.0 m made good.
2020-12-14T01:05:28.296Z,1607907928.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:28.955Z,1607907928.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:29.362Z,1607907929.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:30.186Z,1607907930.186 [Micromodem](INFO): Nmea in: $SNTTA,0.002755,,0.029680,,010530.11*59

2020-12-14T01:05:30.400Z,1607907930.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 217.978780 deg, deltaT: 4.574709 s, approachRate: -0.170503 m/s, LOS rate: 0.919956 deg/s, posRepo size: 4
2020-12-14T01:05:30.402Z,1607907930.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 217.978780 deg,
      approachRate: -0.170503 m/s,
      LOS rate: 0.919956 deg/s,
      cmd update: 1.839912 deg/s,
      cmd heading: 219.851811 deg,
      new cmd heading: 219.415538 deg.

2020-12-14T01:05:32.635Z,1607907932.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:33.411Z,1607907933.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:33.822Z,1607907933.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:34.684Z,1607907934.684 [Micromodem](INFO): Nmea in: $SNTTA,0.005642,,,,010534.57*44

2020-12-14T01:05:34.882Z,1607907934.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 210.216926 deg, deltaT: 4.485955 s, approachRate: 0.481503 m/s, LOS rate: -1.730257 deg/s, posRepo size: 4
2020-12-14T01:05:34.884Z,1607907934.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 210.216926 deg,
      approachRate: 0.481503 m/s,
      LOS rate: -1.730257 deg/s,
      cmd update: -3.460514 deg/s,
      cmd heading: 228.097107 deg,
      new cmd heading: 229.158347 deg.

2020-12-14T01:05:36.858Z,1607907936.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:37.476Z,1607907937.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:37.873Z,1607907937.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:38.702Z,1607907938.702 [Micromodem](INFO): Nmea in: $SNTTA,0.006321,,,,010538.63*4C

2020-12-14T01:05:38.755Z,1607907938.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 229.265572 deg, deltaT: 4.022292 s, approachRate: 1.223183 m/s, LOS rate: 4.735769 deg/s, posRepo size: 4
2020-12-14T01:05:38.758Z,1607907938.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 229.265572 deg,
      approachRate: 1.223183 m/s,
      LOS rate: 4.735769 deg/s,
      cmd update: 9.471539 deg/s,
      cmd heading: 214.153953 deg,
      new cmd heading: 212.697267 deg.

2020-12-14T01:05:41.272Z,1607907941.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:41.947Z,1607907941.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:42.365Z,1607907942.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:43.202Z,1607907943.202 [Micromodem](INFO): Nmea in: $SNTTA,0.008652,,,,010543.10*4B

2020-12-14T01:05:43.406Z,1607907943.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 214.125105 deg, deltaT: 4.492062 s, approachRate: 0.360636 m/s, LOS rate: -3.370494 deg/s, posRepo size: 4
2020-12-14T01:05:43.408Z,1607907943.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 214.125105 deg,
      approachRate: 0.360636 m/s,
      LOS rate: -3.370494 deg/s,
      cmd update: -6.740987 deg/s,
      cmd heading: 256.713156 deg,
      new cmd heading: 262.184693 deg.

2020-12-14T01:05:45.657Z,1607907945.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:46.396Z,1607907946.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:46.809Z,1607907946.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:47.658Z,1607907947.658 [Micromodem](INFO): Nmea in: $SNTTA,0.011490,,,,010547.55*4A

2020-12-14T01:05:47.865Z,1607907947.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.000000 m, bearing: 228.301040 deg, deltaT: 4.411642 s, approachRate: 1.183234 m/s, LOS rate: 3.213301 deg/s, posRepo size: 4
2020-12-14T01:05:47.865Z,1607907947.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.00 m. Rolling out.
2020-12-14T01:05:47.866Z,1607907947.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-14T01:05:49.868Z,1607907949.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:50.464Z,1607907950.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:50.857Z,1607907950.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:51.694Z,1607907951.694 [Micromodem](INFO): Nmea in: $SNTTA,0.013116,,,,010551.62*40

2020-12-14T01:05:51.742Z,1607907951.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 208.890544 deg, deltaT: 4.095403 s, approachRate: 0.439517 m/s, LOS rate: -4.739581 deg/s, posRepo size: 4
2020-12-14T01:05:54.338Z,1607907954.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:54.907Z,1607907954.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:55.341Z,1607907955.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:05:55.353Z,1607907955.353 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:05:55.857Z,1607907955.857 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:05:55.857Z,1607907955.857 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:05:56.162Z,1607907956.162 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:05:56.380Z,1607907956.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 217.612368 deg, deltaT: 4.608750 s, approachRate: 0.885273 m/s, LOS rate: 1.892449 deg/s, posRepo size: 4
2020-12-14T01:05:56.558Z,1607907956.558 [Micromodem](INFO): Nmea in: $CADRQ,010556,1,9,0,64,1*49

2020-12-14T01:05:56.558Z,1607907956.558 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:05:56.942Z,1607907956.942 [Micromodem](INFO): Nmea in: $SNTTA,0.016040,,,,010556.06*42

2020-12-14T01:05:56.942Z,1607907956.942 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.016040,,,,010556.06*42

2020-12-14T01:05:58.145Z,1607907958.145 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:05:58.587Z,1607907958.587 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:05:58.613Z,1607907958.613 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:05:58.658Z,1607907958.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:05:58.951Z,1607907958.951 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:05:59.360Z,1607907959.360 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010557.734141,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T01:05:59.361Z,1607907959.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:05:59.780Z,1607907959.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:00.606Z,1607907960.606 [Micromodem](INFO): Nmea in: $SNTTA,0.018371,,,,010600.52*4C

2020-12-14T01:06:00.810Z,1607907960.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 254.918342 deg, deltaT: 4.266924 s, approachRate: 0.857760 m/s, LOS rate: 8.743060 deg/s, posRepo size: 4
2020-12-14T01:06:02.840Z,1607907962.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:03.436Z,1607907963.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:03.841Z,1607907963.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:04.713Z,1607907964.713 [Micromodem](INFO): Nmea in: $SNTTA,0.020658,,,,010604.59*46

2020-12-14T01:06:05.542Z,1607907965.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:07.062Z,1607907967.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:06:08.358Z,1607907968.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:09.095Z,1607907969.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:09.578Z,1607907969.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:10.370Z,1607907970.370 [Micromodem](INFO): Nmea in: $SNTTA,0.023606,,,0.049825,010610.25*5C

2020-12-14T01:06:10.438Z,1607907970.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.859997 m, bearing: 245.620460 deg, deltaT: 9.779087 s, approachRate: 0.748536 m/s, LOS rate: -0.950792 deg/s, posRepo size: 4
2020-12-14T01:06:12.833Z,1607907972.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:13.599Z,1607907973.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:14.069Z,1607907974.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:14.890Z,1607907974.890 [Micromodem](INFO): Nmea in: $SNTTA,0.026096,,,,010614.75*4B

2020-12-14T01:06:14.957Z,1607907974.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 251.047674 deg, deltaT: 4.567840 s, approachRate: 0.827525 m/s, LOS rate: 1.188136 deg/s, posRepo size: 4
2020-12-14T01:06:17.359Z,1607907977.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:18.103Z,1607907978.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:18.535Z,1607907978.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:19.366Z,1607907979.366 [Micromodem](INFO): Nmea in: $SNTTA,0.028530,,,,010619.26*47

2020-12-14T01:06:19.404Z,1607907979.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.780003 m, bearing: 249.625984 deg, deltaT: 4.368637 s, approachRate: 0.947665 m/s, LOS rate: -0.325431 deg/s, posRepo size: 4
2020-12-14T01:06:21.938Z,1607907981.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:22.148Z,1607907982.148 [PowerOnly](INFO): Powering down loadControl
2020-12-14T01:06:22.575Z,1607907982.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:22.957Z,1607907982.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:23.786Z,1607907983.786 [Micromodem](INFO): Nmea in: $SNTTA,0.031225,,,,010623.73*45

2020-12-14T01:06:23.826Z,1607907983.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.680000 m, bearing: 245.405801 deg, deltaT: 4.466933 s, approachRate: 0.873082 m/s, LOS rate: -0.944761 deg/s, posRepo size: 4
2020-12-14T01:06:26.394Z,1607907986.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:26.983Z,1607907986.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:27.405Z,1607907987.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:28.250Z,1607907988.250 [Micromodem](INFO): Nmea in: $SNTTA,0.033366,,,,010628.14*4B

2020-12-14T01:06:28.466Z,1607907988.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.219994 m, bearing: 237.723505 deg, deltaT: 4.454529 s, approachRate: 0.794695 m/s, LOS rate: -1.724603 deg/s, posRepo size: 4
2020-12-14T01:06:30.353Z,1607907990.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:31.111Z,1607907991.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:31.541Z,1607907991.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:32.371Z,1607907992.371 [Micromodem](INFO): Nmea in: $SNTTA,0.035509,,,,010632.27*49

2020-12-14T01:06:32.438Z,1607907992.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.399998 m, bearing: 232.638292 deg, deltaT: 4.108098 s, approachRate: 0.774082 m/s, LOS rate: -1.237851 deg/s, posRepo size: 4
2020-12-14T01:06:34.954Z,1607907994.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:35.589Z,1607907995.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:35.961Z,1607907995.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:36.802Z,1607907996.802 [Micromodem](INFO): Nmea in: $SNTTA,0.038029,,,,010636.74*41

2020-12-14T01:06:36.849Z,1607907996.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 234.837313 deg, deltaT: 4.436012 s, approachRate: 0.852118 m/s, LOS rate: 0.495720 deg/s, posRepo size: 4
2020-12-14T01:06:39.406Z,1607907999.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:40.003Z,1607908000.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:40.409Z,1607908000.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:41.246Z,1607908001.246 [Micromodem](INFO): Nmea in: $SNTTA,0.040558,,,,010641.16*49

2020-12-14T01:06:41.462Z,1607908001.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.960007 m, bearing: 233.288362 deg, deltaT: 4.511477 s, approachRate: 0.837864 m/s, LOS rate: -0.343336 deg/s, posRepo size: 4
2020-12-14T01:06:43.724Z,1607908003.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:44.531Z,1607908004.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:44.913Z,1607908004.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:45.742Z,1607908005.742 [Micromodem](INFO): Nmea in: $SNTTA,0.043061,,,,010645.69*49

2020-12-14T01:06:45.785Z,1607908005.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.739998 m, bearing: 230.381516 deg, deltaT: 4.649595 s, approachRate: 0.812972 m/s, LOS rate: -0.625183 deg/s, posRepo size: 4
2020-12-14T01:06:48.203Z,1607908008.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:48.975Z,1607908008.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:49.393Z,1607908009.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:50.219Z,1607908010.219 [Micromodem](INFO): Nmea in: $SNTTA,0.045648,,,,010650.13*4B

2020-12-14T01:06:50.238Z,1607908010.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 241.496856 deg, deltaT: 4.281648 s, approachRate: 0.896852 m/s, LOS rate: 2.596043 deg/s, posRepo size: 4
2020-12-14T01:06:52.659Z,1607908012.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:53.411Z,1607908013.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:53.831Z,1607908013.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:54.662Z,1607908014.662 [Micromodem](INFO): Nmea in: $SNTTA,0.048184,,,,010654.57*45

2020-12-14T01:06:54.731Z,1607908014.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 235.204449 deg, deltaT: 4.414507 s, approachRate: 0.856267 m/s, LOS rate: -1.425393 deg/s, posRepo size: 4
2020-12-14T01:06:56.870Z,1607908016.870 [CTD_Seabird](ERROR): Failed to parse device response: 24,3471.39
2020-12-14T01:06:57.071Z,1607908017.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:06:57.865Z,1607908017.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:06:58.261Z,1607908018.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:06:59.122Z,1607908019.122 [Micromodem](INFO): Nmea in: $SNTTA,0.050688,,0.058026,,010659.02*5D

2020-12-14T01:06:59.152Z,1607908019.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 236.674989 deg, deltaT: 4.478986 s, approachRate: 0.830545 m/s, LOS rate: 0.328320 deg/s, posRepo size: 4
2020-12-14T01:07:01.129Z,1607908021.129 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:07:01.663Z,1607908021.663 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:07:01.663Z,1607908021.663 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:07:01.751Z,1607908021.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:01.931Z,1607908021.931 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:07:02.351Z,1607908022.351 [Micromodem](INFO): Nmea in: $CADRQ,010702,1,9,0,64,1*4A

2020-12-14T01:07:02.351Z,1607908022.351 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:07:02.731Z,1607908022.731 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:07:02.731Z,1607908022.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:03.136Z,1607908023.136 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:07:03.136Z,1607908023.136 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:07:04.375Z,1607908024.375 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:07:04.375Z,1607908024.375 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:07:04.462Z,1607908024.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:04.769Z,1607908024.769 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010703.524095,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:07:04.770Z,1607908024.770 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,010703.524095,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:07:07.205Z,1607908027.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:10.032Z,1607908030.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:12.545Z,1607908032.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:14.054Z,1607908034.054 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:14.466Z,1607908034.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:15.309Z,1607908035.309 [Micromodem](INFO): Nmea in: $SNTTA,0.059981,,,,010715.21*4D

2020-12-14T01:07:15.352Z,1607908035.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 237.633537 deg, deltaT: 16.165038 s, approachRate: 0.864830 m/s, LOS rate: 0.059298 deg/s, posRepo size: 4
2020-12-14T01:07:17.957Z,1607908037.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:18.591Z,1607908038.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:18.989Z,1607908038.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:19.866Z,1607908039.866 [Micromodem](INFO): Nmea in: $SNTTA,0.062373,,,,010719.75*4F

2020-12-14T01:07:20.048Z,1607908040.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 238.114328 deg, deltaT: 4.556077 s, approachRate: 0.790153 m/s, LOS rate: 0.105527 deg/s, posRepo size: 4
2020-12-14T01:07:22.327Z,1607908042.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:23.075Z,1607908043.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:23.484Z,1607908043.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:24.318Z,1607908044.318 [Micromodem](INFO): Nmea in: $SNTTA,0.065133,,,,010724.23*43

2020-12-14T01:07:24.569Z,1607908044.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 239.818296 deg, deltaT: 4.471200 s, approachRate: 0.912505 m/s, LOS rate: 0.381099 deg/s, posRepo size: 4
2020-12-14T01:07:26.655Z,1607908046.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:27.235Z,1607908047.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:27.649Z,1607908047.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:28.484Z,1607908048.484 [Micromodem](INFO): Nmea in: $SNTTA,0.067502,,,,010728.39*40

2020-12-14T01:07:28.571Z,1607908048.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 234.574159 deg, deltaT: 4.144042 s, approachRate: 0.883198 m/s, LOS rate: -1.265464 deg/s, posRepo size: 4
2020-12-14T01:07:30.574Z,1607908050.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:31.326Z,1607908051.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:31.685Z,1607908051.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:32.568Z,1607908052.568 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-14T01:07:32.593Z,1607908052.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 233.989905 deg, deltaT: 4.104816 s, approachRate: 0.891635 m/s, LOS rate: -0.142334 deg/s, posRepo size: 4
2020-12-14T01:07:32.918Z,1607908052.918 [Micromodem](INFO): Nmea in: $SNTTA,0.070212,,,,010732.52*46

2020-12-14T01:07:34.934Z,1607908054.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:35.727Z,1607908055.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:36.166Z,1607908056.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:36.974Z,1607908056.974 [Micromodem](INFO): Nmea in: $SNTTA,0.072483,,0.077920,,010736.88*5C

2020-12-14T01:07:37.011Z,1607908057.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.900002 m, bearing: 233.392509 deg, deltaT: 4.426819 s, approachRate: 0.867439 m/s, LOS rate: -0.134949 deg/s, posRepo size: 4
2020-12-14T01:07:39.590Z,1607908059.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:40.171Z,1607908060.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:40.596Z,1607908060.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:41.430Z,1607908061.430 [Micromodem](INFO): Nmea in: $SNTTA,0.075081,,,,010741.33*48

2020-12-14T01:07:41.463Z,1607908061.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.799995 m, bearing: 228.798852 deg, deltaT: 4.421617 s, approachRate: 0.882029 m/s, LOS rate: -1.038909 deg/s, posRepo size: 4
2020-12-14T01:07:43.991Z,1607908063.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:44.619Z,1607908064.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:44.706Z,1607908064.706 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:07:45.021Z,1607908065.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:45.854Z,1607908065.854 [Micromodem](INFO): Nmea in: $SNTTA,0.077587,,0.092036,0.080086,010745.78*4A

2020-12-14T01:07:46.036Z,1607908066.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 231.697912 deg, deltaT: 4.459333 s, approachRate: 0.820753 m/s, LOS rate: 0.650111 deg/s, posRepo size: 4
2020-12-14T01:07:48.310Z,1607908068.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:49.055Z,1607908069.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:49.473Z,1607908069.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:50.322Z,1607908070.322 [Micromodem](INFO): Nmea in: $SNTTA,0.080111,,,,010750.21*49

2020-12-14T01:07:50.541Z,1607908070.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 231.572974 deg, deltaT: 4.482984 s, approachRate: 0.856571 m/s, LOS rate: -0.027869 deg/s, posRepo size: 4
2020-12-14T01:07:52.568Z,1607908072.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:53.143Z,1607908073.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:53.569Z,1607908073.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:54.390Z,1607908074.390 [Micromodem](INFO): Nmea in: $SNTTA,0.082400,,,,010754.30*4A

2020-12-14T01:07:54.414Z,1607908074.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 232.414426 deg, deltaT: 4.019402 s, approachRate: 0.850872 m/s, LOS rate: 0.209348 deg/s, posRepo size: 4
2020-12-14T01:07:56.947Z,1607908076.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:07:57.583Z,1607908077.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:07:57.989Z,1607908077.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:07:58.838Z,1607908078.838 [Micromodem](INFO): Nmea in: $SNTTA,0.084993,,,,010758.74*47

2020-12-14T01:07:59.008Z,1607908079.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 238.613670 deg, deltaT: 4.481058 s, approachRate: 0.870329 m/s, LOS rate: 1.383433 deg/s, posRepo size: 4
2020-12-14T01:08:01.250Z,1607908081.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:02.031Z,1607908082.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:02.447Z,1607908082.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:03.297Z,1607908083.297 [Micromodem](INFO): Nmea in: $SNTTA,0.087807,,,,010803.19*42

2020-12-14T01:08:03.490Z,1607908083.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 230.374358 deg, deltaT: 4.431255 s, approachRate: 0.947815 m/s, LOS rate: -1.859363 deg/s, posRepo size: 4
2020-12-14T01:08:05.579Z,1607908085.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:06.143Z,1607908086.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:06.585Z,1607908086.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:06.956Z,1607908086.956 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:08:07.398Z,1607908087.398 [Micromodem](INFO): Nmea in: $SNTTA,0.089940,,,,010807.30*41

2020-12-14T01:08:07.594Z,1607908087.594 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:08:07.595Z,1607908087.595 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:08:07.672Z,1607908087.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 234.203116 deg, deltaT: 4.099693 s, approachRate: 0.790301 m/s, LOS rate: 0.933913 deg/s, posRepo size: 4
2020-12-14T01:08:08.722Z,1607908088.722 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:08:09.126Z,1607908089.126 [Micromodem](INFO): Nmea in: $CADRQ,010808,1,9,0,64,1*4F

2020-12-14T01:08:09.126Z,1607908089.126 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:08:09.547Z,1607908089.547 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:08:09.727Z,1607908089.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:09.934Z,1607908089.934 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:08:10.339Z,1607908090.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:11.162Z,1607908091.162 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:08:11.162Z,1607908091.162 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:08:11.568Z,1607908091.568 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010810.302934,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T01:08:11.568Z,1607908091.568 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,010810.302934,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T01:08:12.392Z,1607908092.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:15.210Z,1607908095.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:18.170Z,1607908098.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:20.874Z,1607908100.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:21.642Z,1607908101.642 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:22.041Z,1607908102.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:22.894Z,1607908102.894 [Micromodem](INFO): Nmea in: $SNTTA,0.099510,,,,010822.80*45

2020-12-14T01:08:22.916Z,1607908102.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.860001 m, bearing: 204.525111 deg, deltaT: 15.677711 s, approachRate: 0.880231 m/s, LOS rate: -1.893006 deg/s, posRepo size: 4
2020-12-14T01:08:25.340Z,1607908105.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:26.087Z,1607908106.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:26.533Z,1607908106.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:27.362Z,1607908107.362 [Micromodem](INFO): Nmea in: $SNTTA,0.101657,,,,010827.24*4E

2020-12-14T01:08:27.411Z,1607908107.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.520004 m, bearing: 224.859963 deg, deltaT: 4.276986 s, approachRate: 0.855744 m/s, LOS rate: 4.754482 deg/s, posRepo size: 4
2020-12-14T01:08:29.759Z,1607908109.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:30.543Z,1607908110.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:30.946Z,1607908110.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:31.774Z,1607908111.774 [Micromodem](INFO): Nmea in: $SNTTA,0.103974,,,,010831.70*44

2020-12-14T01:08:31.804Z,1607908111.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 230.763569 deg, deltaT: 4.444437 s, approachRate: 0.796503 m/s, LOS rate: 1.328314 deg/s, posRepo size: 4
2020-12-14T01:08:34.179Z,1607908114.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:34.971Z,1607908114.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:35.381Z,1607908115.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:36.285Z,1607908116.285 [Micromodem](INFO): Nmea in: $SNTTA,0.106471,,,,010836.13*4B

2020-12-14T01:08:36.347Z,1607908116.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 231.591252 deg, deltaT: 4.492791 s, approachRate: 0.854702 m/s, LOS rate: 0.184225 deg/s, posRepo size: 4
2020-12-14T01:08:38.784Z,1607908118.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:39.526Z,1607908119.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:39.932Z,1607908119.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:40.765Z,1607908120.765 [Micromodem](INFO): Nmea in: $SNTTA,0.109098,,,,010840.68*4A

2020-12-14T01:08:40.803Z,1607908120.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.800018 m, bearing: 231.691082 deg, deltaT: 4.516120 s, approachRate: 0.863575 m/s, LOS rate: 0.022105 deg/s, posRepo size: 4
2020-12-14T01:08:43.199Z,1607908123.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:43.953Z,1607908123.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:44.398Z,1607908124.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:45.226Z,1607908125.226 [Micromodem](INFO): Nmea in: $SNTTA,0.112355,,,,010845.11*49

2020-12-14T01:08:45.319Z,1607908125.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.720016 m, bearing: 229.773001 deg, deltaT: 4.429167 s, approachRate: 1.110818 m/s, LOS rate: -0.433057 deg/s, posRepo size: 4
2020-12-14T01:08:47.678Z,1607908127.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:48.453Z,1607908128.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:48.917Z,1607908128.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:49.738Z,1607908129.738 [Micromodem](INFO): Nmea in: $SNTTA,0.114397,,,,010849.61*4A

2020-12-14T01:08:49.811Z,1607908129.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 229.544135 deg, deltaT: 4.566211 s, approachRate: 0.670139 m/s, LOS rate: -0.050122 deg/s, posRepo size: 4
2020-12-14T01:08:52.155Z,1607908132.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:52.951Z,1607908132.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:53.373Z,1607908133.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:54.202Z,1607908134.202 [Micromodem](INFO): Nmea in: $SNTTA,0.116955,,,,010854.11*47

2020-12-14T01:08:54.224Z,1607908134.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 229.229755 deg, deltaT: 4.418126 s, approachRate: 0.000000 m/s, LOS rate: -0.071157 deg/s, posRepo size: 4
2020-12-14T01:08:56.636Z,1607908136.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:08:57.399Z,1607908137.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:08:57.817Z,1607908137.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:08:58.625Z,1607908138.625 [Micromodem](INFO): Nmea in: $SNTTA,0.119870,,,,010858.56*41

2020-12-14T01:08:59.036Z,1607908139.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 229.384417 deg, deltaT: 4.874069 s, approachRate: 1.661854 m/s, LOS rate: 0.031732 deg/s, posRepo size: 4
2020-12-14T01:09:01.648Z,1607908141.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:02.243Z,1607908142.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:02.645Z,1607908142.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:03.502Z,1607908143.502 [Micromodem](INFO): Nmea in: $SNTTA,0.122665,,0.125852,,010903.40*5C

2020-12-14T01:09:04.332Z,1607908144.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:05.895Z,1607908145.895 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:09:07.118Z,1607908147.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:07.911Z,1607908147.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:08.363Z,1607908148.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:08.744Z,1607908148.744 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EEA,000,,64
7,184,80,80,74,FF
2020-12-14T01:09:09.163Z,1607908149.163 [Micromodem](INFO): Nmea in: $SNTTA,0.126234,,,,010909.07*46

2020-12-14T01:09:09.642Z,1607908149.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:12.442Z,1607908152.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:12.803Z,1607908152.803 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:09:13.586Z,1607908153.586 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:09:13.587Z,1607908153.587 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:09:13.874Z,1607908153.874 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:09:14.295Z,1607908154.295 [Micromodem](INFO): Nmea in: $CADRQ,010914,1,9,0,64,1*43

2020-12-14T01:09:14.296Z,1607908154.296 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:09:14.826Z,1607908154.826 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:09:15.218Z,1607908155.218 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:09:15.255Z,1607908155.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:15.645Z,1607908155.645 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:09:16.023Z,1607908156.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:16.424Z,1607908156.424 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:09:16.424Z,1607908156.424 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:09:16.951Z,1607908156.951 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,010915.504465,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:09:16.952Z,1607908156.952 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,010915.504465,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:09:17.811Z,1607908157.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:20.753Z,1607908160.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:23.460Z,1607908163.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:26.286Z,1607908166.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:27.042Z,1607908167.042 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:27.545Z,1607908167.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:28.334Z,1607908168.334 [Micromodem](INFO): Nmea in: $SNTTA,0.137093,,,,010928.20*4F

2020-12-14T01:09:28.390Z,1607908168.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.739975 m, bearing: 231.438173 deg, deltaT: 29.244230 s, approachRate: 0.884276 m/s, LOS rate: 0.070228 deg/s, posRepo size: 4
2020-12-14T01:09:30.435Z,1607908170.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:31.131Z,1607908171.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:31.569Z,1607908171.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:32.372Z,1607908172.372 [Micromodem](INFO): Nmea in: $SNTTA,0.139493,,,,010932.29*47

2020-12-14T01:09:32.816Z,1607908172.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.339996 m, bearing: 230.572460 deg, deltaT: 4.465094 s, approachRate: 0.806259 m/s, LOS rate: -0.193885 deg/s, posRepo size: 4
2020-12-14T01:09:35.212Z,1607908175.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:35.999Z,1607908175.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:36.397Z,1607908176.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:37.213Z,1607908177.213 [Micromodem](INFO): Nmea in: $SNTTA,0.142312,,,,010937.15*4F

2020-12-14T01:09:37.649Z,1607908177.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.539978 m, bearing: 231.763345 deg, deltaT: 4.835344 s, approachRate: 0.868600 m/s, LOS rate: 0.246287 deg/s, posRepo size: 4
2020-12-14T01:09:40.194Z,1607908180.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:40.827Z,1607908180.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:41.233Z,1607908181.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:42.061Z,1607908182.061 [Micromodem](INFO): Nmea in: $SNTTA,0.145211,,,,010941.98*4E

2020-12-14T01:09:42.489Z,1607908182.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.919983 m, bearing: 233.260878 deg, deltaT: 5.004190 s, approachRate: 0.875268 m/s, LOS rate: 0.299256 deg/s, posRepo size: 4
2020-12-14T01:09:44.896Z,1607908184.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:45.679Z,1607908185.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:46.081Z,1607908186.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:46.941Z,1607908186.941 [Micromodem](INFO): Nmea in: $SNTTA,0.147938,,,,010946.83*41

2020-12-14T01:09:47.399Z,1607908187.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.999985 m, bearing: 233.451194 deg, deltaT: 4.747213 s, approachRate: 0.859452 m/s, LOS rate: 0.040090 deg/s, posRepo size: 4
2020-12-14T01:09:49.810Z,1607908189.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:09:49.834Z,1607908189.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:50.579Z,1607908190.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:50.985Z,1607908190.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:51.821Z,1607908191.821 [Micromodem](INFO): Nmea in: $SNTTA,0.150747,,,,010951.73*48

2020-12-14T01:09:52.243Z,1607908192.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.199982 m, bearing: 232.952918 deg, deltaT: 4.887839 s, approachRate: 0.859275 m/s, LOS rate: -0.101942 deg/s, posRepo size: 4
2020-12-14T01:09:54.686Z,1607908194.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:09:55.429Z,1607908195.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:09:55.841Z,1607908195.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:09:56.665Z,1607908196.665 [Micromodem](INFO): Nmea in: $SNTTA,0.153687,,,,010956.58*48

2020-12-14T01:09:57.080Z,1607908197.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.579987 m, bearing: 233.329371 deg, deltaT: 4.876020 s, approachRate: 0.898275 m/s, LOS rate: 0.077205 deg/s, posRepo size: 4
2020-12-14T01:09:59.696Z,1607908199.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:00.309Z,1607908200.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:00.701Z,1607908200.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:01.520Z,1607908201.520 [Micromodem](INFO): Nmea in: $SNTTA,0.156550,,,,011001.47*40

2020-12-14T01:10:01.962Z,1607908201.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.899994 m, bearing: 235.416021 deg, deltaT: 4.979192 s, approachRate: 0.867612 m/s, LOS rate: 0.419074 deg/s, posRepo size: 4
2020-12-14T01:10:04.389Z,1607908204.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:05.151Z,1607908205.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:05.577Z,1607908205.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:06.377Z,1607908206.377 [Micromodem](INFO): Nmea in: $SNTTA,0.159354,,,,011006.31*4B

2020-12-14T01:10:06.822Z,1607908206.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.159988 m, bearing: 233.976326 deg, deltaT: 4.699622 s, approachRate: 0.906455 m/s, LOS rate: -0.306343 deg/s, posRepo size: 4
2020-12-14T01:10:09.282Z,1607908209.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:10.015Z,1607908210.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:10.402Z,1607908210.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:10.808Z,1607908210.808 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:10:11.222Z,1607908211.222 [Micromodem](INFO): Nmea in: $SNTTA,0.162138,,,,011011.17*49

2020-12-14T01:10:11.649Z,1607908211.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.299988 m, bearing: 235.389356 deg, deltaT: 4.832984 s, approachRate: 0.856614 m/s, LOS rate: 0.292372 deg/s, posRepo size: 4
2020-12-14T01:10:14.085Z,1607908214.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:14.863Z,1607908214.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:15.269Z,1607908215.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:16.085Z,1607908216.085 [Micromodem](INFO): Nmea in: $SNTTA,0.165031,,,,011016.02*45

2020-12-14T01:10:16.524Z,1607908216.524 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T01:10:16.574Z,1607908216.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.619995 m, bearing: 234.128803 deg, deltaT: 4.840201 s, approachRate: 0.892526 m/s, LOS rate: -0.260434 deg/s, posRepo size: 4
2020-12-14T01:10:18.895Z,1607908218.895 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:10:19.062Z,1607908219.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:19.483Z,1607908219.483 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:10:19.483Z,1607908219.483 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:10:19.739Z,1607908219.739 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:10:19.740Z,1607908219.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:20.143Z,1607908220.143 [Micromodem](INFO): Nmea in: $CADRQ,011020,1,9,0,64,1*4C

2020-12-14T01:10:20.143Z,1607908220.143 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,011020,1,9,0,64,1*4C

2020-12-14T01:10:20.588Z,1607908220.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:20.626Z,1607908220.626 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:10:20.979Z,1607908220.979 [Micromodem](INFO): Nmea in: $SNTTA,0.167845,,,,011020.90*42

2020-12-14T01:10:21.430Z,1607908221.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.879990 m, bearing: 234.370537 deg, deltaT: 5.052594 s, approachRate: 0.843130 m/s, LOS rate: 0.047844 deg/s, posRepo size: 4
2020-12-14T01:10:23.849Z,1607908223.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:24.623Z,1607908224.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:25.009Z,1607908225.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:25.840Z,1607908225.840 [Micromodem](INFO): Nmea in: $SNTTA,0.170587,,,,011025.78*44

2020-12-14T01:10:26.315Z,1607908226.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.019989 m, bearing: 233.767678 deg, deltaT: 4.773059 s, approachRate: 0.867368 m/s, LOS rate: -0.126305 deg/s, posRepo size: 4
2020-12-14T01:10:28.705Z,1607908228.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:29.468Z,1607908229.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:29.865Z,1607908229.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:30.697Z,1607908230.697 [Micromodem](INFO): Nmea in: $SNTTA,0.173565,,,,011030.62*44

2020-12-14T01:10:31.141Z,1607908231.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.459991 m, bearing: 232.531140 deg, deltaT: 4.846508 s, approachRate: 0.916124 m/s, LOS rate: -0.255140 deg/s, posRepo size: 4
2020-12-14T01:10:33.716Z,1607908233.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:34.369Z,1607908234.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:34.746Z,1607908234.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:35.593Z,1607908235.593 [Micromodem](INFO): Nmea in: $SNTTA,0.176440,,,,011035.52*41

2020-12-14T01:10:35.999Z,1607908235.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.779999 m, bearing: 231.090954 deg, deltaT: 4.894696 s, approachRate: 0.882590 m/s, LOS rate: -0.294234 deg/s, posRepo size: 4
2020-12-14T01:10:38.417Z,1607908238.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:39.189Z,1607908239.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:39.602Z,1607908239.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:40.437Z,1607908240.437 [Micromodem](INFO): Nmea in: $SNTTA,0.179278,,,,011040.34*41

2020-12-14T01:10:40.870Z,1607908240.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.979980 m, bearing: 232.314459 deg, deltaT: 4.802512 s, approachRate: 0.874538 m/s, LOS rate: 0.254764 deg/s, posRepo size: 4
2020-12-14T01:10:43.283Z,1607908243.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:44.037Z,1607908244.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:44.459Z,1607908244.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:45.314Z,1607908245.314 [Micromodem](INFO): Nmea in: $SNTTA,0.182114,,,,011045.19*46

2020-12-14T01:10:45.728Z,1607908245.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.299988 m, bearing: 233.206892 deg, deltaT: 4.902410 s, approachRate: 0.881201 m/s, LOS rate: 0.182040 deg/s, posRepo size: 4
2020-12-14T01:10:48.122Z,1607908248.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:48.903Z,1607908248.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:49.324Z,1607908249.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:49.697Z,1607908249.697 [Micromodem](INFO): Nmea in: $CAERR,011050,DATA_TIMEOUT,1*4B

2020-12-14T01:10:50.124Z,1607908250.124 [Micromodem](INFO): Nmea in: $SNTTA,0.185284,,,,011050.06*41

2020-12-14T01:10:51.096Z,1607908251.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:52.548Z,1607908252.548 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:10:53.775Z,1607908253.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:54.587Z,1607908254.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:55.007Z,1607908255.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:10:55.824Z,1607908255.824 [Micromodem](INFO): Nmea in: $SNTTA,0.188267,,,,011055.74*41

2020-12-14T01:10:56.225Z,1607908256.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.479980 m, bearing: 235.613796 deg, deltaT: 10.477052 s, approachRate: 0.876200 m/s, LOS rate: 0.229731 deg/s, posRepo size: 4
2020-12-14T01:10:58.675Z,1607908258.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:10:59.429Z,1607908259.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:10:59.901Z,1607908259.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:00.685Z,1607908260.685 [Micromodem](INFO): Nmea in: $SNTTA,0.191082,,,,011100.58*4F

2020-12-14T01:11:01.119Z,1607908261.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.739990 m, bearing: 235.940962 deg, deltaT: 4.913296 s, approachRate: 0.867037 m/s, LOS rate: 0.066588 deg/s, posRepo size: 4
2020-12-14T01:11:03.573Z,1607908263.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:04.343Z,1607908264.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:04.721Z,1607908264.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:05.553Z,1607908265.553 [Micromodem](INFO): Nmea in: $SNTTA,0.194049,,,,011105.50*40

2020-12-14T01:11:06.106Z,1607908266.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.119995 m, bearing: 225.862348 deg, deltaT: 4.846981 s, approachRate: 0.903656 m/s, LOS rate: -2.079359 deg/s, posRepo size: 4
2020-12-14T01:11:08.389Z,1607908268.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:09.171Z,1607908269.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:09.585Z,1607908269.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:10.387Z,1607908270.387 [Micromodem](INFO): Nmea in: $SNTTA,0.196785,,,,011110.33*44

2020-12-14T01:11:11.211Z,1607908271.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:12.814Z,1607908272.814 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:11:14.055Z,1607908274.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:14.839Z,1607908274.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:15.246Z,1607908275.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:16.071Z,1607908276.071 [Micromodem](INFO): Nmea in: $SNTTA,0.200148,,,,011115.99*4A

2020-12-14T01:11:17.054Z,1607908277.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:18.483Z,1607908278.483 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:11:19.714Z,1607908279.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:20.518Z,1607908280.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:20.893Z,1607908280.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:21.706Z,1607908281.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011121.67*5D

2020-12-14T01:11:22.581Z,1607908282.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:24.126Z,1607908284.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:11:24.543Z,1607908284.543 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:11:25.100Z,1607908285.100 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:11:25.100Z,1607908285.100 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:11:25.167Z,1607908285.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:25.496Z,1607908285.496 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:11:25.967Z,1607908285.967 [Micromodem](INFO): Nmea in: $CADRQ,011126,1,9,0,64,1*4B

2020-12-14T01:11:25.968Z,1607908285.968 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:11:26.375Z,1607908286.375 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:11:26.376Z,1607908286.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:26.774Z,1607908286.774 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:11:26.775Z,1607908286.775 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:11:28.007Z,1607908288.007 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:11:28.007Z,1607908288.007 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:11:28.056Z,1607908288.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:28.392Z,1607908288.392 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011127.143028,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-14T01:11:28.392Z,1607908288.392 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,011127.143028,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-14T01:11:30.875Z,1607908290.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:33.715Z,1607908293.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:36.267Z,1607908296.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:37.702Z,1607908297.702 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:38.120Z,1607908298.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:38.956Z,1607908298.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011138.86*5A

2020-12-14T01:11:39.410Z,1607908299.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.579987 m, bearing: 236.895003 deg, deltaT: 33.372278 s, approachRate: 0.882768 m/s, LOS rate: 0.330593 deg/s, posRepo size: 4
2020-12-14T01:11:39.411Z,1607908299.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 320.58 m. Resuming terminal guidance.
2020-12-14T01:11:39.411Z,1607908299.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-14T01:11:41.787Z,1607908301.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:42.583Z,1607908302.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:43.017Z,1607908303.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:43.829Z,1607908303.829 [Micromodem](INFO): Nmea in: $SNTTA,0.216463,,,,011143.74*41

2020-12-14T01:11:44.271Z,1607908304.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.779999 m, bearing: 236.837875 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-14T01:11:44.291Z,1607908304.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 236.837875deg and heading rate command to 0 deg/s.
2020-12-14T01:11:46.327Z,1607908306.327 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T01:01:46.2Z
2020-12-14T01:11:46.327Z,1607908306.327 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T01:11:46.327Z,1607908306.327 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:11:46.327Z,1607908306.327 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T01:11:46.328Z,1607908306.328 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:11:46.328Z,1607908306.328 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T01:11:46.709Z,1607908306.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:46.709Z,1607908306.709 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T01:11:46.710Z,1607908306.710 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T01:11:46.710Z,1607908306.710 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T01:11:46.710Z,1607908306.710 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:11:46.710Z,1607908306.710 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T01:11:47.466Z,1607908307.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:47.857Z,1607908307.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:48.697Z,1607908308.697 [Micromodem](INFO): Nmea in: $SNTTA,0.219573,,,,011148.62*42

2020-12-14T01:11:49.250Z,1607908309.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 329.160004 m, bearing: 238.944059 deg, deltaT: 4.864133 s, approachRate: 0.900470 m/s, LOS rate: 0.433003 deg/s, posRepo size: 2
2020-12-14T01:11:49.255Z,1607908309.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.160004 m,
      bearing: 238.944059 deg,
      approachRate: 0.900470 m/s,
      LOS rate: 0.433003 deg/s,
      cmd update: 0.866006 deg/s,
      cmd heading: 236.837875 deg,
      new cmd heading: 236.837875 deg.

2020-12-14T01:11:51.394Z,1607908311.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:51.967Z,1607908311.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:52.373Z,1607908312.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:53.209Z,1607908313.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011153.12*5A

2020-12-14T01:11:53.658Z,1607908313.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 332.819977 m, bearing: 240.427986 deg, deltaT: 4.489039 s, approachRate: 0.815313 m/s, LOS rate: 0.330567 deg/s, posRepo size: 3
2020-12-14T01:11:53.660Z,1607908313.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.819977 m,
      bearing: 240.427986 deg,
      approachRate: 0.815313 m/s,
      LOS rate: 0.330567 deg/s,
      cmd update: 0.661133 deg/s,
      cmd heading: 240.726102 deg,
      new cmd heading: 241.082953 deg.

2020-12-14T01:11:55.796Z,1607908315.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:11:56.407Z,1607908316.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:11:56.825Z,1607908316.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:11:57.659Z,1607908317.659 [Micromodem](INFO): Nmea in: $SNTTA,0.224600,,,,011157.56*42

2020-12-14T01:11:58.057Z,1607908318.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.019989 m, bearing: 216.231181 deg, deltaT: 4.585861 s, approachRate: 0.915861 m/s, LOS rate: -5.276393 deg/s, posRepo size: 4
2020-12-14T01:11:58.059Z,1607908318.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.019989 m,
      bearing: 216.231181 deg,
      approachRate: 0.915861 m/s,
      LOS rate: -5.276393 deg/s,
      cmd update: -10.552787 deg/s,
      cmd heading: 243.760082 deg,
      new cmd heading: 243.906855 deg.

2020-12-14T01:12:00.518Z,1607908320.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:01.291Z,1607908321.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:01.673Z,1607908321.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:02.520Z,1607908322.520 [Micromodem](INFO): Nmea in: $SNTTA,0.227320,,,,011202.45*47

2020-12-14T01:12:02.924Z,1607908322.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.100006 m, bearing: 228.897480 deg, deltaT: 4.753320 s, approachRate: 0.858351 m/s, LOS rate: 2.664727 deg/s, posRepo size: 4
2020-12-14T01:12:02.926Z,1607908322.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.100006 m,
      bearing: 228.897480 deg,
      approachRate: 0.858351 m/s,
      LOS rate: 2.664727 deg/s,
      cmd update: 5.329454 deg/s,
      cmd heading: 193.599353 deg,
      new cmd heading: 190.048920 deg.

2020-12-14T01:12:05.362Z,1607908325.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:06.103Z,1607908326.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:06.524Z,1607908326.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:06.563Z,1607908326.563 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:12:07.365Z,1607908327.365 [Micromodem](INFO): Nmea in: $SNTTA,0.230106,,,,011207.26*47

2020-12-14T01:12:07.782Z,1607908327.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.179993 m, bearing: 224.118137 deg, deltaT: 4.839146 s, approachRate: 0.843121 m/s, LOS rate: -0.987642 deg/s, posRepo size: 4
2020-12-14T01:12:07.784Z,1607908327.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.179993 m,
      bearing: 224.118137 deg,
      approachRate: 0.843121 m/s,
      LOS rate: -0.987642 deg/s,
      cmd update: -1.975284 deg/s,
      cmd heading: 219.334964 deg,
      new cmd heading: 221.280598 deg.

2020-12-14T01:12:10.283Z,1607908330.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:11.015Z,1607908331.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:11.422Z,1607908331.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:12.265Z,1607908332.265 [Micromodem](INFO): Nmea in: $SNTTA,0.233059,,,,011212.17*49

2020-12-14T01:12:12.695Z,1607908332.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.320007 m, bearing: 198.548067 deg, deltaT: 4.901541 s, approachRate: 0.844635 m/s, LOS rate: -5.216741 deg/s, posRepo size: 4
2020-12-14T01:12:12.698Z,1607908332.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.320007 m,
      bearing: 198.548067 deg,
      approachRate: 0.844635 m/s,
      LOS rate: -5.216741 deg/s,
      cmd update: -10.433482 deg/s,
      cmd heading: 209.640855 deg,
      new cmd heading: 208.907821 deg.

2020-12-14T01:12:15.272Z,1607908335.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:15.863Z,1607908335.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:16.308Z,1607908336.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:17.114Z,1607908337.114 [Micromodem](INFO): Nmea in: $SNTTA,0.235679,,,,011217.02*4A

2020-12-14T01:12:17.592Z,1607908337.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.640015 m, bearing: 201.492780 deg, deltaT: 5.002130 s, approachRate: 0.863634 m/s, LOS rate: 0.588692 deg/s, posRepo size: 4
2020-12-14T01:12:17.594Z,1607908337.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.640015 m,
      bearing: 201.492780 deg,
      approachRate: 0.863634 m/s,
      LOS rate: 0.588692 deg/s,
      cmd update: 1.177384 deg/s,
      cmd heading: 157.453861 deg,
      new cmd heading: 154.683678 deg.

2020-12-14T01:12:19.939Z,1607908339.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:20.739Z,1607908340.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:21.145Z,1607908341.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:21.985Z,1607908341.985 [Micromodem](INFO): Nmea in: $SNTTA,0.238343,,,,011221.89*4D

2020-12-14T01:12:22.403Z,1607908342.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.660004 m, bearing: 167.999390 deg, deltaT: 4.668690 s, approachRate: 0.861053 m/s, LOS rate: -7.174045 deg/s, posRepo size: 4
2020-12-14T01:12:22.405Z,1607908342.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.660004 m,
      bearing: 167.999390 deg,
      approachRate: 0.861053 m/s,
      LOS rate: -7.174045 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 162.955774 deg,
      new cmd heading: 163.431466 deg.

2020-12-14T01:12:24.858Z,1607908344.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:25.587Z,1607908345.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:26.001Z,1607908346.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:26.843Z,1607908346.843 [Micromodem](INFO): Nmea in: $SNTTA,0.240746,,,,011226.74*46

2020-12-14T01:12:27.239Z,1607908347.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.199982 m, bearing: 152.475832 deg, deltaT: 4.893043 s, approachRate: 0.723472 m/s, LOS rate: -3.172578 deg/s, posRepo size: 4
2020-12-14T01:12:27.257Z,1607908347.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.199982 m,
      bearing: 152.475832 deg,
      approachRate: 0.723472 m/s,
      LOS rate: -3.172578 deg/s,
      cmd update: -6.345155 deg/s,
      cmd heading: 104.240289 deg,
      new cmd heading: 100.077705 deg.

2020-12-14T01:12:29.690Z,1607908349.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:30.452Z,1607908350.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:30.855Z,1607908350.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:30.869Z,1607908350.869 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:12:31.410Z,1607908351.410 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:12:31.410Z,1607908351.410 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:12:31.735Z,1607908351.735 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:12:32.115Z,1607908352.115 [Micromodem](INFO): Nmea in: $CADRQ,011232,1,9,0,64,1*4D

2020-12-14T01:12:32.116Z,1607908352.116 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:12:32.223Z,1607908352.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 363.119995 m, bearing: 81.167468 deg, deltaT: 4.863279 s, approachRate: 0.394798 m/s, LOS rate: -14.662610 deg/s, posRepo size: 4
2020-12-14T01:12:32.224Z,1607908352.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.662610 deg/s. Setting heading cmd to target bearing of 81.167468deg and heading rate command to 0 deg/s.
2020-12-14T01:12:32.535Z,1607908352.535 [Micromodem](INFO): Nmea in: $SNTTA,0.242080,,,,011231.64*4E

2020-12-14T01:12:32.535Z,1607908352.535 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.242080,,,,011231.64*4E

2020-12-14T01:12:33.731Z,1607908353.731 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:12:34.157Z,1607908354.157 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:12:34.535Z,1607908354.535 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:12:34.736Z,1607908354.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:34.939Z,1607908354.939 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011233.292637,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T01:12:35.367Z,1607908355.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:35.759Z,1607908355.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:36.595Z,1607908356.595 [Micromodem](INFO): Nmea in: $SNTTA,0.243177,,,,011236.52*44

2020-12-14T01:12:36.999Z,1607908356.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 364.679962 m, bearing: 79.163880 deg, deltaT: 5.020237 s, approachRate: 0.310736 m/s, LOS rate: -0.399102 deg/s, posRepo size: 4
2020-12-14T01:12:37.001Z,1607908357.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.679962 m,
      bearing: 79.163880 deg,
      approachRate: 0.310736 m/s,
      LOS rate: -0.399102 deg/s,
      cmd update: -0.798205 deg/s,
      cmd heading: 81.167468 deg,
      new cmd heading: 81.167468 deg.

2020-12-14T01:12:39.430Z,1607908359.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:40.203Z,1607908360.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:40.601Z,1607908360.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:41.427Z,1607908361.427 [Micromodem](INFO): Nmea in: $SNTTA,0.242968,,,,011241.36*41

2020-12-14T01:12:41.854Z,1607908361.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 364.319977 m, bearing: 23.449474 deg, deltaT: 4.706705 s, approachRate: -0.076484 m/s, LOS rate: -11.837242 deg/s, posRepo size: 4
2020-12-14T01:12:41.855Z,1607908361.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.837242 deg/s. Setting heading cmd to target bearing of 23.449474deg and heading rate command to 0 deg/s.
2020-12-14T01:12:44.327Z,1607908364.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:45.047Z,1607908365.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:45.447Z,1607908365.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:46.291Z,1607908366.291 [Micromodem](INFO): Nmea in: $SNTTA,0.242359,,,,011246.21*48

2020-12-14T01:12:46.695Z,1607908366.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 363.420013 m, bearing: 20.087199 deg, deltaT: 4.869629 s, approachRate: -0.184811 m/s, LOS rate: -0.690458 deg/s, posRepo size: 4
2020-12-14T01:12:46.697Z,1607908366.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.420013 m,
      bearing: 20.087199 deg,
      approachRate: -0.184811 m/s,
      LOS rate: -0.690458 deg/s,
      cmd update: -1.380916 deg/s,
      cmd heading: 23.449474 deg,
      new cmd heading: 23.449474 deg.

2020-12-14T01:12:49.134Z,1607908369.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:49.887Z,1607908369.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:50.311Z,1607908370.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:51.125Z,1607908371.125 [Micromodem](INFO): Nmea in: $SNTTA,0.241296,,,,011251.04*48

2020-12-14T01:12:51.576Z,1607908371.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.679962 m, bearing: 26.003715 deg, deltaT: 4.787137 s, approachRate: -0.363485 m/s, LOS rate: 1.235920 deg/s, posRepo size: 4
2020-12-14T01:12:51.578Z,1607908371.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.679962 m,
      bearing: 26.003715 deg,
      approachRate: -0.363485 m/s,
      LOS rate: 1.235920 deg/s,
      cmd update: 2.471839 deg/s,
      cmd heading: 16.833178 deg,
      new cmd heading: 16.230181 deg.

2020-12-14T01:12:54.102Z,1607908374.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:54.739Z,1607908374.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:55.145Z,1607908375.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:12:55.973Z,1607908375.973 [Micromodem](INFO): Nmea in: $SNTTA,0.239429,,,,011255.90*4C

2020-12-14T01:12:56.395Z,1607908376.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.979980 m, bearing: 26.424284 deg, deltaT: 5.024697 s, approachRate: -0.537342 m/s, LOS rate: 0.083700 deg/s, posRepo size: 4
2020-12-14T01:12:56.397Z,1607908376.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.979980 m,
      bearing: 26.424284 deg,
      approachRate: -0.537342 m/s,
      LOS rate: 0.083700 deg/s,
      cmd update: 0.167401 deg/s,
      cmd heading: 29.213847 deg,
      new cmd heading: 29.825239 deg.

2020-12-14T01:12:58.820Z,1607908378.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:12:59.587Z,1607908379.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:12:59.989Z,1607908379.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:00.830Z,1607908380.830 [Micromodem](INFO): Nmea in: $SNTTA,0.237647,,,,011300.74*43

2020-12-14T01:13:01.243Z,1607908381.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.339996 m, bearing: 29.030005 deg, deltaT: 4.682888 s, approachRate: -0.563751 m/s, LOS rate: 0.556435 deg/s, posRepo size: 4
2020-12-14T01:13:01.245Z,1607908381.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.339996 m,
      bearing: 29.030005 deg,
      approachRate: -0.563751 m/s,
      LOS rate: 0.556435 deg/s,
      cmd update: 1.112869 deg/s,
      cmd heading: 30.000443 deg,
      new cmd heading: 30.066548 deg.

2020-12-14T01:13:03.713Z,1607908383.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:04.457Z,1607908384.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:04.853Z,1607908384.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:05.677Z,1607908385.677 [Micromodem](INFO): Nmea in: $SNTTA,0.235844,,,,011305.61*4D

2020-12-14T01:13:06.094Z,1607908386.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.519989 m, bearing: 28.838343 deg, deltaT: 4.893294 s, approachRate: -0.576300 m/s, LOS rate: -0.039168 deg/s, posRepo size: 4
2020-12-14T01:13:06.097Z,1607908386.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.519989 m,
      bearing: 28.838343 deg,
      approachRate: -0.576300 m/s,
      LOS rate: -0.039168 deg/s,
      cmd update: -0.078337 deg/s,
      cmd heading: 35.446053 deg,
      new cmd heading: 35.838075 deg.

2020-12-14T01:13:08.559Z,1607908388.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:09.322Z,1607908389.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:09.693Z,1607908389.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:10.537Z,1607908390.537 [Micromodem](INFO): Nmea in: $SNTTA,0.233875,,,,011310.48*46

2020-12-14T01:13:10.940Z,1607908390.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.639984 m, bearing: 28.262887 deg, deltaT: 4.853844 s, approachRate: -0.593345 m/s, LOS rate: -0.118557 deg/s, posRepo size: 4
2020-12-14T01:13:10.942Z,1607908390.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.639984 m,
      bearing: 28.262887 deg,
      approachRate: -0.593345 m/s,
      LOS rate: -0.118557 deg/s,
      cmd update: -0.237113 deg/s,
      cmd heading: 35.065822 deg,
      new cmd heading: 35.038722 deg.

2020-12-14T01:13:13.610Z,1607908393.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:14.175Z,1607908394.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:14.588Z,1607908394.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:15.409Z,1607908395.409 [Micromodem](INFO): Nmea in: $SNTTA,0.232062,,,,011315.33*40

2020-12-14T01:13:15.914Z,1607908395.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.940002 m, bearing: 27.560476 deg, deltaT: 5.082376 s, approachRate: -0.531244 m/s, LOS rate: -0.138205 deg/s, posRepo size: 4
2020-12-14T01:13:15.916Z,1607908395.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.940002 m,
      bearing: 27.560476 deg,
      approachRate: -0.531244 m/s,
      LOS rate: -0.138205 deg/s,
      cmd update: -0.276411 deg/s,
      cmd heading: 33.861129 deg,
      new cmd heading: 33.804302 deg.

2020-12-14T01:13:18.341Z,1607908398.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:19.103Z,1607908399.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:19.540Z,1607908399.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:20.353Z,1607908400.353 [Micromodem](INFO): Nmea in: $SNTTA,0.230211,,,,011320.26*46

2020-12-14T01:13:20.749Z,1607908400.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.120026 m, bearing: 27.107453 deg, deltaT: 4.706164 s, approachRate: -0.599209 m/s, LOS rate: -0.096262 deg/s, posRepo size: 4
2020-12-14T01:13:20.751Z,1607908400.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.120026 m,
      bearing: 27.107453 deg,
      approachRate: -0.599209 m/s,
      LOS rate: -0.096262 deg/s,
      cmd update: -0.192523 deg/s,
      cmd heading: 32.559811 deg,
      new cmd heading: 32.458479 deg.

2020-12-14T01:13:23.198Z,1607908403.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:23.951Z,1607908403.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:24.357Z,1607908404.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:25.207Z,1607908405.207 [Micromodem](INFO): Nmea in: $SNTTA,0.228060,,,,011325.11*4A

2020-12-14T01:13:25.638Z,1607908405.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.880005 m, bearing: 27.982368 deg, deltaT: 4.879359 s, approachRate: -0.664026 m/s, LOS rate: 0.179309 deg/s, posRepo size: 4
2020-12-14T01:13:25.640Z,1607908405.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.880005 m,
      bearing: 27.982368 deg,
      approachRate: -0.664026 m/s,
      LOS rate: 0.179309 deg/s,
      cmd update: 0.358619 deg/s,
      cmd heading: 31.623589 deg,
      new cmd heading: 31.548026 deg.

2020-12-14T01:13:28.045Z,1607908408.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:28.835Z,1607908408.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:29.233Z,1607908409.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:30.065Z,1607908410.065 [Micromodem](INFO): Nmea in: $SNTTA,0.226250,,,,011329.99*49

2020-12-14T01:13:30.490Z,1607908410.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.239990 m, bearing: 28.140437 deg, deltaT: 4.817283 s, approachRate: -0.548030 m/s, LOS rate: 0.032813 deg/s, posRepo size: 4
2020-12-14T01:13:30.499Z,1607908410.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.239990 m,
      bearing: 28.140437 deg,
      approachRate: -0.548030 m/s,
      LOS rate: 0.032813 deg/s,
      cmd update: 0.065626 deg/s,
      cmd heading: 33.357056 deg,
      new cmd heading: 33.503900 deg.

2020-12-14T01:13:33.039Z,1607908413.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:33.681Z,1607908413.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:34.089Z,1607908414.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:34.909Z,1607908414.909 [Micromodem](INFO): Nmea in: $SNTTA,0.224516,,,,011334.84*4E

2020-12-14T01:13:35.346Z,1607908415.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 336.600006 m, bearing: 27.102508 deg, deltaT: 5.012943 s, approachRate: -0.526634 m/s, LOS rate: -0.207050 deg/s, posRepo size: 4
2020-12-14T01:13:35.348Z,1607908415.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.600006 m,
      bearing: 27.102508 deg,
      approachRate: -0.526634 m/s,
      LOS rate: -0.207050 deg/s,
      cmd update: -0.414100 deg/s,
      cmd heading: 33.686034 deg,
      new cmd heading: 33.702724 deg.

2020-12-14T01:13:36.549Z,1607908416.549 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:13:37.095Z,1607908417.095 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:13:37.096Z,1607908417.096 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:13:37.370Z,1607908417.370 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:13:37.731Z,1607908417.731 [Micromodem](INFO): Nmea in: $CADRQ,011338,1,9,0,64,1*46

2020-12-14T01:13:37.731Z,1607908417.731 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:13:37.854Z,1607908417.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:38.152Z,1607908418.152 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:13:38.578Z,1607908418.578 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:13:38.579Z,1607908418.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:39.770Z,1607908419.770 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:13:39.771Z,1607908419.771 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:13:40.171Z,1607908420.171 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011338.902878,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T01:13:40.172Z,1607908420.172 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,011338.902878,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T01:13:40.676Z,1607908420.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:43.434Z,1607908423.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:46.005Z,1607908426.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:48.695Z,1607908428.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:49.866Z,1607908429.866 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:50.265Z,1607908430.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:51.097Z,1607908431.097 [Micromodem](INFO): Nmea in: $SNTTA,0.217926,,,,011351.02*4C

2020-12-14T01:13:51.563Z,1607908431.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.639984 m, bearing: 28.499702 deg, deltaT: 16.018871 s, approachRate: -0.621768 m/s, LOS rate: 0.087222 deg/s, posRepo size: 4
2020-12-14T01:13:51.566Z,1607908431.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.639984 m,
      bearing: 28.499702 deg,
      approachRate: -0.621768 m/s,
      LOS rate: 0.087222 deg/s,
      cmd update: 0.174443 deg/s,
      cmd heading: 27.052627 deg,
      new cmd heading: 26.865370 deg.

2020-12-14T01:13:53.615Z,1607908433.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:54.347Z,1607908434.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:54.845Z,1607908434.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:13:55.670Z,1607908435.670 [Micromodem](INFO): Nmea in: $SNTTA,0.215963,,,,011355.50*4C

2020-12-14T01:13:56.102Z,1607908436.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.819977 m, bearing: 28.168914 deg, deltaT: 4.630328 s, approachRate: -0.609030 m/s, LOS rate: -0.071439 deg/s, posRepo size: 4
2020-12-14T01:13:56.103Z,1607908436.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.819977 m,
      bearing: 28.168914 deg,
      approachRate: -0.609030 m/s,
      LOS rate: -0.071439 deg/s,
      cmd update: -0.142879 deg/s,
      cmd heading: 27.860360 deg,
      new cmd heading: 27.923156 deg.

2020-12-14T01:13:58.568Z,1607908438.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:13:59.312Z,1607908439.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:13:59.693Z,1607908439.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:00.538Z,1607908440.538 [Micromodem](INFO): Nmea in: $SNTTA,0.214516,,,,011400.47*42

2020-12-14T01:14:01.084Z,1607908441.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.540009 m, bearing: 28.127011 deg, deltaT: 4.849200 s, approachRate: -0.470174 m/s, LOS rate: -0.008641 deg/s, posRepo size: 4
2020-12-14T01:14:01.086Z,1607908441.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.540009 m,
      bearing: 28.127011 deg,
      approachRate: -0.470174 m/s,
      LOS rate: -0.008641 deg/s,
      cmd update: -0.017283 deg/s,
      cmd heading: 27.167509 deg,
      new cmd heading: 27.096991 deg.

2020-12-14T01:14:03.383Z,1607908443.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:04.131Z,1607908444.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:04.592Z,1607908444.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:05.376Z,1607908445.376 [Micromodem](INFO): Nmea in: $SNTTA,0.212212,,,,011405.29*4A

2020-12-14T01:14:05.802Z,1607908445.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.179993 m, bearing: 27.793025 deg, deltaT: 4.809872 s, approachRate: -0.698567 m/s, LOS rate: -0.069438 deg/s, posRepo size: 4
2020-12-14T01:14:05.804Z,1607908445.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.179993 m,
      bearing: 27.793025 deg,
      approachRate: -0.698567 m/s,
      LOS rate: -0.069438 deg/s,
      cmd update: -0.138875 deg/s,
      cmd heading: 27.084386 deg,
      new cmd heading: 27.077448 deg.

2020-12-14T01:14:07.918Z,1607908447.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:08.655Z,1607908448.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:09.065Z,1607908449.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:09.897Z,1607908449.897 [Micromodem](INFO): Nmea in: $SNTTA,0.210367,,,,011409.81*45

2020-12-14T01:14:10.331Z,1607908450.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.359985 m, bearing: 27.807732 deg, deltaT: 4.520470 s, approachRate: -0.623831 m/s, LOS rate: 0.003253 deg/s, posRepo size: 4
2020-12-14T01:14:10.334Z,1607908450.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.359985 m,
      bearing: 27.807732 deg,
      approachRate: -0.623831 m/s,
      LOS rate: 0.003253 deg/s,
      cmd update: 0.006507 deg/s,
      cmd heading: 26.456586 deg,
      new cmd heading: 26.399565 deg.

2020-12-14T01:14:12.770Z,1607908452.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:13.506Z,1607908453.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:13.909Z,1607908453.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:14.761Z,1607908454.761 [Micromodem](INFO): Nmea in: $SNTTA,0.208469,,,,011414.66*40

2020-12-14T01:14:15.172Z,1607908455.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.540009 m, bearing: 28.161288 deg, deltaT: 4.883412 s, approachRate: -0.577460 m/s, LOS rate: 0.072399 deg/s, posRepo size: 4
2020-12-14T01:14:15.185Z,1607908455.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.540009 m,
      bearing: 28.161288 deg,
      approachRate: -0.577460 m/s,
      LOS rate: 0.072399 deg/s,
      cmd update: 0.144799 deg/s,
      cmd heading: 26.488362 deg,
      new cmd heading: 26.490755 deg.

2020-12-14T01:14:17.747Z,1607908457.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:18.371Z,1607908458.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:18.765Z,1607908458.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:19.593Z,1607908459.593 [Micromodem](INFO): Nmea in: $SNTTA,0.206892,,,,011419.52*4C

2020-12-14T01:14:20.010Z,1607908460.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.659973 m, bearing: 27.952477 deg, deltaT: 5.005158 s, approachRate: -0.575413 m/s, LOS rate: -0.041719 deg/s, posRepo size: 4
2020-12-14T01:14:20.012Z,1607908460.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.659973 m,
      bearing: 27.952477 deg,
      approachRate: -0.575413 m/s,
      LOS rate: -0.041719 deg/s,
      cmd update: -0.083438 deg/s,
      cmd heading: 27.212497 deg,
      new cmd heading: 27.242102 deg.

2020-12-14T01:14:22.430Z,1607908462.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:23.207Z,1607908463.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:23.610Z,1607908463.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:24.435Z,1607908464.435 [Micromodem](INFO): Nmea in: $SNTTA,0.204543,,,,011424.36*43

2020-12-14T01:14:24.862Z,1607908464.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.599976 m, bearing: 27.718144 deg, deltaT: 4.681827 s, approachRate: -0.653591 m/s, LOS rate: -0.050052 deg/s, posRepo size: 4
2020-12-14T01:14:24.863Z,1607908464.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.599976 m,
      bearing: 27.718144 deg,
      approachRate: -0.653591 m/s,
      LOS rate: -0.050052 deg/s,
      cmd update: -0.100103 deg/s,
      cmd heading: 26.821769 deg,
      new cmd heading: 26.790623 deg.

2020-12-14T01:14:27.318Z,1607908467.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:28.043Z,1607908468.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:28.455Z,1607908468.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:29.295Z,1607908469.295 [Micromodem](INFO): Nmea in: $SNTTA,0.202645,,,,011429.20*4A

2020-12-14T01:14:29.701Z,1607908469.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.779999 m, bearing: 28.105877 deg, deltaT: 4.853161 s, approachRate: -0.581060 m/s, LOS rate: 0.079893 deg/s, posRepo size: 4
2020-12-14T01:14:29.703Z,1607908469.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.779999 m,
      bearing: 28.105877 deg,
      approachRate: -0.581060 m/s,
      LOS rate: 0.079893 deg/s,
      cmd update: 0.159786 deg/s,
      cmd heading: 26.335631 deg,
      new cmd heading: 26.299915 deg.

2020-12-14T01:14:32.145Z,1607908472.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:32.967Z,1607908472.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:33.321Z,1607908473.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:34.533Z,1607908474.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011434.12*5E

2020-12-14T01:14:34.593Z,1607908474.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.899994 m, bearing: 27.882224 deg, deltaT: 4.796747 s, approachRate: -0.600408 m/s, LOS rate: -0.046626 deg/s, posRepo size: 4
2020-12-14T01:14:34.595Z,1607908474.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.899994 m,
      bearing: 27.882224 deg,
      approachRate: -0.600408 m/s,
      LOS rate: -0.046626 deg/s,
      cmd update: -0.093252 deg/s,
      cmd heading: 27.101133 deg,
      new cmd heading: 27.173667 deg.

2020-12-14T01:14:37.113Z,1607908477.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:37.743Z,1607908477.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:38.149Z,1607908478.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:38.977Z,1607908478.977 [Micromodem](INFO): Nmea in: $SNTTA,0.198739,,,,011438.90*4B

2020-12-14T01:14:39.402Z,1607908479.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.899994 m, bearing: 28.891929 deg, deltaT: 5.024085 s, approachRate: -0.597124 m/s, LOS rate: 0.200973 deg/s, posRepo size: 4
2020-12-14T01:14:39.404Z,1607908479.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.899994 m,
      bearing: 28.891929 deg,
      approachRate: -0.597124 m/s,
      LOS rate: 0.200973 deg/s,
      cmd update: 0.401946 deg/s,
      cmd heading: 26.632073 deg,
      new cmd heading: 26.610018 deg.

2020-12-14T01:14:41.829Z,1607908481.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:42.198Z,1607908482.198 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:14:42.595Z,1607908482.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:42.997Z,1607908482.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:43.147Z,1607908483.147 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:14:43.147Z,1607908483.147 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:14:43.399Z,1607908483.399 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:14:43.861Z,1607908483.861 [Micromodem](INFO): Nmea in: $CADRQ,011444,1,9,0,64,1*4A

2020-12-14T01:14:43.861Z,1607908483.861 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:14:44.242Z,1607908484.242 [Micromodem](INFO): Nmea in: $SNTTA,0.197131,,,,011443.75*4D

2020-12-14T01:14:44.242Z,1607908484.242 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.197131,,,,011443.75*4D

2020-12-14T01:14:44.300Z,1607908484.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.019989 m, bearing: 28.307984 deg, deltaT: 4.789932 s, approachRate: -0.601262 m/s, LOS rate: -0.121911 deg/s, posRepo size: 4
2020-12-14T01:14:44.308Z,1607908484.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.019989 m,
      bearing: 28.307984 deg,
      approachRate: -0.601262 m/s,
      LOS rate: -0.121911 deg/s,
      cmd update: -0.243822 deg/s,
      cmd heading: 28.554105 deg,
      new cmd heading: 28.681629 deg.

2020-12-14T01:14:45.450Z,1607908485.450 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:14:45.867Z,1607908485.867 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:14:46.262Z,1607908486.262 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:14:46.652Z,1607908486.652 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011445.033411,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T01:14:46.734Z,1607908486.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:47.463Z,1607908487.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:47.877Z,1607908487.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:48.703Z,1607908488.703 [Micromodem](INFO): Nmea in: $SNTTA,0.195019,,,,011448.62*49

2020-12-14T01:14:49.562Z,1607908489.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:51.094Z,1607908491.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:14:52.071Z,1607908492.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:52.723Z,1607908492.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:53.125Z,1607908493.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:53.956Z,1607908493.956 [Micromodem](INFO): Nmea in: $SNTTA,0.192797,,,,011453.88*41

2020-12-14T01:14:54.407Z,1607908494.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.019989 m, bearing: 28.318938 deg, deltaT: 10.015308 s, approachRate: -0.599083 m/s, LOS rate: 0.001094 deg/s, posRepo size: 4
2020-12-14T01:14:54.410Z,1607908494.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.019989 m,
      bearing: 28.318938 deg,
      approachRate: -0.599083 m/s,
      LOS rate: 0.001094 deg/s,
      cmd update: 0.002187 deg/s,
      cmd heading: 26.110206 deg,
      new cmd heading: 26.004133 deg.

2020-12-14T01:14:56.619Z,1607908496.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:14:57.187Z,1607908497.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:14:57.605Z,1607908497.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:14:58.421Z,1607908498.421 [Micromodem](INFO): Nmea in: $SNTTA,0.191043,,,,011458.34*40

2020-12-14T01:14:58.915Z,1607908498.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.380005 m, bearing: 28.956508 deg, deltaT: 4.728203 s, approachRate: -0.558348 m/s, LOS rate: 0.134844 deg/s, posRepo size: 4
2020-12-14T01:14:58.917Z,1607908498.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.380005 m,
      bearing: 28.956508 deg,
      approachRate: -0.558348 m/s,
      LOS rate: 0.134844 deg/s,
      cmd update: 0.269688 deg/s,
      cmd heading: 26.120514 deg,
      new cmd heading: 26.121021 deg.

2020-12-14T01:14:59.346Z,1607908499.346 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:15:01.349Z,1607908501.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:02.103Z,1607908502.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:02.537Z,1607908502.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:03.357Z,1607908503.357 [Micromodem](INFO): Nmea in: $SNTTA,0.189299,,,,011503.26*40

2020-12-14T01:15:03.786Z,1607908503.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.440002 m, bearing: 28.698396 deg, deltaT: 4.682707 s, approachRate: -0.627842 m/s, LOS rate: -0.055120 deg/s, posRepo size: 4
2020-12-14T01:15:03.788Z,1607908503.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.440002 m,
      bearing: 28.698396 deg,
      approachRate: -0.627842 m/s,
      LOS rate: -0.055120 deg/s,
      cmd update: -0.110241 deg/s,
      cmd heading: 27.387619 deg,
      new cmd heading: 27.496809 deg.

2020-12-14T01:15:06.175Z,1607908506.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:06.957Z,1607908506.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:07.357Z,1607908507.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:08.235Z,1607908508.235 [Micromodem](INFO): Nmea in: $SNTTA,0.187419,,,,011508.11*4F

2020-12-14T01:15:08.690Z,1607908508.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.559998 m, bearing: 28.355718 deg, deltaT: 5.004408 s, approachRate: -0.575494 m/s, LOS rate: -0.068475 deg/s, posRepo size: 4
2020-12-14T01:15:08.691Z,1607908508.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.559998 m,
      bearing: 28.355718 deg,
      approachRate: -0.575494 m/s,
      LOS rate: -0.068475 deg/s,
      cmd update: -0.136950 deg/s,
      cmd heading: 26.840804 deg,
      new cmd heading: 26.802438 deg.

2020-12-14T01:15:11.202Z,1607908511.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:11.847Z,1607908511.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:12.256Z,1607908512.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:13.077Z,1607908513.077 [Micromodem](INFO): Nmea in: $SNTTA,0.185276,,,,011513.00*48

2020-12-14T01:15:13.557Z,1607908513.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.739990 m, bearing: 28.624513 deg, deltaT: 4.705478 s, approachRate: -0.599303 m/s, LOS rate: 0.057124 deg/s, posRepo size: 4
2020-12-14T01:15:13.559Z,1607908513.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.739990 m,
      bearing: 28.624513 deg,
      approachRate: -0.599303 m/s,
      LOS rate: 0.057124 deg/s,
      cmd update: 0.114248 deg/s,
      cmd heading: 26.190320 deg,
      new cmd heading: 26.126511 deg.

2020-12-14T01:15:15.727Z,1607908515.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:16.327Z,1607908516.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:16.733Z,1607908516.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:17.566Z,1607908517.566 [Micromodem](INFO): Nmea in: $SNTTA,0.183478,,,,011517.48*4E

2020-12-14T01:15:18.000Z,1607908518.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.039978 m, bearing: 28.701988 deg, deltaT: 4.704693 s, approachRate: -0.573898 m/s, LOS rate: 0.016468 deg/s, posRepo size: 4
2020-12-14T01:15:18.002Z,1607908518.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.039978 m,
      bearing: 28.701988 deg,
      approachRate: -0.573898 m/s,
      LOS rate: 0.016468 deg/s,
      cmd update: 0.032935 deg/s,
      cmd heading: 26.727289 deg,
      new cmd heading: 26.751173 deg.

2020-12-14T01:15:20.421Z,1607908520.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:21.191Z,1607908521.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:21.601Z,1607908521.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:22.431Z,1607908522.431 [Micromodem](INFO): Nmea in: $SNTTA,0.181521,,,,011522.35*4D

2020-12-14T01:15:22.859Z,1607908522.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.100006 m, bearing: 28.507656 deg, deltaT: 4.694895 s, approachRate: -0.626206 m/s, LOS rate: -0.041392 deg/s, posRepo size: 4
2020-12-14T01:15:22.861Z,1607908522.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.100006 m,
      bearing: 28.507656 deg,
      approachRate: -0.626206 m/s,
      LOS rate: -0.041392 deg/s,
      cmd update: -0.082785 deg/s,
      cmd heading: 26.881623 deg,
      new cmd heading: 26.894158 deg.

2020-12-14T01:15:25.335Z,1607908525.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:26.059Z,1607908526.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:26.455Z,1607908526.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:27.296Z,1607908527.296 [Micromodem](INFO): Nmea in: $SNTTA,0.179397,,,,011527.21*41

2020-12-14T01:15:27.694Z,1607908527.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.919983 m, bearing: 29.269034 deg, deltaT: 4.847760 s, approachRate: -0.655978 m/s, LOS rate: 0.157058 deg/s, posRepo size: 4
2020-12-14T01:15:27.696Z,1607908527.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.919983 m,
      bearing: 29.269034 deg,
      approachRate: -0.655978 m/s,
      LOS rate: 0.157058 deg/s,
      cmd update: 0.314115 deg/s,
      cmd heading: 26.479178 deg,
      new cmd heading: 26.449709 deg.

2020-12-14T01:15:30.140Z,1607908530.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:30.903Z,1607908530.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:31.325Z,1607908531.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:32.141Z,1607908532.141 [Micromodem](INFO): Nmea in: $SNTTA,0.177589,,,,011532.06*47

2020-12-14T01:15:32.614Z,1607908532.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.220001 m, bearing: 28.994115 deg, deltaT: 4.841085 s, approachRate: -0.557722 m/s, LOS rate: -0.056789 deg/s, posRepo size: 4
2020-12-14T01:15:32.615Z,1607908532.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.220001 m,
      bearing: 28.994115 deg,
      approachRate: -0.557722 m/s,
      LOS rate: -0.056789 deg/s,
      cmd update: -0.113577 deg/s,
      cmd heading: 27.993587 deg,
      new cmd heading: 28.134911 deg.

2020-12-14T01:15:35.140Z,1607908535.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:35.768Z,1607908535.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:36.157Z,1607908536.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:36.981Z,1607908536.981 [Micromodem](INFO): Nmea in: $SNTTA,0.175628,,,,011536.92*44

2020-12-14T01:15:37.399Z,1607908537.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.339996 m, bearing: 28.819328 deg, deltaT: 4.995421 s, approachRate: -0.576529 m/s, LOS rate: -0.034990 deg/s, posRepo size: 4
2020-12-14T01:15:37.402Z,1607908537.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.339996 m,
      bearing: 28.819328 deg,
      approachRate: -0.576529 m/s,
      LOS rate: -0.034990 deg/s,
      cmd update: -0.069979 deg/s,
      cmd heading: 27.423940 deg,
      new cmd heading: 27.398468 deg.

2020-12-14T01:15:39.820Z,1607908539.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:40.599Z,1607908540.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:40.618Z,1607908540.618 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:15:41.005Z,1607908541.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:41.851Z,1607908541.851 [Micromodem](INFO): Nmea in: $SNTTA,0.173715,,,,011541.75*44

2020-12-14T01:15:42.244Z,1607908542.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.399994 m, bearing: 28.691777 deg, deltaT: 4.690137 s, approachRate: -0.626848 m/s, LOS rate: -0.027195 deg/s, posRepo size: 4
2020-12-14T01:15:42.246Z,1607908542.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.399994 m,
      bearing: 28.691777 deg,
      approachRate: -0.626848 m/s,
      LOS rate: -0.027195 deg/s,
      cmd update: -0.054391 deg/s,
      cmd heading: 27.095728 deg,
      new cmd heading: 27.069232 deg.

2020-12-14T01:15:44.731Z,1607908544.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:45.471Z,1607908545.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:45.869Z,1607908545.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:15:46.709Z,1607908546.709 [Micromodem](INFO): Nmea in: $SNTTA,0.171532,,,,011546.63*41

2020-12-14T01:15:47.126Z,1607908547.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.159973 m, bearing: 28.502297 deg, deltaT: 4.867100 s, approachRate: -0.665698 m/s, LOS rate: -0.038931 deg/s, posRepo size: 4
2020-12-14T01:15:47.128Z,1607908547.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.159973 m,
      bearing: 28.502297 deg,
      approachRate: -0.665698 m/s,
      LOS rate: -0.038931 deg/s,
      cmd update: -0.077861 deg/s,
      cmd heading: 26.831002 deg,
      new cmd heading: 26.809577 deg.

2020-12-14T01:15:48.622Z,1607908548.622 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:15:49.134Z,1607908549.134 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:15:49.134Z,1607908549.134 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:15:49.415Z,1607908549.415 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:15:49.488Z,1607908549.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:49.830Z,1607908549.830 [Micromodem](INFO): Nmea in: $CADRQ,011550,1,9,0,64,1*4E

2020-12-14T01:15:49.830Z,1607908549.830 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:15:50.215Z,1607908550.215 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:15:50.216Z,1607908550.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:15:50.727Z,1607908550.727 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:15:50.727Z,1607908550.727 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:15:51.933Z,1607908551.933 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:15:51.933Z,1607908551.933 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:15:52.376Z,1607908552.376 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011551.002562,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T01:15:52.376Z,1607908552.376 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,011551.002562,3,0,200,4000,14500,1,1,9,1,1,1,3,60*79

2020-12-14T01:15:52.403Z,1607908552.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:55.189Z,1607908555.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:15:58.008Z,1607908558.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:00.999Z,1607908560.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:01.230Z,1607908561.230 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:01.633Z,1607908561.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:02.459Z,1607908562.459 [Micromodem](INFO): Nmea in: $SNTTA,0.165422,,,,011602.39*48

2020-12-14T01:16:03.017Z,1607908563.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.979996 m, bearing: 28.999259 deg, deltaT: 15.850827 s, approachRate: -0.579148 m/s, LOS rate: 0.031352 deg/s, posRepo size: 4
2020-12-14T01:16:03.019Z,1607908563.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.979996 m,
      bearing: 28.999259 deg,
      approachRate: -0.579148 m/s,
      LOS rate: 0.031352 deg/s,
      cmd update: 0.062705 deg/s,
      cmd heading: 25.597147 deg,
      new cmd heading: 25.563103 deg.

2020-12-14T01:16:05.319Z,1607908565.319 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:16:05.334Z,1607908565.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:06.063Z,1607908566.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:06.481Z,1607908566.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:07.321Z,1607908567.321 [Micromodem](INFO): Nmea in: $SNTTA,0.163586,,,,011607.22*4E

2020-12-14T01:16:07.787Z,1607908567.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.220001 m, bearing: 29.000867 deg, deltaT: 4.958854 s, approachRate: -0.556579 m/s, LOS rate: 0.000324 deg/s, posRepo size: 4
2020-12-14T01:16:07.789Z,1607908567.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.220001 m,
      bearing: 29.000867 deg,
      approachRate: -0.556579 m/s,
      LOS rate: 0.000324 deg/s,
      cmd update: 0.000649 deg/s,
      cmd heading: 25.908312 deg,
      new cmd heading: 25.923680 deg.

2020-12-14T01:16:10.187Z,1607908570.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:10.979Z,1607908570.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:11.385Z,1607908571.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:12.216Z,1607908572.216 [Micromodem](INFO): Nmea in: $SNTTA,0.161449,,,,011612.13*48

2020-12-14T01:16:12.644Z,1607908572.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.979996 m, bearing: 28.977337 deg, deltaT: 4.689116 s, approachRate: -0.690963 m/s, LOS rate: -0.005018 deg/s, posRepo size: 4
2020-12-14T01:16:12.646Z,1607908572.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.979996 m,
      bearing: 28.977337 deg,
      approachRate: -0.690963 m/s,
      LOS rate: -0.005018 deg/s,
      cmd update: -0.010036 deg/s,
      cmd heading: 25.911354 deg,
      new cmd heading: 25.911622 deg.

2020-12-14T01:16:15.085Z,1607908575.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:15.823Z,1607908575.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:16.398Z,1607908576.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:17.234Z,1607908577.234 [Micromodem](INFO): Nmea in: $SNTTA,0.159665,,,,011616.98*48

2020-12-14T01:16:17.325Z,1607908577.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.339996 m, bearing: 28.940505 deg, deltaT: 4.604565 s, approachRate: -0.573344 m/s, LOS rate: -0.007999 deg/s, posRepo size: 4
2020-12-14T01:16:17.330Z,1607908577.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.339996 m,
      bearing: 28.940505 deg,
      approachRate: -0.573344 m/s,
      LOS rate: -0.007999 deg/s,
      cmd update: -0.015998 deg/s,
      cmd heading: 25.865144 deg,
      new cmd heading: 25.860273 deg.

2020-12-14T01:16:19.710Z,1607908579.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:20.437Z,1607908580.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:20.502Z,1607908580.502 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T01:16:20.502Z,1607908580.502 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T01:16:20.502Z,1607908580.502 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T01:16:20.733Z,1607908580.733 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T01:16:20.845Z,1607908580.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:20.941Z,1607908580.941 [RDI_Pathfinder](INFO): Powering down
2020-12-14T01:16:21.669Z,1607908581.669 [Micromodem](INFO): Nmea in: $SNTTA,0.157745,,,,011621.59*4C

2020-12-14T01:16:21.846Z,1607908581.846 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T01:16:21.846Z,1607908581.846 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T01:16:22.228Z,1607908582.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.459991 m, bearing: 29.023277 deg, deltaT: 4.887852 s, approachRate: -0.589217 m/s, LOS rate: 0.016934 deg/s, posRepo size: 4
2020-12-14T01:16:22.230Z,1607908582.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.459991 m,
      bearing: 29.023277 deg,
      approachRate: -0.589217 m/s,
      LOS rate: 0.016934 deg/s,
      cmd update: 0.033868 deg/s,
      cmd heading: 25.786945 deg,
      new cmd heading: 25.778872 deg.

2020-12-14T01:16:24.542Z,1607908584.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:25.315Z,1607908585.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:25.697Z,1607908585.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:26.537Z,1607908586.537 [Micromodem](INFO): Nmea in: $SNTTA,0.155767,,,,011626.47*46

2020-12-14T01:16:26.954Z,1607908586.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.459991 m, bearing: 28.804762 deg, deltaT: 5.019485 s, approachRate: -0.597671 m/s, LOS rate: -0.043533 deg/s, posRepo size: 4
2020-12-14T01:16:26.956Z,1607908586.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.459991 m,
      bearing: 28.804762 deg,
      approachRate: -0.597671 m/s,
      LOS rate: -0.043533 deg/s,
      cmd update: -0.087067 deg/s,
      cmd heading: 25.956348 deg,
      new cmd heading: 25.964074 deg.

2020-12-14T01:16:29.360Z,1607908589.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:30.143Z,1607908590.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:30.573Z,1607908590.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:31.388Z,1607908591.388 [Micromodem](INFO): Nmea in: $SNTTA,0.153958,,,,011631.30*44

2020-12-14T01:16:31.793Z,1607908591.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.759979 m, bearing: 28.630123 deg, deltaT: 4.659365 s, approachRate: -0.579481 m/s, LOS rate: -0.037481 deg/s, posRepo size: 4
2020-12-14T01:16:31.795Z,1607908591.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.759979 m,
      bearing: 28.630123 deg,
      approachRate: -0.579481 m/s,
      LOS rate: -0.037481 deg/s,
      cmd update: -0.074963 deg/s,
      cmd heading: 25.549200 deg,
      new cmd heading: 25.515159 deg.

2020-12-14T01:16:34.242Z,1607908594.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:34.991Z,1607908594.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:35.485Z,1607908595.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:36.302Z,1607908596.302 [Micromodem](INFO): Nmea in: $SNTTA,0.152041,,,,011636.15*44

2020-12-14T01:16:36.364Z,1607908596.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.879990 m, bearing: 28.359603 deg, deltaT: 4.528041 s, approachRate: -0.636034 m/s, LOS rate: -0.059743 deg/s, posRepo size: 4
2020-12-14T01:16:36.366Z,1607908596.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.879990 m,
      bearing: 28.359603 deg,
      approachRate: -0.636034 m/s,
      LOS rate: -0.059743 deg/s,
      cmd update: -0.119487 deg/s,
      cmd heading: 25.210912 deg,
      new cmd heading: 25.177241 deg.

2020-12-14T01:16:38.738Z,1607908598.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:39.523Z,1607908599.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:39.989Z,1607908599.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:40.797Z,1607908600.797 [Micromodem](INFO): Nmea in: $SNTTA,0.150155,,,,011640.68*49

2020-12-14T01:16:41.259Z,1607908601.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.059998 m, bearing: 29.088703 deg, deltaT: 4.942085 s, approachRate: -0.570608 m/s, LOS rate: 0.147529 deg/s, posRepo size: 4
2020-12-14T01:16:41.261Z,1607908601.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.059998 m,
      bearing: 29.088703 deg,
      approachRate: -0.570608 m/s,
      LOS rate: 0.147529 deg/s,
      cmd update: 0.295058 deg/s,
      cmd heading: 24.620424 deg,
      new cmd heading: 24.572348 deg.

2020-12-14T01:16:43.662Z,1607908603.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:44.440Z,1607908604.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:44.829Z,1607908604.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:45.657Z,1607908605.657 [Micromodem](INFO): Nmea in: $SNTTA,0.148196,,,,011645.59*48

2020-12-14T01:16:46.274Z,1607908606.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.119980 m, bearing: 29.204069 deg, deltaT: 4.842170 s, approachRate: -0.607169 m/s, LOS rate: 0.023825 deg/s, posRepo size: 4
2020-12-14T01:16:46.276Z,1607908606.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.119980 m,
      bearing: 29.204069 deg,
      approachRate: -0.607169 m/s,
      LOS rate: 0.023825 deg/s,
      cmd update: 0.047650 deg/s,
      cmd heading: 26.053877 deg,
      new cmd heading: 26.218826 deg.

2020-12-14T01:16:48.266Z,1607908608.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:48.875Z,1607908608.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:49.281Z,1607908609.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:50.128Z,1607908610.128 [Micromodem](INFO): Nmea in: $SNTTA,0.146576,,,,011650.03*47

2020-12-14T01:16:50.543Z,1607908610.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.719986 m, bearing: 28.281940 deg, deltaT: 4.438113 s, approachRate: -0.540769 m/s, LOS rate: -0.207775 deg/s, posRepo size: 4
2020-12-14T01:16:50.554Z,1607908610.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.719986 m,
      bearing: 28.281940 deg,
      approachRate: -0.540769 m/s,
      LOS rate: -0.207775 deg/s,
      cmd update: -0.415550 deg/s,
      cmd heading: 26.265353 deg,
      new cmd heading: 26.283975 deg.

2020-12-14T01:16:52.700Z,1607908612.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:53.315Z,1607908613.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:53.733Z,1607908613.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:54.144Z,1607908614.144 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:16:54.573Z,1607908614.573 [Micromodem](INFO): Nmea in: $SNTTA,0.144641,,,,011654.47*46

2020-12-14T01:16:54.716Z,1607908614.716 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:16:54.717Z,1607908614.717 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:16:55.270Z,1607908615.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.779999 m, bearing: 27.629106 deg, deltaT: 4.784894 s, approachRate: -0.614431 m/s, LOS rate: -0.136437 deg/s, posRepo size: 4
2020-12-14T01:16:55.272Z,1607908615.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.779999 m,
      bearing: 27.629106 deg,
      approachRate: -0.614431 m/s,
      LOS rate: -0.136437 deg/s,
      cmd update: -0.272873 deg/s,
      cmd heading: 24.276974 deg,
      new cmd heading: 24.138722 deg.

2020-12-14T01:16:56.035Z,1607908616.035 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:16:56.466Z,1607908616.466 [Micromodem](INFO): Nmea in: $CADRQ,011655,1,9,0,64,1*48

2020-12-14T01:16:56.466Z,1607908616.466 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:16:56.837Z,1607908616.837 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:16:57.235Z,1607908617.235 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:16:57.674Z,1607908617.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:16:58.471Z,1607908618.471 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:16:58.472Z,1607908618.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:16:58.857Z,1607908618.857 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011657.638006,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-14T01:16:58.857Z,1607908618.857 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,011657.638006,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-14T01:16:59.269Z,1607908619.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:16:59.675Z,1607908619.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011659.63*51

2020-12-14T01:17:00.554Z,1607908620.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:02.090Z,1607908622.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:17:03.325Z,1607908623.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:04.125Z,1607908624.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:04.538Z,1607908624.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:05.350Z,1607908625.350 [Micromodem](INFO): Nmea in: $SNTTA,0.140473,,0.153757,,011705.28*51

2020-12-14T01:17:05.802Z,1607908625.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.539993 m, bearing: 27.700800 deg, deltaT: 10.671549 s, approachRate: -0.584733 m/s, LOS rate: 0.006718 deg/s, posRepo size: 4
2020-12-14T01:17:05.803Z,1607908625.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.539993 m,
      bearing: 27.700800 deg,
      approachRate: -0.584733 m/s,
      LOS rate: 0.006718 deg/s,
      cmd update: 0.013437 deg/s,
      cmd heading: 21.364973 deg,
      new cmd heading: 21.312581 deg.

2020-12-14T01:17:08.222Z,1607908628.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:09.003Z,1607908629.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:09.409Z,1607908629.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:10.246Z,1607908630.246 [Micromodem](INFO): Nmea in: $SNTTA,0.138402,,,,011710.16*4D

2020-12-14T01:17:10.684Z,1607908630.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.479996 m, bearing: 29.346260 deg, deltaT: 4.662472 s, approachRate: -0.656304 m/s, LOS rate: 0.352916 deg/s, posRepo size: 4
2020-12-14T01:17:10.686Z,1607908630.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.479996 m,
      bearing: 29.346260 deg,
      approachRate: -0.656304 m/s,
      LOS rate: 0.352916 deg/s,
      cmd update: 0.705831 deg/s,
      cmd heading: 21.427622 deg,
      new cmd heading: 21.433165 deg.

2020-12-14T01:17:13.118Z,1607908633.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:13.843Z,1607908633.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:14.325Z,1607908634.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:15.146Z,1607908635.146 [Micromodem](INFO): Nmea in: $SNTTA,0.136490,,,,011715.00*4A

2020-12-14T01:17:15.212Z,1607908635.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.600006 m, bearing: 29.217497 deg, deltaT: 4.481714 s, approachRate: -0.642609 m/s, LOS rate: -0.028731 deg/s, posRepo size: 4
2020-12-14T01:17:15.214Z,1607908635.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.600006 m,
      bearing: 29.217497 deg,
      approachRate: -0.642609 m/s,
      LOS rate: -0.028731 deg/s,
      cmd update: -0.057461 deg/s,
      cmd heading: 24.590779 deg,
      new cmd heading: 24.914586 deg.

2020-12-14T01:17:17.671Z,1607908637.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:18.355Z,1607908638.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:18.773Z,1607908638.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:19.597Z,1607908639.597 [Micromodem](INFO): Nmea in: $SNTTA,0.134799,,,,011719.51*4A

2020-12-14T01:17:20.209Z,1607908640.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.019989 m, bearing: 28.258185 deg, deltaT: 4.899207 s, approachRate: -0.526619 m/s, LOS rate: -0.195810 deg/s, posRepo size: 4
2020-12-14T01:17:20.211Z,1607908640.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.019989 m,
      bearing: 28.258185 deg,
      approachRate: -0.526619 m/s,
      LOS rate: -0.195810 deg/s,
      cmd update: -0.391619 deg/s,
      cmd heading: 24.309254 deg,
      new cmd heading: 24.277322 deg.

2020-12-14T01:17:22.462Z,1607908642.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:23.215Z,1607908643.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:23.617Z,1607908643.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:24.465Z,1607908644.465 [Micromodem](INFO): Nmea in: $SNTTA,0.132891,,,,011724.37*45

2020-12-14T01:17:24.886Z,1607908644.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.199997 m, bearing: 28.251332 deg, deltaT: 5.037165 s, approachRate: -0.559837 m/s, LOS rate: -0.001360 deg/s, posRepo size: 4
2020-12-14T01:17:24.888Z,1607908644.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.199997 m,
      bearing: 28.251332 deg,
      approachRate: -0.559837 m/s,
      LOS rate: -0.001360 deg/s,
      cmd update: -0.002721 deg/s,
      cmd heading: 22.336667 deg,
      new cmd heading: 22.259887 deg.

2020-12-14T01:17:27.307Z,1607908647.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:28.095Z,1607908648.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:28.511Z,1607908648.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:29.311Z,1607908649.311 [Micromodem](INFO): Nmea in: $SNTTA,0.130956,,,,011729.25*43

2020-12-14T01:17:29.725Z,1607908649.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.259979 m, bearing: 28.633468 deg, deltaT: 4.686545 s, approachRate: -0.627332 m/s, LOS rate: 0.081539 deg/s, posRepo size: 4
2020-12-14T01:17:29.727Z,1607908649.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.259979 m,
      bearing: 28.633468 deg,
      approachRate: -0.627332 m/s,
      LOS rate: 0.081539 deg/s,
      cmd update: 0.163078 deg/s,
      cmd heading: 22.323927 deg,
      new cmd heading: 22.322967 deg.

2020-12-14T01:17:32.194Z,1607908652.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:33.038Z,1607908653.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:33.785Z,1607908653.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:34.611Z,1607908654.611 [Micromodem](INFO): Nmea in: $SNTTA,0.128935,,,,011734.19*4C

2020-12-14T01:17:34.666Z,1607908654.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.199982 m, bearing: 29.110119 deg, deltaT: 4.881391 s, approachRate: -0.626870 m/s, LOS rate: 0.097647 deg/s, posRepo size: 4
2020-12-14T01:17:34.668Z,1607908654.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.199982 m,
      bearing: 29.110119 deg,
      approachRate: -0.626870 m/s,
      LOS rate: 0.097647 deg/s,
      cmd update: 0.195293 deg/s,
      cmd heading: 23.119292 deg,
      new cmd heading: 23.187135 deg.

2020-12-14T01:17:37.223Z,1607908657.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:37.842Z,1607908657.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:38.225Z,1607908658.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:39.063Z,1607908659.063 [Micromodem](INFO): Nmea in: $SNTTA,0.126925,,,,011739.00*46

2020-12-14T01:17:39.485Z,1607908659.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.259995 m, bearing: 28.153191 deg, deltaT: 5.014199 s, approachRate: -0.586332 m/s, LOS rate: -0.190844 deg/s, posRepo size: 4
2020-12-14T01:17:39.486Z,1607908659.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.259995 m,
      bearing: 28.153191 deg,
      approachRate: -0.586332 m/s,
      LOS rate: -0.190844 deg/s,
      cmd update: -0.381687 deg/s,
      cmd heading: 24.100109 deg,
      new cmd heading: 24.141600 deg.

2020-12-14T01:17:41.885Z,1607908661.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:42.671Z,1607908662.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:43.087Z,1607908663.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:43.901Z,1607908663.901 [Micromodem](INFO): Nmea in: $SNTTA,0.125185,,,,011743.82*40

2020-12-14T01:17:44.323Z,1607908664.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.679993 m, bearing: 31.007942 deg, deltaT: 4.642904 s, approachRate: -0.555687 m/s, LOS rate: 0.614863 deg/s, posRepo size: 4
2020-12-14T01:17:44.325Z,1607908664.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.679993 m,
      bearing: 31.007942 deg,
      approachRate: -0.555687 m/s,
      LOS rate: 0.614863 deg/s,
      cmd update: 1.229726 deg/s,
      cmd heading: 22.327931 deg,
      new cmd heading: 22.172058 deg.

2020-12-14T01:17:46.766Z,1607908666.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:47.539Z,1607908667.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:47.925Z,1607908667.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:48.749Z,1607908668.749 [Micromodem](INFO): Nmea in: $SNTTA,0.123080,,,,011748.69*4C

2020-12-14T01:17:49.174Z,1607908669.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.380005 m, bearing: 29.927065 deg, deltaT: 4.879002 s, approachRate: -0.676365 m/s, LOS rate: -0.221537 deg/s, posRepo size: 4
2020-12-14T01:17:49.176Z,1607908669.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.380005 m,
      bearing: 29.927065 deg,
      approachRate: -0.676365 m/s,
      LOS rate: -0.221537 deg/s,
      cmd update: -0.443073 deg/s,
      cmd heading: 28.326698 deg,
      new cmd heading: 28.795445 deg.

2020-12-14T01:17:51.643Z,1607908671.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:52.371Z,1607908672.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:52.773Z,1607908672.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:53.597Z,1607908673.597 [Micromodem](INFO): Nmea in: $SNTTA,0.121215,,,,011753.53*43

2020-12-14T01:17:54.019Z,1607908674.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 28.552450 deg, deltaT: 4.826207 s, approachRate: -0.571877 m/s, LOS rate: -0.284823 deg/s, posRepo size: 4
2020-12-14T01:17:54.021Z,1607908674.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 28.552450 deg,
      approachRate: -0.571877 m/s,
      LOS rate: -0.284823 deg/s,
      cmd update: -0.569646 deg/s,
      cmd heading: 26.187962 deg,
      new cmd heading: 26.011237 deg.

2020-12-14T01:17:56.628Z,1607908676.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:17:57.219Z,1607908677.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:17:57.617Z,1607908677.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:17:58.454Z,1607908678.454 [Micromodem](INFO): Nmea in: $SNTTA,0.119349,,,,011758.37*49

2020-12-14T01:17:58.673Z,1607908678.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 29.365606 deg, deltaT: 4.482543 s, approachRate: 0.000000 m/s, LOS rate: 0.181405 deg/s, posRepo size: 4
2020-12-14T01:17:58.675Z,1607908678.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 29.365606 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.181405 deg/s,
      cmd update: 0.362810 deg/s,
      cmd heading: 23.634466 deg,
      new cmd heading: 23.309468 deg.

2020-12-14T01:18:00.105Z,1607908680.105 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:18:00.650Z,1607908680.650 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:18:00.650Z,1607908680.650 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:18:00.741Z,1607908680.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:00.881Z,1607908680.881 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:18:01.275Z,1607908681.275 [Micromodem](INFO): Nmea in: $CADRQ,011801,1,9,0,64,1*47

2020-12-14T01:18:01.276Z,1607908681.276 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:18:01.697Z,1607908681.697 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:18:01.698Z,1607908681.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:02.115Z,1607908682.115 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:18:02.115Z,1607908682.115 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:18:03.319Z,1607908683.319 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:18:03.319Z,1607908683.319 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:18:03.375Z,1607908683.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:03.719Z,1607908683.719 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011802.449387,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-14T01:18:03.719Z,1607908683.719 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,011802.449387,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-14T01:18:06.194Z,1607908686.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:09.005Z,1607908689.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:11.624Z,1607908691.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:12.995Z,1607908692.995 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:13.401Z,1607908693.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:14.246Z,1607908694.246 [Micromodem](INFO): Nmea in: $SNTTA,0.112757,,,,011814.15*4E

2020-12-14T01:18:14.271Z,1607908694.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 28.538909 deg, deltaT: 15.751234 s, approachRate: -0.799939 m/s, LOS rate: -0.052485 deg/s, posRepo size: 4
2020-12-14T01:18:14.273Z,1607908694.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.019989 m,
      bearing: 28.538909 deg,
      approachRate: -0.799939 m/s,
      LOS rate: -0.052485 deg/s,
      cmd update: -0.104969 deg/s,
      cmd heading: 29.343267 deg,
      new cmd heading: 29.500345 deg.

2020-12-14T01:18:16.664Z,1607908696.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:17.453Z,1607908697.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:17.857Z,1607908697.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:18.718Z,1607908698.718 [Micromodem](INFO): Nmea in: $SNTTA,0.111208,,,,011818.61*4D

2020-12-14T01:18:18.746Z,1607908698.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.680008 m, bearing: 28.550387 deg, deltaT: 4.470390 s, approachRate: -0.523440 m/s, LOS rate: 0.002568 deg/s, posRepo size: 4
2020-12-14T01:18:18.748Z,1607908698.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 28.550387 deg,
      approachRate: -0.523440 m/s,
      LOS rate: 0.002568 deg/s,
      cmd update: 0.005135 deg/s,
      cmd heading: 28.872320 deg,
      new cmd heading: 28.828068 deg.

2020-12-14T01:18:21.160Z,1607908701.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:21.920Z,1607908701.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:22.379Z,1607908702.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:23.194Z,1607908703.194 [Micromodem](INFO): Nmea in: $SNTTA,0.109266,,0.110448,,011823.07*52

2020-12-14T01:18:23.243Z,1607908703.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.740005 m, bearing: 29.218716 deg, deltaT: 4.494927 s, approachRate: -0.654071 m/s, LOS rate: 0.148685 deg/s, posRepo size: 4
2020-12-14T01:18:23.245Z,1607908703.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.740005 m,
      bearing: 29.218716 deg,
      approachRate: -0.654071 m/s,
      LOS rate: 0.148685 deg/s,
      cmd update: 0.297370 deg/s,
      cmd heading: 28.895297 deg,
      new cmd heading: 28.897579 deg.

2020-12-14T01:18:25.688Z,1607908705.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:26.415Z,1607908706.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:26.825Z,1607908706.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:27.672Z,1607908707.672 [Micromodem](INFO): Nmea in: $SNTTA,0.107606,,,,011827.57*49

2020-12-14T01:18:27.738Z,1607908707.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 28.475667 deg, deltaT: 4.454189 s, approachRate: -0.552287 m/s, LOS rate: -0.166820 deg/s, posRepo size: 4
2020-12-14T01:18:27.739Z,1607908707.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.280014 m,
      bearing: 28.475667 deg,
      approachRate: -0.552287 m/s,
      LOS rate: -0.166820 deg/s,
      cmd update: -0.333641 deg/s,
      cmd heading: 30.225436 deg,
      new cmd heading: 30.362678 deg.

2020-12-14T01:18:30.119Z,1607908710.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:30.869Z,1607908710.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:31.362Z,1607908711.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:32.174Z,1607908712.174 [Micromodem](INFO): Nmea in: $SNTTA,0.105772,,,,011832.03*4C

2020-12-14T01:18:32.236Z,1607908712.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 27.854124 deg, deltaT: 4.507810 s, approachRate: -0.612276 m/s, LOS rate: -0.137881 deg/s, posRepo size: 4
2020-12-14T01:18:32.238Z,1607908712.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.519989 m,
      bearing: 27.854124 deg,
      approachRate: -0.612276 m/s,
      LOS rate: -0.137881 deg/s,
      cmd update: -0.275762 deg/s,
      cmd heading: 28.722272 deg,
      new cmd heading: 28.569182 deg.

2020-12-14T01:18:34.628Z,1607908714.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:35.417Z,1607908715.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:35.821Z,1607908715.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:36.648Z,1607908716.648 [Micromodem](INFO): Nmea in: $SNTTA,0.103844,,,,011836.57*45

2020-12-14T01:18:36.716Z,1607908716.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.580002 m, bearing: 27.918846 deg, deltaT: 4.515083 s, approachRate: -0.651148 m/s, LOS rate: 0.014334 deg/s, posRepo size: 4
2020-12-14T01:18:36.718Z,1607908716.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.580002 m,
      bearing: 27.918846 deg,
      approachRate: -0.651148 m/s,
      LOS rate: 0.014334 deg/s,
      cmd update: 0.028669 deg/s,
      cmd heading: 27.476064 deg,
      new cmd heading: 27.360260 deg.

2020-12-14T01:18:39.104Z,1607908719.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:39.855Z,1607908719.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:40.261Z,1607908720.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:41.110Z,1607908721.110 [Micromodem](INFO): Nmea in: $SNTTA,0.102149,,0.106299,,011841.01*58

2020-12-14T01:18:41.164Z,1607908721.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.059998 m, bearing: 27.950860 deg, deltaT: 4.396233 s, approachRate: -0.573219 m/s, LOS rate: 0.007282 deg/s, posRepo size: 4
2020-12-14T01:18:41.166Z,1607908721.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.059998 m,
      bearing: 27.950860 deg,
      approachRate: -0.573219 m/s,
      LOS rate: 0.007282 deg/s,
      cmd update: 0.014565 deg/s,
      cmd heading: 27.602096 deg,
      new cmd heading: 27.615621 deg.

2020-12-14T01:18:43.289Z,1607908723.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:43.826Z,1607908723.826 [CTD_Seabird](ERROR): Failed to parse device response: 5.82,7.6429,3107.24
2020-12-14T01:18:44.161Z,1607908724.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:44.589Z,1607908724.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:45.413Z,1607908725.413 [Micromodem](INFO): Nmea in: $SNTTA,0.100378,,,,011845.31*46

2020-12-14T01:18:45.484Z,1607908725.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 27.521084 deg, deltaT: 4.378866 s, approachRate: -0.602896 m/s, LOS rate: -0.098148 deg/s, posRepo size: 4
2020-12-14T01:18:45.490Z,1607908725.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 27.521084 deg,
      approachRate: -0.602896 m/s,
      LOS rate: -0.098148 deg/s,
      cmd update: -0.196296 deg/s,
      cmd heading: 27.665304 deg,
      new cmd heading: 27.671886 deg.

2020-12-14T01:18:48.183Z,1607908728.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:48.771Z,1607908728.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:49.181Z,1607908729.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:50.018Z,1607908730.018 [Micromodem](INFO): Nmea in: $SNTTA,0.098567,,,,011849.92*4B

2020-12-14T01:18:50.216Z,1607908730.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.660004 m, bearing: 27.734873 deg, deltaT: 4.558563 s, approachRate: -0.605453 m/s, LOS rate: 0.046898 deg/s, posRepo size: 4
2020-12-14T01:18:50.234Z,1607908730.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.660004 m,
      bearing: 27.734873 deg,
      approachRate: -0.605453 m/s,
      LOS rate: 0.046898 deg/s,
      cmd update: 0.093796 deg/s,
      cmd heading: 26.762863 deg,
      new cmd heading: 26.647714 deg.

2020-12-14T01:18:52.471Z,1607908732.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:53.239Z,1607908733.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:53.637Z,1607908733.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:54.474Z,1607908734.474 [Micromodem](INFO): Nmea in: $SNTTA,0.096827,,,,011854.39*41

2020-12-14T01:18:54.694Z,1607908734.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.140015 m, bearing: 27.739232 deg, deltaT: 4.481681 s, approachRate: -0.562287 m/s, LOS rate: 0.000973 deg/s, posRepo size: 4
2020-12-14T01:18:54.696Z,1607908734.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.140015 m,
      bearing: 27.739232 deg,
      approachRate: -0.562287 m/s,
      LOS rate: 0.000973 deg/s,
      cmd update: 0.001945 deg/s,
      cmd heading: 27.183253 deg,
      new cmd heading: 27.237854 deg.

2020-12-14T01:18:56.702Z,1607908736.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:18:57.315Z,1607908737.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:18:57.717Z,1607908737.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:18:58.570Z,1607908738.570 [Micromodem](INFO): Nmea in: $SNTTA,0.095127,,,,011858.47*4E

2020-12-14T01:18:58.594Z,1607908738.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 27.837749 deg, deltaT: 4.048070 s, approachRate: -0.652166 m/s, LOS rate: 0.024337 deg/s, posRepo size: 4
2020-12-14T01:18:58.595Z,1607908738.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.500000 m,
      bearing: 27.837749 deg,
      approachRate: -0.652166 m/s,
      LOS rate: 0.024337 deg/s,
      cmd update: 0.048674 deg/s,
      cmd heading: 27.191128 deg,
      new cmd heading: 27.191972 deg.

2020-12-14T01:19:01.147Z,1607908741.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:01.755Z,1607908741.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:02.157Z,1607908742.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:02.994Z,1607908742.994 [Micromodem](INFO): Nmea in: $SNTTA,0.093321,,,,011902.91*49

2020-12-14T01:19:03.221Z,1607908743.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 28.030861 deg, deltaT: 4.493538 s, approachRate: -0.614214 m/s, LOS rate: 0.042975 deg/s, posRepo size: 4
2020-12-14T01:19:03.223Z,1607908743.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.740005 m,
      bearing: 28.030861 deg,
      approachRate: -0.614214 m/s,
      LOS rate: 0.042975 deg/s,
      cmd update: 0.085951 deg/s,
      cmd heading: 27.409828 deg,
      new cmd heading: 27.436684 deg.

2020-12-14T01:19:05.489Z,1607908745.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:05.834Z,1607908745.834 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:19:06.247Z,1607908746.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:06.649Z,1607908746.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:06.802Z,1607908746.802 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:19:06.802Z,1607908746.802 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:19:07.087Z,1607908747.087 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:19:07.505Z,1607908747.505 [Micromodem](INFO): Nmea in: $CADRQ,011907,1,9,0,64,1*40

2020-12-14T01:19:07.506Z,1607908747.506 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:19:07.611Z,1607908747.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.040009 m, bearing: 27.194939 deg, deltaT: 4.606337 s, approachRate: -0.586148 m/s, LOS rate: -0.181472 deg/s, posRepo size: 4
2020-12-14T01:19:07.617Z,1607908747.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.040009 m,
      bearing: 27.194939 deg,
      approachRate: -0.586148 m/s,
      LOS rate: -0.181472 deg/s,
      cmd update: -0.362944 deg/s,
      cmd heading: 27.805759 deg,
      new cmd heading: 27.835500 deg.

2020-12-14T01:19:07.882Z,1607908747.882 [Micromodem](INFO): Nmea in: $SNTTA,0.091509,,,,011907.40*4E

2020-12-14T01:19:07.882Z,1607908747.882 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.091509,,,,011907.40*4E

2020-12-14T01:19:09.109Z,1607908749.109 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:19:09.508Z,1607908749.508 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:19:09.879Z,1607908749.879 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:19:09.905Z,1607908749.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:10.304Z,1607908750.304 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,011908.677763,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7E

2020-12-14T01:19:10.687Z,1607908750.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:11.125Z,1607908751.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:11.946Z,1607908751.946 [Micromodem](INFO): Nmea in: $SNTTA,0.089865,,,,011911.84*4F

2020-12-14T01:19:11.992Z,1607908751.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.580002 m, bearing: 28.239048 deg, deltaT: 4.308173 s, approachRate: -0.571009 m/s, LOS rate: 0.242355 deg/s, posRepo size: 4
2020-12-14T01:19:11.998Z,1607908751.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.580002 m,
      bearing: 28.239048 deg,
      approachRate: -0.571009 m/s,
      LOS rate: 0.242355 deg/s,
      cmd update: 0.484711 deg/s,
      cmd heading: 26.242138 deg,
      new cmd heading: 26.088006 deg.

2020-12-14T01:19:14.383Z,1607908754.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:15.131Z,1607908755.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:15.569Z,1607908755.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:16.394Z,1607908756.394 [Micromodem](INFO): Nmea in: $SNTTA,0.087989,,,,011916.29*42

2020-12-14T01:19:16.426Z,1607908756.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 27.719910 deg, deltaT: 4.434491 s, approachRate: -0.622393 m/s, LOS rate: -0.117068 deg/s, posRepo size: 4
2020-12-14T01:19:16.429Z,1607908756.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.820007 m,
      bearing: 27.719910 deg,
      approachRate: -0.622393 m/s,
      LOS rate: -0.117068 deg/s,
      cmd update: -0.234137 deg/s,
      cmd heading: 28.387564 deg,
      new cmd heading: 28.596602 deg.

2020-12-14T01:19:18.813Z,1607908758.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:19.595Z,1607908759.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:20.001Z,1607908760.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:20.846Z,1607908760.846 [Micromodem](INFO): Nmea in: $SNTTA,0.086113,,,,011920.75*44

2020-12-14T01:19:20.870Z,1607908760.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.060013 m, bearing: 28.069805 deg, deltaT: 4.468152 s, approachRate: -0.617704 m/s, LOS rate: 0.078309 deg/s, posRepo size: 4
2020-12-14T01:19:20.872Z,1607908760.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 28.069805 deg,
      approachRate: -0.617704 m/s,
      LOS rate: 0.078309 deg/s,
      cmd update: 0.156617 deg/s,
      cmd heading: 27.340427 deg,
      new cmd heading: 27.245921 deg.

2020-12-14T01:19:22.978Z,1607908762.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:23.639Z,1607908763.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:24.082Z,1607908764.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:24.878Z,1607908764.878 [Micromodem](INFO): Nmea in: $SNTTA,0.084476,,,,011924.79*48

2020-12-14T01:19:24.914Z,1607908764.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 26.791140 deg, deltaT: 4.015545 s, approachRate: -0.642505 m/s, LOS rate: -0.318429 deg/s, posRepo size: 4
2020-12-14T01:19:24.916Z,1607908764.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.480003 m,
      bearing: 26.791140 deg,
      approachRate: -0.642505 m/s,
      LOS rate: -0.318429 deg/s,
      cmd update: -0.636857 deg/s,
      cmd heading: 27.966685 deg,
      new cmd heading: 28.037106 deg.

2020-12-14T01:19:27.311Z,1607908767.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:28.091Z,1607908768.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:28.509Z,1607908768.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:29.326Z,1607908769.326 [Micromodem](INFO): Nmea in: $SNTTA,0.082766,,,,011929.25*48

2020-12-14T01:19:29.351Z,1607908769.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.020004 m, bearing: 27.077996 deg, deltaT: 4.439573 s, approachRate: -0.554107 m/s, LOS rate: 0.064613 deg/s, posRepo size: 4
2020-12-14T01:19:29.353Z,1607908769.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 27.077996 deg,
      approachRate: -0.554107 m/s,
      LOS rate: 0.064613 deg/s,
      cmd update: 0.129227 deg/s,
      cmd heading: 25.125928 deg,
      new cmd heading: 24.855065 deg.

2020-12-14T01:19:31.762Z,1607908771.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:32.539Z,1607908772.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:32.929Z,1607908772.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:33.770Z,1607908773.770 [Micromodem](INFO): Nmea in: $SNTTA,0.081060,,,,011933.69*49

2020-12-14T01:19:33.805Z,1607908773.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.500000 m, bearing: 27.670013 deg, deltaT: 4.458233 s, approachRate: -0.565247 m/s, LOS rate: 0.132792 deg/s, posRepo size: 4
2020-12-14T01:19:33.807Z,1607908773.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 27.670013 deg,
      approachRate: -0.565247 m/s,
      LOS rate: 0.132792 deg/s,
      cmd update: 0.265584 deg/s,
      cmd heading: 25.701560 deg,
      new cmd heading: 25.756449 deg.

2020-12-14T01:19:36.220Z,1607908776.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:36.971Z,1607908776.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:37.377Z,1607908777.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:38.214Z,1607908778.214 [Micromodem](INFO): Nmea in: $SNTTA,0.079249,,,,011938.13*41

2020-12-14T01:19:38.250Z,1607908778.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 27.026656 deg, deltaT: 4.455980 s, approachRate: -0.632857 m/s, LOS rate: -0.144381 deg/s, posRepo size: 4
2020-12-14T01:19:38.252Z,1607908778.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.680000 m,
      bearing: 27.026656 deg,
      approachRate: -0.632857 m/s,
      LOS rate: -0.144381 deg/s,
      cmd update: -0.288761 deg/s,
      cmd heading: 26.884945 deg,
      new cmd heading: 26.995137 deg.

2020-12-14T01:19:40.667Z,1607908780.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:41.415Z,1607908781.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:41.861Z,1607908781.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:42.690Z,1607908782.690 [Micromodem](INFO): Nmea in: $SNTTA,0.077419,,,,011942.57*41

2020-12-14T01:19:42.748Z,1607908782.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 26.510315 deg, deltaT: 4.460985 s, approachRate: -0.605247 m/s, LOS rate: -0.115746 deg/s, posRepo size: 4
2020-12-14T01:19:42.750Z,1607908782.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 26.510315 deg,
      approachRate: -0.605247 m/s,
      LOS rate: -0.115746 deg/s,
      cmd update: -0.231492 deg/s,
      cmd heading: 25.596747 deg,
      new cmd heading: 25.466429 deg.

2020-12-14T01:19:45.192Z,1607908785.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:45.903Z,1607908785.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:46.417Z,1607908786.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:47.222Z,1607908787.222 [Micromodem](INFO): Nmea in: $SNTTA,0.075571,,,0.103342,011947.06*54

2020-12-14T01:19:47.320Z,1607908787.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.160004 m, bearing: 26.208518 deg, deltaT: 4.554840 s, approachRate: -0.619122 m/s, LOS rate: -0.066259 deg/s, posRepo size: 4
2020-12-14T01:19:47.326Z,1607908787.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.160004 m,
      bearing: 26.208518 deg,
      approachRate: -0.619122 m/s,
      LOS rate: -0.066259 deg/s,
      cmd update: -0.132517 deg/s,
      cmd heading: 24.542339 deg,
      new cmd heading: 24.438198 deg.

2020-12-14T01:19:49.660Z,1607908789.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:50.506Z,1607908790.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:50.857Z,1607908790.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:51.741Z,1607908791.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.519997 m, bearing: 27.160010 deg, deltaT: 4.456752 s, approachRate: -0.592361 m/s, LOS rate: 0.213494 deg/s, posRepo size: 4
2020-12-14T01:19:51.743Z,1607908791.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.519997 m,
      bearing: 27.160010 deg,
      approachRate: -0.592361 m/s,
      LOS rate: 0.213494 deg/s,
      cmd update: 0.426989 deg/s,
      cmd heading: 23.951738 deg,
      new cmd heading: 23.895007 deg.

2020-12-14T01:19:52.083Z,1607908792.083 [Micromodem](INFO): Nmea in: $SNTTA,0.073752,,,,011951.66*49

2020-12-14T01:19:54.160Z,1607908794.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:54.895Z,1607908794.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:55.302Z,1607908795.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:19:56.154Z,1607908796.154 [Micromodem](INFO): Nmea in: $SNTTA,0.071840,,,,011956.05*45

2020-12-14T01:19:56.179Z,1607908796.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 27.008214 deg, deltaT: 4.484071 s, approachRate: -0.655651 m/s, LOS rate: -0.033852 deg/s, posRepo size: 4
2020-12-14T01:19:56.197Z,1607908796.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.580009 m,
      bearing: 27.008214 deg,
      approachRate: -0.655651 m/s,
      LOS rate: -0.033852 deg/s,
      cmd update: -0.067704 deg/s,
      cmd heading: 25.865468 deg,
      new cmd heading: 26.031278 deg.

2020-12-14T01:19:58.300Z,1607908798.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:19:58.937Z,1607908798.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:19:59.345Z,1607908799.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:00.194Z,1607908800.194 [Micromodem](INFO): Nmea in: $SNTTA,0.070201,,,0.072720,012000.09*50

2020-12-14T01:20:00.253Z,1607908800.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 26.458343 deg, deltaT: 4.000391 s, approachRate: -0.614940 m/s, LOS rate: -0.137454 deg/s, posRepo size: 4
2020-12-14T01:20:00.255Z,1607908800.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.120010 m,
      bearing: 26.458343 deg,
      approachRate: -0.614940 m/s,
      LOS rate: -0.137454 deg/s,
      cmd update: -0.274909 deg/s,
      cmd heading: 25.594208 deg,
      new cmd heading: 25.563348 deg.

2020-12-14T01:20:02.604Z,1607908802.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:03.375Z,1607908803.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:03.853Z,1607908803.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:04.674Z,1607908804.674 [Micromodem](INFO): Nmea in: $SNTTA,0.068464,,,,012004.53*49

2020-12-14T01:20:04.737Z,1607908804.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 27.302052 deg, deltaT: 4.520503 s, approachRate: -0.557461 m/s, LOS rate: 0.186641 deg/s, posRepo size: 4
2020-12-14T01:20:04.739Z,1607908804.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.600006 m,
      bearing: 27.302052 deg,
      approachRate: -0.557461 m/s,
      LOS rate: 0.186641 deg/s,
      cmd update: 0.373281 deg/s,
      cmd heading: 24.355877 deg,
      new cmd heading: 24.241529 deg.

2020-12-14T01:20:07.270Z,1607908807.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:07.884Z,1607908807.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:08.295Z,1607908808.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:09.206Z,1607908809.206 [Micromodem](INFO): Nmea in: $SNTTA,0.066661,,,,012009.04*4F

2020-12-14T01:20:09.254Z,1607908809.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.900002 m, bearing: 27.106067 deg, deltaT: 4.421101 s, approachRate: -0.610709 m/s, LOS rate: -0.044330 deg/s, posRepo size: 4
2020-12-14T01:20:09.256Z,1607908809.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.900002 m,
      bearing: 27.106067 deg,
      approachRate: -0.610709 m/s,
      LOS rate: -0.044330 deg/s,
      cmd update: -0.088659 deg/s,
      cmd heading: 26.011864 deg,
      new cmd heading: 26.204695 deg.

2020-12-14T01:20:11.742Z,1607908811.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:11.926Z,1607908811.926 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:20:12.327Z,1607908812.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:12.748Z,1607908812.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:12.908Z,1607908812.908 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:20:12.909Z,1607908812.909 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:20:13.164Z,1607908813.164 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:20:13.590Z,1607908813.590 [Micromodem](INFO): Nmea in: $CADRQ,012013,1,9,0,64,1*4F

2020-12-14T01:20:13.590Z,1607908813.590 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:20:13.858Z,1607908813.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.200005 m, bearing: 25.656690 deg, deltaT: 4.501653 s, approachRate: -0.599779 m/s, LOS rate: -0.321965 deg/s, posRepo size: 4
2020-12-14T01:20:13.860Z,1607908813.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.200005 m,
      bearing: 25.656690 deg,
      approachRate: -0.599779 m/s,
      LOS rate: -0.321965 deg/s,
      cmd update: -0.643931 deg/s,
      cmd heading: 25.612681 deg,
      new cmd heading: 25.557932 deg.

2020-12-14T01:20:14.052Z,1607908814.052 [Micromodem](INFO): Nmea in: $SNTTA,0.064964,,,,012013.48*44

2020-12-14T01:20:14.065Z,1607908814.065 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.064964,,,,012013.48*44

2020-12-14T01:20:15.249Z,1607908815.249 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:20:15.645Z,1607908815.645 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:20:16.048Z,1607908816.048 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:20:16.118Z,1607908816.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:16.462Z,1607908816.462 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012014.760490,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:20:16.853Z,1607908816.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:17.272Z,1607908817.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:18.118Z,1607908818.118 [Micromodem](INFO): Nmea in: $SNTTA,0.063111,,,,012018.01*4F

2020-12-14T01:20:18.317Z,1607908818.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.500000 m, bearing: 26.248828 deg, deltaT: 4.487337 s, approachRate: -0.601694 m/s, LOS rate: 0.131958 deg/s, posRepo size: 4
2020-12-14T01:20:18.319Z,1607908818.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.500000 m,
      bearing: 26.248828 deg,
      approachRate: -0.601694 m/s,
      LOS rate: 0.131958 deg/s,
      cmd update: 0.263915 deg/s,
      cmd heading: 22.725713 deg,
      new cmd heading: 22.343571 deg.

2020-12-14T01:20:20.330Z,1607908820.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:20.603Z,1607908820.603 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:20:20.919Z,1607908820.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:21.325Z,1607908821.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:22.178Z,1607908822.178 [Micromodem](INFO): Nmea in: $SNTTA,0.061502,,,,012022.07*44

2020-12-14T01:20:22.202Z,1607908822.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 26.114754 deg, deltaT: 4.038107 s, approachRate: -0.609196 m/s, LOS rate: -0.033202 deg/s, posRepo size: 4
2020-12-14T01:20:22.204Z,1607908822.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.040001 m,
      bearing: 26.114754 deg,
      approachRate: -0.609196 m/s,
      LOS rate: -0.033202 deg/s,
      cmd update: -0.066405 deg/s,
      cmd heading: 23.791992 deg,
      new cmd heading: 23.907739 deg.

2020-12-14T01:20:24.176Z,1607908824.176 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T01:20:24.742Z,1607908824.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:25.355Z,1607908825.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:25.761Z,1607908825.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:26.618Z,1607908826.618 [Micromodem](INFO): Nmea in: $SNTTA,0.059619,,,,012026.51*41

2020-12-14T01:20:26.788Z,1607908826.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 25.686531 deg, deltaT: 4.456061 s, approachRate: -0.632844 m/s, LOS rate: -0.096099 deg/s, posRepo size: 4
2020-12-14T01:20:26.790Z,1607908826.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.220009 m,
      bearing: 25.686531 deg,
      approachRate: -0.632844 m/s,
      LOS rate: -0.096099 deg/s,
      cmd update: -0.192198 deg/s,
      cmd heading: 23.495963 deg,
      new cmd heading: 23.458348 deg.

2020-12-14T01:20:29.015Z,1607908829.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:29.811Z,1607908829.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:30.209Z,1607908830.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:30.634Z,1607908830.634 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:20:31.049Z,1607908831.049 [Micromodem](INFO): Nmea in: $SNTTA,0.057963,,,,012030.96*41

2020-12-14T01:20:31.248Z,1607908831.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.000000 m, bearing: 27.348130 deg, deltaT: 4.449874 s, approachRate: -0.498893 m/s, LOS rate: 0.373404 deg/s, posRepo size: 4
2020-12-14T01:20:31.250Z,1607908831.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.000000 m,
      bearing: 27.348130 deg,
      approachRate: -0.498893 m/s,
      LOS rate: 0.373404 deg/s,
      cmd update: 0.746807 deg/s,
      cmd heading: 22.640726 deg,
      new cmd heading: 22.529866 deg.

2020-12-14T01:20:33.290Z,1607908833.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:33.899Z,1607908833.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:34.313Z,1607908834.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:35.210Z,1607908835.210 [Micromodem](INFO): Nmea in: $SNTTA,0.056056,,0.078549,,012035.05*59

2020-12-14T01:20:35.261Z,1607908835.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.940002 m, bearing: 26.202687 deg, deltaT: 4.075491 s, approachRate: -0.750829 m/s, LOS rate: -0.281056 deg/s, posRepo size: 4
2020-12-14T01:20:35.265Z,1607908835.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 26.202687 deg,
      approachRate: -0.750829 m/s,
      LOS rate: -0.281056 deg/s,
      cmd update: -0.562113 deg/s,
      cmd heading: 25.684315 deg,
      new cmd heading: 26.067883 deg.

2020-12-14T01:20:37.747Z,1607908837.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:38.354Z,1607908838.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:38.753Z,1607908838.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:39.594Z,1607908839.594 [Micromodem](INFO): Nmea in: $SNTTA,0.054310,,,,012039.51*4E

2020-12-14T01:20:39.790Z,1607908839.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 26.353260 deg, deltaT: 4.457262 s, approachRate: -0.578829 m/s, LOS rate: 0.033782 deg/s, posRepo size: 4
2020-12-14T01:20:39.792Z,1607908839.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.360008 m,
      bearing: 26.353260 deg,
      approachRate: -0.578829 m/s,
      LOS rate: 0.033782 deg/s,
      cmd update: 0.067563 deg/s,
      cmd heading: 23.187754 deg,
      new cmd heading: 22.849380 deg.

2020-12-14T01:20:42.011Z,1607908842.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:42.807Z,1607908842.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:43.213Z,1607908843.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:44.071Z,1607908844.071 [Micromodem](INFO): Nmea in: $SNTTA,0.052604,,,,012043.96*4E

2020-12-14T01:20:44.252Z,1607908844.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 25.921845 deg, deltaT: 4.465187 s, approachRate: -0.591241 m/s, LOS rate: -0.096618 deg/s, posRepo size: 4
2020-12-14T01:20:44.254Z,1607908844.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 25.921845 deg,
      approachRate: -0.591241 m/s,
      LOS rate: -0.096618 deg/s,
      cmd update: -0.193235 deg/s,
      cmd heading: 23.490516 deg,
      new cmd heading: 23.529888 deg.

2020-12-14T01:20:45.694Z,1607908845.694 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:20:46.247Z,1607908846.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:46.847Z,1607908846.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:47.261Z,1607908847.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:48.118Z,1607908848.118 [Micromodem](INFO): Nmea in: $SNTTA,0.051008,,,,012048.00*43

2020-12-14T01:20:48.165Z,1607908848.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 26.452211 deg, deltaT: 4.029526 s, approachRate: -0.595606 m/s, LOS rate: 0.131620 deg/s, posRepo size: 4
2020-12-14T01:20:48.167Z,1607908848.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.320000 m,
      bearing: 26.452211 deg,
      approachRate: -0.595606 m/s,
      LOS rate: 0.131620 deg/s,
      cmd update: 0.263240 deg/s,
      cmd heading: 22.711868 deg,
      new cmd heading: 22.621858 deg.

2020-12-14T01:20:50.712Z,1607908850.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:51.392Z,1607908851.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:51.806Z,1607908851.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:52.638Z,1607908852.638 [Micromodem](INFO): Nmea in: $SNTTA,0.049166,,,,012052.54*49

2020-12-14T01:20:52.808Z,1607908852.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.560005 m, bearing: 25.554700 deg, deltaT: 4.550527 s, approachRate: -0.606522 m/s, LOS rate: -0.197232 deg/s, posRepo size: 4
2020-12-14T01:20:52.810Z,1607908852.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.560005 m,
      bearing: 25.554700 deg,
      approachRate: -0.606522 m/s,
      LOS rate: -0.197232 deg/s,
      cmd update: -0.394465 deg/s,
      cmd heading: 23.909698 deg,
      new cmd heading: 24.056812 deg.

2020-12-14T01:20:55.091Z,1607908855.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:55.835Z,1607908855.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:20:56.259Z,1607908856.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:20:57.087Z,1607908857.087 [Micromodem](INFO): Nmea in: $SNTTA,0.047409,,,,012056.99*4E

2020-12-14T01:20:57.256Z,1607908857.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 25.775059 deg, deltaT: 4.446648 s, approachRate: -0.593707 m/s, LOS rate: 0.049556 deg/s, posRepo size: 4
2020-12-14T01:20:57.260Z,1607908857.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.919998 m,
      bearing: 25.775059 deg,
      approachRate: -0.593707 m/s,
      LOS rate: 0.049556 deg/s,
      cmd update: 0.099112 deg/s,
      cmd heading: 22.155595 deg,
      new cmd heading: 21.934675 deg.

2020-12-14T01:20:59.260Z,1607908859.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:20:59.871Z,1607908859.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:00.289Z,1607908860.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:01.142Z,1607908861.142 [Micromodem](INFO): Nmea in: $SNTTA,0.045720,,,0.048225,012101.02*52

2020-12-14T01:21:01.190Z,1607908861.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 27.918692 deg, deltaT: 4.024706 s, approachRate: -0.581408 m/s, LOS rate: 0.532618 deg/s, posRepo size: 4
2020-12-14T01:21:01.192Z,1607908861.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.580002 m,
      bearing: 27.918692 deg,
      approachRate: -0.581408 m/s,
      LOS rate: 0.532618 deg/s,
      cmd update: 1.065237 deg/s,
      cmd heading: 22.552499 deg,
      new cmd heading: 22.598964 deg.

2020-12-14T01:21:03.729Z,1607908863.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:04.330Z,1607908864.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:04.735Z,1607908864.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:05.610Z,1607908865.610 [Micromodem](INFO): Nmea in: $SNTTA,0.044052,,,,012105.49*4D

2020-12-14T01:21:05.762Z,1607908865.762 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:21:05.786Z,1607908865.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.060005 m, bearing: 26.461727 deg, deltaT: 4.471457 s, approachRate: -0.563574 m/s, LOS rate: -0.325837 deg/s, posRepo size: 4
2020-12-14T01:21:05.790Z,1607908865.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 26.461727 deg,
      approachRate: -0.563574 m/s,
      LOS rate: -0.325837 deg/s,
      cmd update: -0.651673 deg/s,
      cmd heading: 27.332823 deg,
      new cmd heading: 27.967511 deg.

2020-12-14T01:21:08.089Z,1607908868.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:08.812Z,1607908868.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:09.213Z,1607908869.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:10.070Z,1607908870.070 [Micromodem](INFO): Nmea in: $SNTTA,0.042149,,,,012109.97*4F

2020-12-14T01:21:10.287Z,1607908870.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 25.086988 deg, deltaT: 4.468376 s, approachRate: -0.684813 m/s, LOS rate: -0.307660 deg/s, posRepo size: 4
2020-12-14T01:21:10.289Z,1607908870.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.000004 m,
      bearing: 25.086988 deg,
      approachRate: -0.684813 m/s,
      LOS rate: -0.307660 deg/s,
      cmd update: -0.615320 deg/s,
      cmd heading: 24.418283 deg,
      new cmd heading: 24.009952 deg.

2020-12-14T01:21:12.283Z,1607908872.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:12.883Z,1607908872.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:13.297Z,1607908873.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:14.142Z,1607908874.142 [Micromodem](INFO): Nmea in: $SNTTA,0.040706,,,,012114.04*46

2020-12-14T01:21:14.168Z,1607908874.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.840000 m, bearing: 25.387357 deg, deltaT: 4.079568 s, approachRate: -0.529469 m/s, LOS rate: 0.073628 deg/s, posRepo size: 4
2020-12-14T01:21:14.170Z,1607908874.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 25.387357 deg,
      approachRate: -0.529469 m/s,
      LOS rate: 0.073628 deg/s,
      cmd update: 0.147256 deg/s,
      cmd heading: 21.908044 deg,
      new cmd heading: 21.645040 deg.

2020-12-14T01:21:16.700Z,1607908876.700 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T01:21:16.715Z,1607908876.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:17.327Z,1607908877.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:17.737Z,1607908877.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:18.151Z,1607908878.151 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:21:18.593Z,1607908878.593 [Micromodem](INFO): Nmea in: $SNTTA,0.039044,,,,012118.48*4D

2020-12-14T01:21:18.734Z,1607908878.734 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:21:18.735Z,1607908878.735 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:21:18.943Z,1607908878.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 26.451757 deg, deltaT: 4.452662 s, approachRate: -0.660277 m/s, LOS rate: 0.239048 deg/s, posRepo size: 4
2020-12-14T01:21:18.945Z,1607908878.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 26.451757 deg,
      approachRate: -0.660277 m/s,
      LOS rate: 0.239048 deg/s,
      cmd update: 0.478096 deg/s,
      cmd heading: 22.563683 deg,
      new cmd heading: 22.674217 deg.

2020-12-14T01:21:19.942Z,1607908879.942 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:21:20.337Z,1607908880.337 [Micromodem](INFO): Nmea in: $CADRQ,012119,1,9,0,64,1*44

2020-12-14T01:21:20.338Z,1607908880.338 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:21:20.743Z,1607908880.743 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:21:20.825Z,1607908880.825 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T01:21:20.825Z,1607908880.825 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T01:21:20.825Z,1607908880.825 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T01:21:20.846Z,1607908880.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:20.913Z,1607908880.913 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T01:21:21.142Z,1607908881.142 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:21:21.257Z,1607908881.257 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T01:21:21.547Z,1607908881.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:22.088Z,1607908882.088 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T01:21:22.088Z,1607908882.088 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T01:21:22.371Z,1607908882.371 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:21:22.372Z,1607908882.372 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:21:22.755Z,1607908882.755 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012121.509928,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T01:21:22.756Z,1607908882.756 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,012121.509928,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T01:21:23.584Z,1607908883.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:26.116Z,1607908886.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:29.031Z,1607908889.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:31.710Z,1607908891.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:32.898Z,1607908892.898 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:33.306Z,1607908893.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:34.146Z,1607908894.146 [Micromodem](INFO): Nmea in: $SNTTA,0.032891,,,,012134.05*41

2020-12-14T01:21:34.170Z,1607908894.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.779995 m, bearing: 24.252497 deg, deltaT: 15.539803 s, approachRate: -0.586881 m/s, LOS rate: -0.141524 deg/s, posRepo size: 4
2020-12-14T01:21:34.172Z,1607908894.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.779995 m,
      bearing: 24.252497 deg,
      approachRate: -0.586881 m/s,
      LOS rate: -0.141524 deg/s,
      cmd update: -0.283049 deg/s,
      cmd heading: 29.993324 deg,
      new cmd heading: 30.202493 deg.

2020-12-14T01:21:36.633Z,1607908896.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:37.395Z,1607908897.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:37.869Z,1607908897.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:38.691Z,1607908898.691 [Micromodem](INFO): Nmea in: $SNTTA,0.030652,0.090782,0.039046,,012138.55*47

2020-12-14T01:21:38.778Z,1607908898.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.840000 m, bearing: 22.426702 deg, deltaT: 4.559397 s, approachRate: -0.644821 m/s, LOS rate: -0.400447 deg/s, posRepo size: 4
2020-12-14T01:21:38.780Z,1607908898.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.840000 m,
      bearing: 22.426702 deg,
      approachRate: -0.644821 m/s,
      LOS rate: -0.400447 deg/s,
      cmd update: -0.800893 deg/s,
      cmd heading: 28.702789 deg,
      new cmd heading: 28.565320 deg.

2020-12-14T01:21:41.164Z,1607908901.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:41.927Z,1607908901.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:42.317Z,1607908902.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:43.158Z,1607908903.158 [Micromodem](INFO): Nmea in: $SNTTA,0.028900,,,,012143.08*4E

2020-12-14T01:21:43.212Z,1607908903.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 23.300687 deg, deltaT: 4.486697 s, approachRate: -0.601779 m/s, LOS rate: 0.194795 deg/s, posRepo size: 4
2020-12-14T01:21:43.214Z,1607908903.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.139999 m,
      bearing: 23.300687 deg,
      approachRate: -0.601779 m/s,
      LOS rate: 0.194795 deg/s,
      cmd update: 0.389589 deg/s,
      cmd heading: 25.109422 deg,
      new cmd heading: 24.762438 deg.

2020-12-14T01:21:45.611Z,1607908905.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:46.362Z,1607908906.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:46.749Z,1607908906.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:46.786Z,1607908906.786 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T01:11:46.7Z
2020-12-14T01:21:46.786Z,1607908906.786 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T01:21:46.786Z,1607908906.786 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:21:46.786Z,1607908906.786 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T01:21:46.786Z,1607908906.786 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:21:46.787Z,1607908906.787 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T01:21:47.207Z,1607908907.207 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T01:21:47.207Z,1607908907.207 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T01:21:47.207Z,1607908907.207 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T01:21:47.207Z,1607908907.207 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:21:47.208Z,1607908907.208 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T01:21:47.642Z,1607908907.642 [Micromodem](INFO): Nmea in: $SNTTA,0.027144,,,,012147.52*42

2020-12-14T01:21:47.683Z,1607908907.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.920002 m, bearing: 23.437965 deg, deltaT: 4.417113 s, approachRate: -0.502590 m/s, LOS rate: 0.031079 deg/s, posRepo size: 4
2020-12-14T01:21:47.685Z,1607908907.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.920002 m,
      bearing: 23.437965 deg,
      approachRate: -0.502590 m/s,
      LOS rate: 0.031079 deg/s,
      cmd update: 0.062157 deg/s,
      cmd heading: 26.827659 deg,
      new cmd heading: 27.020083 deg.

2020-12-14T01:21:50.250Z,1607908910.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:50.863Z,1607908910.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:51.261Z,1607908911.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:52.118Z,1607908912.118 [Micromodem](INFO): Nmea in: $SNTTA,0.025452,,,,012152.02*43

2020-12-14T01:21:52.159Z,1607908912.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 21.488629 deg, deltaT: 4.509060 s, approachRate: -0.652021 m/s, LOS rate: -0.432315 deg/s, posRepo size: 4
2020-12-14T01:21:52.160Z,1607908912.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m.
2020-12-14T01:21:52.166Z,1607908912.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 21.488629 deg,
      approachRate: -0.652021 m/s,
      LOS rate: -0.432315 deg/s,
      cmd update: -0.864631 deg/s,
      cmd heading: 27.108347 deg,
      new cmd heading: 27.136596 deg.

2020-12-14T01:21:52.519Z,1607908912.519 [PowerOnly](INFO): Powering up loadControl
2020-12-14T01:21:54.731Z,1607908914.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:55.295Z,1607908915.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:21:55.718Z,1607908915.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:21:56.542Z,1607908916.542 [Micromodem](INFO): Nmea in: $SNTTA,0.024320,,,,012156.45*47

2020-12-14T01:21:56.729Z,1607908916.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 19.570000 deg, deltaT: 4.491397 s, approachRate: -0.494278 m/s, LOS rate: -0.427179 deg/s, posRepo size: 4
2020-12-14T01:21:56.729Z,1607908916.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2020-12-14T01:21:56.734Z,1607908916.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 19.570000 deg,
      approachRate: -0.494278 m/s,
      LOS rate: -0.427179 deg/s,
      cmd update: -0.854357 deg/s,
      cmd heading: 23.228526 deg,
      new cmd heading: 22.764545 deg.

2020-12-14T01:21:58.964Z,1607908918.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:21:59.751Z,1607908919.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:00.161Z,1607908920.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:00.999Z,1607908920.999 [Micromodem](INFO): Nmea in: $SNTTA,0.022138,,,,012200.90*42

2020-12-14T01:22:01.224Z,1607908921.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.460003 m, bearing: 17.097791 deg, deltaT: 4.454443 s, approachRate: -0.740833 m/s, LOS rate: -0.554998 deg/s, posRepo size: 4
2020-12-14T01:22:01.225Z,1607908921.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.46 m.
2020-12-14T01:22:01.227Z,1607908921.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.460003 m,
      bearing: 17.097791 deg,
      approachRate: -0.740833 m/s,
      LOS rate: -0.554998 deg/s,
      cmd update: -1.109997 deg/s,
      cmd heading: 19.419384 deg,
      new cmd heading: 18.929349 deg.

2020-12-14T01:22:03.225Z,1607908923.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:03.860Z,1607908923.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:04.273Z,1607908924.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:05.138Z,1607908925.138 [Micromodem](INFO): Nmea in: $SNTTA,0.020430,,,,012205.01*40

2020-12-14T01:22:05.165Z,1607908925.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 17.524754 deg, deltaT: 4.072827 s, approachRate: -0.500882 m/s, LOS rate: 0.104832 deg/s, posRepo size: 4
2020-12-14T01:22:05.166Z,1607908925.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.42 m.
2020-12-14T01:22:05.168Z,1607908925.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.419996 m,
      bearing: 17.524754 deg,
      approachRate: -0.500882 m/s,
      LOS rate: 0.104832 deg/s,
      cmd update: 0.209665 deg/s,
      cmd heading: 14.898563 deg,
      new cmd heading: 14.408269 deg.

2020-12-14T01:22:07.383Z,1607908927.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:08.035Z,1607908928.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:08.463Z,1607908928.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:09.282Z,1607908929.282 [Micromodem](INFO): Nmea in: $SNTTA,0.019352,0.028433,,,012209.19*5C

2020-12-14T01:22:09.545Z,1607908929.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.799999 m, bearing: 15.056027 deg, deltaT: 4.172598 s, approachRate: -0.388247 m/s, LOS rate: -0.591652 deg/s, posRepo size: 4
2020-12-14T01:22:09.546Z,1607908929.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.80 m.
2020-12-14T01:22:09.546Z,1607908929.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.80 m.
2020-12-14T01:22:09.546Z,1607908929.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-12-14T01:22:09.548Z,1607908929.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.799999 m,
      bearing: 15.056027 deg,
      approachRate: -0.388247 m/s,
      LOS rate: -0.591652 deg/s,
      cmd update: -1.183305 deg/s,
      cmd heading: 15.772591 deg,
      new cmd heading: 15.909499 deg.

2020-12-14T01:22:11.408Z,1607908931.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:12.130Z,1607908932.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:12.517Z,1607908932.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:13.358Z,1607908933.358 [Micromodem](INFO): Nmea in: $SNTTA,0.017476,,0.051813,,012213.28*5A

2020-12-14T01:22:13.406Z,1607908933.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 14.919085 deg, deltaT: 4.046670 s, approachRate: -0.682042 m/s, LOS rate: -0.033841 deg/s, posRepo size: 4
2020-12-14T01:22:13.408Z,1607908933.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 14.919085 deg,
      approachRate: -0.682042 m/s,
      LOS rate: -0.033841 deg/s,
      cmd update: -0.067681 deg/s,
      cmd heading: 10.984122 deg,
      new cmd heading: 10.431947 deg.

2020-12-14T01:22:15.948Z,1607908935.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:16.548Z,1607908936.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:16.967Z,1607908936.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:17.794Z,1607908937.794 [Micromodem](INFO): Nmea in: $SNTTA,0.015747,,,,012217.70*40

2020-12-14T01:22:17.824Z,1607908937.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 16.185260 deg, deltaT: 4.507891 s, approachRate: -0.598950 m/s, LOS rate: 0.280880 deg/s, posRepo size: 4
2020-12-14T01:22:17.826Z,1607908937.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.339998 m,
      bearing: 16.185260 deg,
      approachRate: -0.598950 m/s,
      LOS rate: 0.280880 deg/s,
      cmd update: 0.561760 deg/s,
      cmd heading: 10.680009 deg,
      new cmd heading: 10.653488 deg.

2020-12-14T01:22:20.446Z,1607908940.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:21.051Z,1607908941.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:21.462Z,1607908941.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:22.279Z,1607908942.279 [Micromodem](INFO): Nmea in: $SNTTA,0.014095,,,,012222.21*4B

2020-12-14T01:22:22.517Z,1607908942.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 15.317104 deg, deltaT: 4.453316 s, approachRate: -0.538925 m/s, LOS rate: -0.194946 deg/s, posRepo size: 4
2020-12-14T01:22:22.519Z,1607908942.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.939997 m,
      bearing: 15.317104 deg,
      approachRate: -0.538925 m/s,
      LOS rate: -0.194946 deg/s,
      cmd update: -0.389892 deg/s,
      cmd heading: 13.192132 deg,
      new cmd heading: 13.536563 deg.

2020-12-14T01:22:23.897Z,1607908943.897 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:22:24.496Z,1607908944.496 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:22:24.496Z,1607908944.496 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:22:24.582Z,1607908944.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:24.829Z,1607908944.829 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:22:25.223Z,1607908945.223 [Micromodem](INFO): Nmea in: $CADRQ,012225,1,9,0,64,1*48

2020-12-14T01:22:25.224Z,1607908945.224 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:22:25.645Z,1607908945.645 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:22:25.645Z,1607908945.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:26.027Z,1607908946.027 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:22:26.027Z,1607908946.027 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:22:27.259Z,1607908947.259 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:22:27.259Z,1607908947.259 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:22:27.287Z,1607908947.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:27.648Z,1607908947.648 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012226.393335,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T01:22:27.648Z,1607908947.648 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,012226.393335,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T01:22:30.125Z,1607908950.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:33.130Z,1607908953.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:35.762Z,1607908955.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:36.942Z,1607908956.942 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:37.413Z,1607908957.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:37.440Z,1607908957.440 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T01:22:38.218Z,1607908958.218 [Micromodem](INFO): Nmea in: $SNTTA,0.008089,,,,012238.09*4A

2020-12-14T01:22:38.286Z,1607908958.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 16.136279 deg, deltaT: 15.904528 s, approachRate: -0.565876 m/s, LOS rate: 0.051506 deg/s, posRepo size: 4
2020-12-14T01:22:38.288Z,1607908958.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 16.136279 deg,
      approachRate: -0.565876 m/s,
      LOS rate: 0.051506 deg/s,
      cmd update: 0.103012 deg/s,
      cmd heading: 6.991147 deg,
      new cmd heading: 6.806593 deg.

2020-12-14T01:22:40.699Z,1607908960.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:41.443Z,1607908961.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:41.908Z,1607908961.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:42.734Z,1607908962.734 [Micromodem](INFO): Nmea in: $SNTTA,0.006472,,,,012242.60*46

2020-12-14T01:22:42.797Z,1607908962.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 18.674794 deg, deltaT: 4.588720 s, approachRate: -0.536098 m/s, LOS rate: 0.553208 deg/s, posRepo size: 4
2020-12-14T01:22:42.799Z,1607908962.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 18.674794 deg,
      approachRate: -0.536098 m/s,
      LOS rate: 0.553208 deg/s,
      cmd update: 1.106415 deg/s,
      cmd heading: 7.463545 deg,
      new cmd heading: 7.505035 deg.

2020-12-14T01:22:45.209Z,1607908965.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:45.947Z,1607908965.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:46.367Z,1607908966.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:47.194Z,1607908967.194 [Micromodem](INFO): Nmea in: $SNTTA,0.004920,,0.012358,,012247.10*5F

2020-12-14T01:22:47.251Z,1607908967.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 16.776758 deg, deltaT: 4.435571 s, approachRate: -0.514026 m/s, LOS rate: -0.427912 deg/s, posRepo size: 4
2020-12-14T01:22:47.254Z,1607908967.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 16.776758 deg,
      approachRate: -0.514026 m/s,
      LOS rate: -0.427912 deg/s,
      cmd update: -0.855825 deg/s,
      cmd heading: 12.374468 deg,
      new cmd heading: 12.837655 deg.

2020-12-14T01:22:49.628Z,1607908969.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:50.399Z,1607908970.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:50.791Z,1607908970.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:51.642Z,1607908971.642 [Micromodem](INFO): Nmea in: $SNTTA,0.003542,,,,012251.55*45

2020-12-14T01:22:51.689Z,1607908971.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 18.168836 deg, deltaT: 4.410350 s, approachRate: -0.489757 m/s, LOS rate: 0.315639 deg/s, posRepo size: 4
2020-12-14T01:22:51.691Z,1607908971.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 18.168836 deg,
      approachRate: -0.489757 m/s,
      LOS rate: 0.315639 deg/s,
      cmd update: 0.631278 deg/s,
      cmd heading: 8.606779 deg,
      new cmd heading: 8.218204 deg.

2020-12-14T01:22:54.254Z,1607908974.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:54.840Z,1607908974.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:55.257Z,1607908975.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:22:56.094Z,1607908976.094 [Micromodem](INFO): Nmea in: $SNTTA,0.002594,,,,012255.99*4B

2020-12-14T01:22:56.140Z,1607908976.140 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2020-12-14T01:22:56.141Z,1607908976.141 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2020-12-14T01:22:56.141Z,1607908976.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2020-12-14T01:22:56.141Z,1607908976.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T01:22:56.141Z,1607908976.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2020-12-14T01:22:56.141Z,1607908976.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.779998 m 
2020-12-14T01:22:56.141Z,1607908976.141 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2020-12-14T01:22:56.142Z,1607908976.142 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2020-12-14T01:22:56.142Z,1607908976.142 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2020-12-14T01:22:56.144Z,1607908976.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 36.409300 deg, deltaT: 4.465451 s, approachRate: -0.282167 m/s, LOS rate: 4.084798 deg/s, posRepo size: 4
2020-12-14T01:22:56.146Z,1607908976.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 36.409300 deg,
      approachRate: -0.282167 m/s,
      LOS rate: 4.084798 deg/s,
      cmd update: 8.169595 deg/s,
      cmd heading: 11.427191 deg,
      new cmd heading: 11.705529 deg.

2020-12-14T01:22:56.501Z,1607908976.501 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20201214T012256: (41.552319, -70.708603)
2020-12-14T01:22:56.501Z,1607908976.501 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2020-12-14T01:22:56.501Z,1607908976.501 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2020-12-14T01:22:56.502Z,1607908976.502 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T01:22:56.502Z,1607908976.502 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2020-12-14T01:22:56.502Z,1607908976.502 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2020-12-14T01:22:56.502Z,1607908976.502 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2020-12-14T01:22:56.502Z,1607908976.502 [lineCaptureDepth:SetNavAcoustic] Stopped
2020-12-14T01:22:56.502Z,1607908976.502 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2020-12-14T01:22:56.906Z,1607908976.906 [UniversalFixResidualReporter](INFO): Fix residual: 5.7 %DT, over the last 705.3 m. Residual distance 40.2 m at bearing -54.9 degrees. Fix at (41.5521, -70.7068) with 0.0 m made good.
2020-12-14T01:22:58.672Z,1607908978.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:22:59.288Z,1607908979.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:22:59.688Z,1607908979.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:00.534Z,1607908980.534 [Micromodem](INFO): Nmea in: $SNTTA,0.002990,,,,012300.44*42

2020-12-14T01:23:00.768Z,1607908980.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 18.199830 deg, deltaT: 4.480857 s, approachRate: 0.120513 m/s, LOS rate: -4.063837 deg/s, posRepo size: 4
2020-12-14T01:23:00.770Z,1607908980.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 18.199830 deg,
      approachRate: 0.120513 m/s,
      LOS rate: -4.063837 deg/s,
      cmd update: -8.127673 deg/s,
      cmd heading: 47.949236 deg,
      new cmd heading: 52.805251 deg.

2020-12-14T01:23:02.968Z,1607908982.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:03.756Z,1607908983.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:04.157Z,1607908984.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:05.011Z,1607908985.011 [Micromodem](INFO): Nmea in: $SNTTA,0.003878,,,,012304.91*48

2020-12-14T01:23:05.212Z,1607908985.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 345.611124 deg, deltaT: 4.428706 s, approachRate: 0.338699 m/s, LOS rate: -7.358517 deg/s, posRepo size: 4
2020-12-14T01:23:05.230Z,1607908985.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 345.611124 deg,
      approachRate: 0.338699 m/s,
      LOS rate: -7.358517 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 11.824094 deg,
      new cmd heading: 6.996670 deg.

2020-12-14T01:23:07.234Z,1607908987.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:07.783Z,1607908987.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:08.204Z,1607908988.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:09.078Z,1607908989.078 [Micromodem](INFO): Nmea in: $SNTTA,0.005159,,0.018540,,012308.94*5B

2020-12-14T01:23:09.118Z,1607908989.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.499999 m, bearing: 62.756967 deg, deltaT: 4.030050 s, approachRate: 0.416868 m/s, LOS rate: 19.142655 deg/s, posRepo size: 4
2020-12-14T01:23:09.118Z,1607908989.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.142655 deg/s. Setting heading cmd to target bearing of 62.756967deg and heading rate command to 0 deg/s.
2020-12-14T01:23:11.631Z,1607908991.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:12.239Z,1607908992.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:12.649Z,1607908992.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:13.482Z,1607908993.482 [Micromodem](INFO): Nmea in: $SNTTA,0.006585,0.013965,0.029716,,012313.39*45

2020-12-14T01:23:13.753Z,1607908993.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 8.614070 deg, deltaT: 4.466013 s, approachRate: 0.497088 m/s, LOS rate: -12.123318 deg/s, posRepo size: 4
2020-12-14T01:23:13.754Z,1607908993.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.123318 deg/s. Setting heading cmd to target bearing of 8.614070deg and heading rate command to 0 deg/s.
2020-12-14T01:23:15.953Z,1607908995.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:16.739Z,1607908996.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:17.153Z,1607908997.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:18.010Z,1607908998.010 [Micromodem](INFO): Nmea in: $SNTTA,0.007788,,,,012317.89*47

2020-12-14T01:23:18.212Z,1607908998.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 27.001488 deg, deltaT: 4.477708 s, approachRate: 0.455590 m/s, LOS rate: 4.106436 deg/s, posRepo size: 4
2020-12-14T01:23:18.213Z,1607908998.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 11.76 m. Rolling out.
2020-12-14T01:23:18.213Z,1607908998.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2020-12-14T01:23:20.194Z,1607909000.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:20.794Z,1607909000.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:21.201Z,1607909001.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:21.589Z,1607909001.589 [DDM](ERROR): Could not parse whisker state
2020-12-14T01:23:22.057Z,1607909002.057 [Micromodem](INFO): Nmea in: $SNTTA,0.009938,,,,012321.95*44

2020-12-14T01:23:22.092Z,1607909002.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 16.814146 deg, deltaT: 4.049495 s, approachRate: 0.800100 m/s, LOS rate: -2.515707 deg/s, posRepo size: 4
2020-12-14T01:23:24.626Z,1607909004.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:25.239Z,1607909005.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:25.700Z,1607909005.700 [DDM](ERROR): Could not parse whisker state
2020-12-14T01:23:25.713Z,1607909005.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:26.486Z,1607909006.486 [Micromodem](INFO): Nmea in: $SNTTA,0.012012,,,,012326.39*4E

2020-12-14T01:23:26.660Z,1607909006.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 18.025849 deg, deltaT: 4.484014 s, approachRate: 0.682424 m/s, LOS rate: 0.270227 deg/s, posRepo size: 4
2020-12-14T01:23:27.267Z,1607909007.267 [PowerOnly](INFO): Powering down loadControl
2020-12-14T01:23:28.895Z,1607909008.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:29.675Z,1607909009.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:30.115Z,1607909010.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:30.140Z,1607909010.140 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:23:30.678Z,1607909010.678 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:23:30.678Z,1607909010.678 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:23:31.042Z,1607909011.042 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:23:31.257Z,1607909011.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.440001 m, bearing: 27.896395 deg, deltaT: 4.621619 s, approachRate: 0.298597 m/s, LOS rate: 2.135733 deg/s, posRepo size: 4
2020-12-14T01:23:31.518Z,1607909011.518 [Micromodem](INFO): Nmea in: $CADRQ,012331,1,9,0,64,1*4C

2020-12-14T01:23:31.518Z,1607909011.518 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:23:31.950Z,1607909011.950 [Micromodem](INFO): Nmea in: $SNTTA,0.013060,,,,012330.83*4C

2020-12-14T01:23:31.950Z,1607909011.950 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.013060,,,,012330.83*4C

2020-12-14T01:23:32.809Z,1607909012.809 [DDM](ERROR): Could not parse whisker state
2020-12-14T01:23:33.139Z,1607909013.139 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:23:33.328Z,1607909013.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:33.567Z,1607909013.567 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:23:33.947Z,1607909013.947 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:23:33.948Z,1607909013.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:34.372Z,1607909014.372 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012332.692685,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T01:23:34.372Z,1607909014.372 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,012332.692685,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7C

2020-12-14T01:23:34.754Z,1607909014.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:35.218Z,1607909015.218 [Micromodem](INFO): Nmea in: $SNTTA,0.014878,,,,012335.10*45

2020-12-14T01:23:35.242Z,1607909015.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 8.522175 deg, deltaT: 4.061116 s, approachRate: 0.709164 m/s, LOS rate: -4.770664 deg/s, posRepo size: 4
2020-12-14T01:23:37.788Z,1607909017.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:38.399Z,1607909018.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:38.797Z,1607909018.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:39.646Z,1607909019.646 [Micromodem](INFO): Nmea in: $SNTTA,0.016719,,,,012339.55*42

2020-12-14T01:23:39.852Z,1607909019.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 15.732023 deg, deltaT: 4.432974 s, approachRate: 0.433117 m/s, LOS rate: 1.626413 deg/s, posRepo size: 4
2020-12-14T01:23:41.810Z,1607909021.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:42.595Z,1607909022.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:43.001Z,1607909023.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:43.838Z,1607909023.838 [Micromodem](INFO): Nmea in: $SNTTA,0.017575,,,,012343.75*44

2020-12-14T01:23:44.015Z,1607909024.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 18.551149 deg, deltaT: 4.237751 s, approachRate: 0.495546 m/s, LOS rate: 0.665241 deg/s, posRepo size: 4
2020-12-14T01:23:46.029Z,1607909026.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:46.663Z,1607909026.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:47.101Z,1607909027.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:47.906Z,1607909027.906 [Micromodem](INFO): Nmea in: $SNTTA,0.019632,,,,012347.82*46

2020-12-14T01:23:47.928Z,1607909027.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 16.253588 deg, deltaT: 4.037397 s, approachRate: 0.728193 m/s, LOS rate: -0.569070 deg/s, posRepo size: 4
2020-12-14T01:23:50.537Z,1607909030.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:51.147Z,1607909031.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:51.537Z,1607909031.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:52.366Z,1607909032.366 [Micromodem](INFO): Nmea in: $SNTTA,0.021282,,,,012352.30*4F

2020-12-14T01:23:52.578Z,1607909032.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.740002 m, bearing: 18.436726 deg, deltaT: 4.462937 s, approachRate: 0.551206 m/s, LOS rate: 0.489171 deg/s, posRepo size: 4
2020-12-14T01:23:54.788Z,1607909034.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:55.571Z,1607909035.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:23:55.975Z,1607909035.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:23:56.826Z,1607909036.826 [Micromodem](INFO): Nmea in: $SNTTA,0.022121,,,,012356.72*44

2020-12-14T01:23:56.992Z,1607909036.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 17.425853 deg, deltaT: 4.496126 s, approachRate: 0.427034 m/s, LOS rate: -0.224832 deg/s, posRepo size: 4
2020-12-14T01:23:59.000Z,1607909039.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:23:59.687Z,1607909039.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:00.108Z,1607909040.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:00.915Z,1607909040.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012400.84*55

2020-12-14T01:24:01.737Z,1607909041.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:03.329Z,1607909043.329 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:24:04.587Z,1607909044.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:05.371Z,1607909045.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:05.845Z,1607909045.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:06.666Z,1607909046.666 [Micromodem](INFO): Nmea in: $SNTTA,0.025920,,,,012406.52*4A

2020-12-14T01:24:06.721Z,1607909046.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 19.935355 deg, deltaT: 9.827205 s, approachRate: 0.580023 m/s, LOS rate: 0.255363 deg/s, posRepo size: 4
2020-12-14T01:24:09.127Z,1607909049.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:09.951Z,1607909049.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:10.369Z,1607909050.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:11.210Z,1607909051.210 [Micromodem](INFO): Nmea in: $SNTTA,0.027721,,,,012411.11*46

2020-12-14T01:24:11.265Z,1607909051.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.000000 m, bearing: 18.704367 deg, deltaT: 4.501435 s, approachRate: 0.586479 m/s, LOS rate: -0.273466 deg/s, posRepo size: 4
2020-12-14T01:24:13.354Z,1607909053.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:14.095Z,1607909054.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:14.497Z,1607909054.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:15.322Z,1607909055.322 [Micromodem](INFO): Nmea in: $SNTTA,0.029366,,,0.031879,012415.25*56

2020-12-14T01:24:15.407Z,1607909055.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.520000 m, bearing: 18.947151 deg, deltaT: 4.124284 s, approachRate: 0.611015 m/s, LOS rate: 0.058867 deg/s, posRepo size: 4
2020-12-14T01:24:17.963Z,1607909057.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:18.184Z,1607909058.184 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:24:18.532Z,1607909058.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:18.937Z,1607909058.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:19.782Z,1607909059.782 [Micromodem](INFO): Nmea in: $SNTTA,0.031109,,,,012419.69*4A

2020-12-14T01:24:19.807Z,1607909059.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.100002 m, bearing: 14.036438 deg, deltaT: 4.517991 s, approachRate: 0.571051 m/s, LOS rate: -1.086924 deg/s, posRepo size: 4
2020-12-14T01:24:22.445Z,1607909062.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:23.033Z,1607909063.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:23.426Z,1607909063.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:24.282Z,1607909064.282 [Micromodem](INFO): Nmea in: $SNTTA,0.032844,,,,012424.19*40

2020-12-14T01:24:24.514Z,1607909064.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 17.369588 deg, deltaT: 4.432354 s, approachRate: 0.582082 m/s, LOS rate: 0.752004 deg/s, posRepo size: 4
2020-12-14T01:24:26.471Z,1607909066.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:27.171Z,1607909067.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:27.577Z,1607909067.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:28.427Z,1607909068.427 [Micromodem](INFO): Nmea in: $SNTTA,0.034545,,,,012428.33*4E

2020-12-14T01:24:28.495Z,1607909068.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 18.950901 deg, deltaT: 4.128864 s, approachRate: 0.624871 m/s, LOS rate: 0.382990 deg/s, posRepo size: 4
2020-12-14T01:24:30.967Z,1607909070.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:31.619Z,1607909071.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:32.017Z,1607909072.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:32.862Z,1607909072.862 [Micromodem](INFO): Nmea in: $SNTTA,0.036253,,,,012432.77*47

2020-12-14T01:24:32.884Z,1607909072.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 14.770863 deg, deltaT: 4.492386 s, approachRate: 0.494169 m/s, LOS rate: -0.930472 deg/s, posRepo size: 4
2020-12-14T01:24:35.477Z,1607909075.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:36.087Z,1607909076.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:36.460Z,1607909076.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:36.473Z,1607909076.473 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:24:36.000Z,1607909077.000 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:24:36.000Z,1607909077.000 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:24:37.294Z,1607909077.294 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:24:37.531Z,1607909077.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 20.999522 deg, deltaT: 4.595885 s, approachRate: 0.626648 m/s, LOS rate: 1.355269 deg/s, posRepo size: 4
2020-12-14T01:24:37.698Z,1607909077.698 [Micromodem](INFO): Nmea in: $CADRQ,012438,1,9,0,64,1*42

2020-12-14T01:24:37.698Z,1607909077.698 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:24:38.127Z,1607909078.127 [Micromodem](INFO): Nmea in: $SNTTA,0.037891,,,,012437.24*41

2020-12-14T01:24:38.128Z,1607909078.128 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.037891,,,,012437.24*41

2020-12-14T01:24:39.320Z,1607909079.320 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:24:39.714Z,1607909079.714 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:24:39.737Z,1607909079.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:40.139Z,1607909080.139 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:24:40.512Z,1607909080.512 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012438.871972,3,0,200,4000,14500,1,1,9,1,1,1,3,60*75

2020-12-14T01:24:40.513Z,1607909080.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:40.917Z,1607909080.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:41.758Z,1607909081.758 [Micromodem](INFO): Nmea in: $SNTTA,0.039881,,,,012441.67*48

2020-12-14T01:24:41.938Z,1607909081.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.240002 m, bearing: 21.850429 deg, deltaT: 4.301014 s, approachRate: 0.669610 m/s, LOS rate: 0.197839 deg/s, posRepo size: 4
2020-12-14T01:24:43.926Z,1607909083.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:44.559Z,1607909084.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:44.966Z,1607909084.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:45.810Z,1607909085.810 [Micromodem](INFO): Nmea in: $SNTTA,0.041440,,,,012445.71*45

2020-12-14T01:24:45.835Z,1607909085.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.580006 m, bearing: 21.781373 deg, deltaT: 4.074386 s, approachRate: 0.574321 m/s, LOS rate: -0.016949 deg/s, posRepo size: 4
2020-12-14T01:24:48.417Z,1607909088.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:48.995Z,1607909088.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:49.405Z,1607909089.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:50.250Z,1607909090.250 [Micromodem](INFO): Nmea in: $SNTTA,0.043094,,,0.066408,012450.15*5E

2020-12-14T01:24:50.487Z,1607909090.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.739998 m, bearing: 17.200375 deg, deltaT: 4.384921 s, approachRate: 0.492595 m/s, LOS rate: -1.044716 deg/s, posRepo size: 4
2020-12-14T01:24:52.377Z,1607909092.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:53.192Z,1607909093.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:53.622Z,1607909093.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:54.451Z,1607909094.451 [Micromodem](INFO): Nmea in: $SNTTA,0.044704,,,,012454.35*43

2020-12-14T01:24:54.643Z,1607909094.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 19.513635 deg, deltaT: 4.254983 s, approachRate: 0.634551 m/s, LOS rate: 0.543659 deg/s, posRepo size: 4
2020-12-14T01:24:56.638Z,1607909096.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:24:57.264Z,1607909097.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:24:57.665Z,1607909097.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:24:58.494Z,1607909098.494 [Micromodem](INFO): Nmea in: $SNTTA,0.046367,,,,012458.42*4C

2020-12-14T01:24:58.533Z,1607909098.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.900002 m, bearing: 19.246845 deg, deltaT: 4.004569 s, approachRate: 0.614298 m/s, LOS rate: -0.066622 deg/s, posRepo size: 4
2020-12-14T01:25:01.091Z,1607909101.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:01.695Z,1607909101.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:02.117Z,1607909102.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:02.974Z,1607909102.974 [Micromodem](INFO): Nmea in: $SNTTA,0.048124,,,,012502.85*42

2020-12-14T01:25:03.180Z,1607909103.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.540009 m, bearing: 19.516041 deg, deltaT: 4.474128 s, approachRate: 0.590061 m/s, LOS rate: 0.060167 deg/s, posRepo size: 4
2020-12-14T01:25:05.469Z,1607909105.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:06.203Z,1607909106.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:06.605Z,1607909106.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:07.470Z,1607909107.470 [Micromodem](INFO): Nmea in: $SNTTA,0.049894,,,,012507.36*4C

2020-12-14T01:25:07.513Z,1607909107.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 21.905364 deg, deltaT: 4.652238 s, approachRate: 0.567469 m/s, LOS rate: 0.513586 deg/s, posRepo size: 4
2020-12-14T01:25:09.858Z,1607909109.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:10.655Z,1607909110.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:11.082Z,1607909111.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:11.905Z,1607909111.905 [Micromodem](INFO): Nmea in: $SNTTA,0.051640,,,,012511.81*49

2020-12-14T01:25:11.928Z,1607909111.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 22.156702 deg, deltaT: 4.267786 s, approachRate: 0.618586 m/s, LOS rate: 0.058892 deg/s, posRepo size: 4
2020-12-14T01:25:14.386Z,1607909114.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:15.119Z,1607909115.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:15.516Z,1607909115.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:16.360Z,1607909116.360 [Micromodem](INFO): Nmea in: $SNTTA,0.053169,,,,012516.27*4C

2020-12-14T01:25:16.450Z,1607909116.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 14.814486 deg, deltaT: 4.443970 s, approachRate: 0.486051 m/s, LOS rate: -1.652175 deg/s, posRepo size: 4
2020-12-14T01:25:18.767Z,1607909118.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:19.557Z,1607909119.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:19.959Z,1607909119.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:20.810Z,1607909120.810 [Micromodem](INFO): Nmea in: $SNTTA,0.054943,,,,012520.71*4D

2020-12-14T01:25:20.831Z,1607909120.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.680000 m, bearing: 18.986778 deg, deltaT: 4.449560 s, approachRate: 0.606803 m/s, LOS rate: 0.937687 deg/s, posRepo size: 4
2020-12-14T01:25:23.245Z,1607909123.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:23.987Z,1607909123.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:24.401Z,1607909124.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:25.242Z,1607909125.242 [Micromodem](INFO): Nmea in: $SNTTA,0.056642,,,,012525.14*47

2020-12-14T01:25:25.268Z,1607909125.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 17.639688 deg, deltaT: 4.455521 s, approachRate: 0.552124 m/s, LOS rate: -0.302342 deg/s, posRepo size: 4
2020-12-14T01:25:27.678Z,1607909127.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:28.437Z,1607909128.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:28.898Z,1607909128.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:29.706Z,1607909129.706 [Micromodem](INFO): Nmea in: $SNTTA,0.058556,,,,012529.59*4A

2020-12-14T01:25:29.762Z,1607909129.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.080002 m, bearing: 15.935395 deg, deltaT: 4.536925 s, approachRate: 0.648017 m/s, LOS rate: -0.375649 deg/s, posRepo size: 4
2020-12-14T01:25:32.164Z,1607909132.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:33.004Z,1607909133.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:33.946Z,1607909133.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:34.377Z,1607909134.377 [Micromodem](INFO): Nmea in: $SNTTA,0.060383,,,,012534.16*48

2020-12-14T01:25:34.461Z,1607909134.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.959999 m, bearing: 15.862662 deg, deltaT: 4.597134 s, approachRate: 0.626477 m/s, LOS rate: -0.015821 deg/s, posRepo size: 4
2020-12-14T01:25:36.834Z,1607909136.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:37.570Z,1607909137.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:37.986Z,1607909137.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:38.822Z,1607909138.822 [Micromodem](INFO): Nmea in: $SNTTA,0.062171,,,,012538.72*4B

2020-12-14T01:25:38.844Z,1607909138.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 18.835001 deg, deltaT: 4.477034 s, approachRate: 0.589676 m/s, LOS rate: 0.663908 deg/s, posRepo size: 4
2020-12-14T01:25:41.279Z,1607909141.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:42.023Z,1607909142.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:42.459Z,1607909142.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:42.480Z,1607909142.480 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:25:43.002Z,1607909143.002 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:25:43.002Z,1607909143.002 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:25:43.278Z,1607909143.278 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:25:43.382Z,1607909143.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 15.796894 deg, deltaT: 4.610925 s, approachRate: 0.533517 m/s, LOS rate: -0.658893 deg/s, posRepo size: 4
2020-12-14T01:25:43.682Z,1607909143.682 [Micromodem](INFO): Nmea in: $CADRQ,012544,1,9,0,64,1*48

2020-12-14T01:25:43.683Z,1607909143.683 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:25:44.094Z,1607909144.094 [Micromodem](INFO): Nmea in: $SNTTA,0.063846,,,,012543.18*47

2020-12-14T01:25:44.094Z,1607909144.094 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.063846,,,,012543.18*47

2020-12-14T01:25:45.289Z,1607909145.289 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:25:45.695Z,1607909145.695 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:25:45.721Z,1607909145.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:46.123Z,1607909146.123 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:25:46.504Z,1607909146.504 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012544.853387,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T01:25:46.505Z,1607909146.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:46.981Z,1607909146.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:47.791Z,1607909147.791 [Micromodem](INFO): Nmea in: $SNTTA,0.065651,,,,012547.66*44

2020-12-14T01:25:47.854Z,1607909147.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 14.984226 deg, deltaT: 4.387294 s, approachRate: 0.615411 m/s, LOS rate: -0.185232 deg/s, posRepo size: 4
2020-12-14T01:25:50.241Z,1607909150.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:51.023Z,1607909151.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:51.443Z,1607909151.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:52.270Z,1607909152.270 [Micromodem](INFO): Nmea in: $SNTTA,0.067337,,,,012552.18*4E

2020-12-14T01:25:52.294Z,1607909152.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.219994 m, bearing: 23.598930 deg, deltaT: 4.369335 s, approachRate: 0.563015 m/s, LOS rate: 1.971628 deg/s, posRepo size: 4
2020-12-14T01:25:54.702Z,1607909154.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:55.460Z,1607909155.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:25:55.861Z,1607909155.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:25:56.692Z,1607909156.692 [Micromodem](INFO): Nmea in: $SNTTA,0.069155,,,,012556.66*4B

2020-12-14T01:25:56.745Z,1607909156.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 19.892132 deg, deltaT: 4.539383 s, approachRate: 0.568361 m/s, LOS rate: -0.816586 deg/s, posRepo size: 4
2020-12-14T01:25:59.178Z,1607909159.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:25:59.903Z,1607909159.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:00.307Z,1607909160.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:01.150Z,1607909161.150 [Micromodem](INFO): Nmea in: $SNTTA,0.070850,,,,012601.06*48

2020-12-14T01:26:01.192Z,1607909161.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.500000 m, bearing: 18.989116 deg, deltaT: 4.436224 s, approachRate: 0.608625 m/s, LOS rate: -0.203555 deg/s, posRepo size: 4
2020-12-14T01:26:03.570Z,1607909163.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:04.367Z,1607909164.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:04.757Z,1607909164.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:05.578Z,1607909165.578 [Micromodem](INFO): Nmea in: $SNTTA,0.072458,,,,012605.52*4B

2020-12-14T01:26:05.624Z,1607909165.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.840004 m, bearing: 14.292038 deg, deltaT: 4.414574 s, approachRate: 0.530063 m/s, LOS rate: -1.063994 deg/s, posRepo size: 4
2020-12-14T01:26:08.202Z,1607909168.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:08.795Z,1607909168.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:09.197Z,1607909169.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:10.045Z,1607909170.045 [Micromodem](INFO): Nmea in: $SNTTA,0.074255,,0.100156,,012609.95*5C

2020-12-14T01:26:10.096Z,1607909170.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.540001 m, bearing: 17.805403 deg, deltaT: 4.413537 s, approachRate: 0.611754 m/s, LOS rate: 0.796043 deg/s, posRepo size: 4
2020-12-14T01:26:12.637Z,1607909172.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:13.263Z,1607909173.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:13.644Z,1607909173.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:14.468Z,1607909174.468 [Micromodem](INFO): Nmea in: $SNTTA,0.075930,,,,012614.42*4E

2020-12-14T01:26:14.638Z,1607909174.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 14.415439 deg, deltaT: 4.469378 s, approachRate: 0.577262 m/s, LOS rate: -0.758487 deg/s, posRepo size: 4
2020-12-14T01:26:16.939Z,1607909176.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:17.708Z,1607909177.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:18.193Z,1607909178.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:18.954Z,1607909178.954 [Micromodem](INFO): Nmea in: $SNTTA,0.077881,,,,012618.86*43

2020-12-14T01:26:18.983Z,1607909178.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.000000 m, bearing: 15.250820 deg, deltaT: 4.595518 s, approachRate: 0.626697 m/s, LOS rate: 0.181782 deg/s, posRepo size: 4
2020-12-14T01:26:21.400Z,1607909181.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:22.144Z,1607909182.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:22.553Z,1607909182.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:23.406Z,1607909183.406 [Micromodem](INFO): Nmea in: $SNTTA,0.079643,,,,012623.30*48

2020-12-14T01:26:23.491Z,1607909183.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.639999 m, bearing: 17.461198 deg, deltaT: 4.277565 s, approachRate: 0.617173 m/s, LOS rate: 0.516737 deg/s, posRepo size: 4
2020-12-14T01:26:25.821Z,1607909185.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:26.595Z,1607909186.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:27.003Z,1607909187.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:27.822Z,1607909187.822 [Micromodem](INFO): Nmea in: $SNTTA,0.081400,,,,012627.75*4F

2020-12-14T01:26:27.855Z,1607909187.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.279999 m, bearing: 23.504839 deg, deltaT: 4.496561 s, approachRate: 0.587115 m/s, LOS rate: 1.344059 deg/s, posRepo size: 4
2020-12-14T01:26:30.260Z,1607909190.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:31.030Z,1607909191.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:31.445Z,1607909191.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:32.278Z,1607909192.278 [Micromodem](INFO): Nmea in: $SNTTA,0.083067,,,,012632.18*47

2020-12-14T01:26:32.307Z,1607909192.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.860001 m, bearing: 27.535129 deg, deltaT: 4.398172 s, approachRate: 0.586608 m/s, LOS rate: 0.916356 deg/s, posRepo size: 4
2020-12-14T01:26:34.731Z,1607909194.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:35.483Z,1607909195.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:35.882Z,1607909195.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:36.722Z,1607909196.722 [Micromodem](INFO): Nmea in: $SNTTA,0.084943,,0.099855,,012636.64*56

2020-12-14T01:26:36.769Z,1607909196.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 13.014527 deg, deltaT: 4.484085 s, approachRate: 0.615509 m/s, LOS rate: -3.238253 deg/s, posRepo size: 4
2020-12-14T01:26:39.156Z,1607909199.156 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:26:39.182Z,1607909199.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:39.915Z,1607909199.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:40.409Z,1607909200.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:41.230Z,1607909201.230 [Micromodem](INFO): Nmea in: $SNTTA,0.086561,,,,012641.07*4B

2020-12-14T01:26:41.355Z,1607909201.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.960007 m, bearing: 13.096124 deg, deltaT: 4.509768 s, approachRate: 0.518876 m/s, LOS rate: 0.018094 deg/s, posRepo size: 4
2020-12-14T01:26:43.706Z,1607909203.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:44.445Z,1607909204.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:44.849Z,1607909204.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:45.690Z,1607909205.690 [Micromodem](INFO): Nmea in: $SNTTA,0.088435,,,,012645.60*40

2020-12-14T01:26:45.759Z,1607909205.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 17.755037 deg, deltaT: 4.480733 s, approachRate: 0.629360 m/s, LOS rate: 1.039766 deg/s, posRepo size: 4
2020-12-14T01:26:48.092Z,1607909208.092 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:26:48.119Z,1607909208.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:48.636Z,1607909208.636 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:26:48.636Z,1607909208.636 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:26:48.891Z,1607909208.891 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:26:48.892Z,1607909208.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:49.309Z,1607909209.309 [Micromodem](INFO): Nmea in: $CADRQ,012649,1,9,0,64,1*46

2020-12-14T01:26:49.309Z,1607909209.309 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,012649,1,9,0,64,1*46

2020-12-14T01:26:49.706Z,1607909209.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:50.138Z,1607909210.138 [Micromodem](INFO): Nmea in: $SNTTA,0.090070,,,,012650.04*4A

2020-12-14T01:26:50.178Z,1607909210.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.360001 m, bearing: 15.196794 deg, deltaT: 4.446764 s, approachRate: 0.580198 m/s, LOS rate: -0.575305 deg/s, posRepo size: 4
2020-12-14T01:26:52.706Z,1607909212.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:53.345Z,1607909213.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:53.733Z,1607909213.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:54.574Z,1607909214.574 [Micromodem](INFO): Nmea in: $SNTTA,0.091820,,,,012654.50*43

2020-12-14T01:26:54.598Z,1607909214.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.820007 m, bearing: 16.619925 deg, deltaT: 4.392719 s, approachRate: 0.560019 m/s, LOS rate: 0.323975 deg/s, posRepo size: 4
2020-12-14T01:26:57.200Z,1607909217.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:26:57.775Z,1607909217.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:26:58.189Z,1607909218.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:26:59.030Z,1607909219.030 [Micromodem](INFO): Nmea in: $SNTTA,0.093519,,,,012658.93*45

2020-12-14T01:26:59.238Z,1607909219.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.340012 m, bearing: 18.179549 deg, deltaT: 4.447134 s, approachRate: 0.566658 m/s, LOS rate: 0.350703 deg/s, posRepo size: 4
2020-12-14T01:27:01.514Z,1607909221.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:02.247Z,1607909222.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:02.657Z,1607909222.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:03.486Z,1607909223.486 [Micromodem](INFO): Nmea in: $SNTTA,0.095266,,,,012703.40*4D

2020-12-14T01:27:03.688Z,1607909223.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.040009 m, bearing: 15.871218 deg, deltaT: 4.480168 s, approachRate: 0.602655 m/s, LOS rate: -0.515233 deg/s, posRepo size: 4
2020-12-14T01:27:05.678Z,1607909225.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:06.275Z,1607909226.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:06.685Z,1607909226.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:07.530Z,1607909227.530 [Micromodem](INFO): Nmea in: $SNTTA,0.096857,,,,012707.43*41

2020-12-14T01:27:07.554Z,1607909227.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.440002 m, bearing: 16.068845 deg, deltaT: 4.024216 s, approachRate: 0.596388 m/s, LOS rate: 0.049109 deg/s, posRepo size: 4
2020-12-14T01:27:10.158Z,1607909230.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:10.729Z,1607909230.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:11.196Z,1607909231.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:11.990Z,1607909231.990 [Micromodem](INFO): Nmea in: $SNTTA,0.098673,,,,012711.88*47

2020-12-14T01:27:12.211Z,1607909232.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 14.742668 deg, deltaT: 4.453445 s, approachRate: 0.592799 m/s, LOS rate: -0.297787 deg/s, posRepo size: 4
2020-12-14T01:27:14.113Z,1607909234.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:14.879Z,1607909234.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:15.307Z,1607909235.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:16.142Z,1607909236.142 [Micromodem](INFO): Nmea in: $SNTTA,0.100223,,0.112661,,012716.03*5F

2020-12-14T01:27:16.204Z,1607909236.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.480011 m, bearing: 14.702216 deg, deltaT: 4.120244 s, approachRate: 0.582492 m/s, LOS rate: -0.009818 deg/s, posRepo size: 4
2020-12-14T01:27:18.695Z,1607909238.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:18.912Z,1607909238.912 [Micromodem](INFO): Nmea in: $CAERR,012719,DATA_TIMEOUT,1*42

2020-12-14T01:27:19.334Z,1607909239.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:19.736Z,1607909239.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:20.555Z,1607909240.555 [Micromodem](INFO): Nmea in: $SNTTA,0.102063,,,,012720.49*4D

2020-12-14T01:27:20.602Z,1607909240.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.180008 m, bearing: 16.589857 deg, deltaT: 4.455606 s, approachRate: 0.605977 m/s, LOS rate: 0.423655 deg/s, posRepo size: 4
2020-12-14T01:27:23.186Z,1607909243.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:23.764Z,1607909243.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:24.177Z,1607909244.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:25.034Z,1607909245.034 [Micromodem](INFO): Nmea in: $SNTTA,0.103742,,,,012724.92*4A

2020-12-14T01:27:25.236Z,1607909245.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 14.576920 deg, deltaT: 4.444960 s, approachRate: 0.580430 m/s, LOS rate: -0.452858 deg/s, posRepo size: 4
2020-12-14T01:27:27.484Z,1607909247.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:28.235Z,1607909248.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:28.645Z,1607909248.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:29.490Z,1607909249.490 [Micromodem](INFO): Nmea in: $SNTTA,0.105637,,,,012729.39*43

2020-12-14T01:27:29.676Z,1607909249.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 15.010116 deg, deltaT: 4.500069 s, approachRate: 0.613323 m/s, LOS rate: 0.096264 deg/s, posRepo size: 4
2020-12-14T01:27:31.655Z,1607909251.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:32.283Z,1607909252.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:32.686Z,1607909252.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:33.522Z,1607909253.522 [Micromodem](INFO): Nmea in: $SNTTA,0.107602,,,,012733.44*46

2020-12-14T01:27:34.381Z,1607909254.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:35.918Z,1607909255.918 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:27:37.190Z,1607909257.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:37.935Z,1607909257.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:38.427Z,1607909258.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:39.226Z,1607909259.226 [Micromodem](INFO): Nmea in: $SNTTA,0.110252,,,,012739.09*42

2020-12-14T01:27:39.284Z,1607909259.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 15.218259 deg, deltaT: 9.711142 s, approachRate: 0.722883 m/s, LOS rate: 0.021433 deg/s, posRepo size: 4
2020-12-14T01:27:41.689Z,1607909261.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:42.450Z,1607909262.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:42.871Z,1607909262.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:43.702Z,1607909263.702 [Micromodem](INFO): Nmea in: $SNTTA,0.111625,,,,012743.60*45

2020-12-14T01:27:43.764Z,1607909263.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 14.976607 deg, deltaT: 4.535708 s, approachRate: 0.000000 m/s, LOS rate: -0.053278 deg/s, posRepo size: 4
2020-12-14T01:27:46.170Z,1607909266.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:46.891Z,1607909266.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:47.310Z,1607909267.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:48.155Z,1607909268.155 [Micromodem](INFO): Nmea in: $SNTTA,0.113082,,,,012748.05*44

2020-12-14T01:27:48.203Z,1607909268.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.339996 m, bearing: 24.230634 deg, deltaT: 4.376888 s, approachRate: 1.096667 m/s, LOS rate: 2.114294 deg/s, posRepo size: 4
2020-12-14T01:27:50.699Z,1607909270.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:51.351Z,1607909271.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:51.749Z,1607909271.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:27:52.582Z,1607909272.582 [Micromodem](INFO): Nmea in: $SNTTA,0.114793,,,,012752.50*4F

2020-12-14T01:27:52.605Z,1607909272.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.339996 m, bearing: 9.757825 deg, deltaT: 4.448310 s, approachRate: 0.000000 m/s, LOS rate: -3.253552 deg/s, posRepo size: 4
2020-12-14T01:27:53.777Z,1607909273.777 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:27:54.308Z,1607909274.308 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:27:54.309Z,1607909274.309 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:27:54.618Z,1607909274.618 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:27:54.775Z,1607909274.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:27:55.028Z,1607909275.028 [Micromodem](INFO): Nmea in: $CADRQ,012755,1,9,0,64,1*4A

2020-12-14T01:27:55.029Z,1607909275.029 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:27:55.407Z,1607909275.407 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:27:55.408Z,1607909275.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:27:55.811Z,1607909275.811 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:27:55.812Z,1607909275.812 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:27:57.035Z,1607909277.035 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:27:57.036Z,1607909277.036 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:27:57.438Z,1607909277.438 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012756.198482,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T01:27:57.438Z,1607909277.438 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,012756.198482,3,0,200,4000,14500,1,1,9,1,1,1,3,60*72

2020-12-14T01:27:57.518Z,1607909277.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:00.090Z,1607909280.090 [CTD_Seabird](ERROR): Failed to parse device response: 5.85,7.6428,3.101.72
2020-12-14T01:28:00.303Z,1607909280.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:03.283Z,1607909283.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:05.951Z,1607909285.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:06.718Z,1607909286.718 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:07.137Z,1607909287.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:07.961Z,1607909287.961 [Micromodem](INFO): Nmea in: $SNTTA,0.120983,,,,012807.87*42

2020-12-14T01:28:08.395Z,1607909288.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.559998 m, bearing: 14.698217 deg, deltaT: 15.784743 s, approachRate: 0.710813 m/s, LOS rate: 0.312985 deg/s, posRepo size: 4
2020-12-14T01:28:10.830Z,1607909290.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:11.579Z,1607909291.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:11.973Z,1607909291.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:12.814Z,1607909292.814 [Micromodem](INFO): Nmea in: $SNTTA,0.123302,,,,012812.73*4D

2020-12-14T01:28:12.836Z,1607909292.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.559998 m, bearing: 19.897384 deg, deltaT: 4.500007 s, approachRate: 0.000000 m/s, LOS rate: 1.155369 deg/s, posRepo size: 4
2020-12-14T01:28:15.277Z,1607909295.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:16.007Z,1607909296.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:16.530Z,1607909296.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:17.345Z,1607909297.345 [Micromodem](INFO): Nmea in: $SNTTA,0.124971,,,,012817.16*42

2020-12-14T01:28:17.410Z,1607909297.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.899994 m, bearing: 15.622552 deg, deltaT: 4.478768 s, approachRate: 1.192291 m/s, LOS rate: -0.954466 deg/s, posRepo size: 4
2020-12-14T01:28:19.775Z,1607909299.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:20.551Z,1607909300.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:21.009Z,1607909301.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:21.814Z,1607909301.814 [Micromodem](INFO): Nmea in: $SNTTA,0.126334,,,,012821.71*4F

2020-12-14T01:28:21.871Z,1607909301.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.599991 m, bearing: 15.461610 deg, deltaT: 4.515245 s, approachRate: 0.597974 m/s, LOS rate: -0.035644 deg/s, posRepo size: 4
2020-12-14T01:28:24.294Z,1607909304.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:25.031Z,1607909305.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:25.454Z,1607909305.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:26.284Z,1607909306.284 [Micromodem](INFO): Nmea in: $SNTTA,0.128093,,,0.130600,012826.18*5D

2020-12-14T01:28:26.714Z,1607909306.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.240005 m, bearing: 17.422920 deg, deltaT: 4.877412 s, approachRate: 0.541274 m/s, LOS rate: 0.402121 deg/s, posRepo size: 4
2020-12-14T01:28:29.281Z,1607909309.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:29.887Z,1607909309.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:30.304Z,1607909310.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:31.138Z,1607909311.138 [Micromodem](INFO): Nmea in: $SNTTA,0.130424,,,,012831.04*4D

2020-12-14T01:28:31.537Z,1607909311.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.179993 m, bearing: 16.363854 deg, deltaT: 4.823685 s, approachRate: 0.609490 m/s, LOS rate: -0.219555 deg/s, posRepo size: 4
2020-12-14T01:28:33.699Z,1607909313.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:34.326Z,1607909314.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:34.733Z,1607909314.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:35.563Z,1607909315.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012835.48*5F

2020-12-14T01:28:35.993Z,1607909315.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.879990 m, bearing: 16.017967 deg, deltaT: 4.573793 s, approachRate: 0.590319 m/s, LOS rate: -0.075624 deg/s, posRepo size: 4
2020-12-14T01:28:38.409Z,1607909318.409 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T01:28:38.475Z,1607909318.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:39.179Z,1607909319.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:39.577Z,1607909319.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:40.425Z,1607909320.425 [Micromodem](INFO): Nmea in: $SNTTA,0.133790,,,,012840.33*40

2020-12-14T01:28:40.803Z,1607909320.803 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,0PROC,0.10.0.46*4E
 expected 50
2020-12-14T01:28:40.818Z,1607909320.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.759995 m, bearing: 13.936840 deg, deltaT: 4.749101 s, approachRate: 0.606432 m/s, LOS rate: -0.438215 deg/s, posRepo size: 4
2020-12-14T01:28:43.271Z,1607909323.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:44.031Z,1607909324.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:44.449Z,1607909324.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:45.257Z,1607909325.257 [Micromodem](INFO): Nmea in: $SNTTA,0.135654,,,,012845.19*42

2020-12-14T01:28:45.694Z,1607909325.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.639984 m, bearing: 14.915914 deg, deltaT: 4.815308 s, approachRate: 0.598090 m/s, LOS rate: 0.203325 deg/s, posRepo size: 4
2020-12-14T01:28:48.143Z,1607909328.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:48.879Z,1607909328.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:49.281Z,1607909329.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:50.121Z,1607909330.121 [Micromodem](INFO): Nmea in: $SNTTA,0.137609,,,,012850.03*47

2020-12-14T01:28:50.537Z,1607909330.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.519989 m, bearing: 12.948253 deg, deltaT: 4.854700 s, approachRate: 0.593241 m/s, LOS rate: -0.405310 deg/s, posRepo size: 4
2020-12-14T01:28:53.146Z,1607909333.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:53.715Z,1607909333.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:54.125Z,1607909334.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:54.949Z,1607909334.949 [Micromodem](INFO): Nmea in: $SNTTA,0.139467,,,,012854.87*4B

2020-12-14T01:28:55.410Z,1607909335.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.339996 m, bearing: 16.317498 deg, deltaT: 5.013155 s, approachRate: 0.562521 m/s, LOS rate: 0.672081 deg/s, posRepo size: 4
2020-12-14T01:28:57.775Z,1607909337.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:28:58.567Z,1607909338.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:28:58.969Z,1607909338.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:28:59.407Z,1607909339.407 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:28:59.831Z,1607909339.831 [Micromodem](INFO): Nmea in: $SNTTA,0.141502,,,,012859.72*41

2020-12-14T01:28:59.965Z,1607909339.965 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:28:59.965Z,1607909339.965 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:29:00.275Z,1607909340.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.399994 m, bearing: 13.650801 deg, deltaT: 4.852791 s, approachRate: 0.630564 m/s, LOS rate: -0.549518 deg/s, posRepo size: 4
2020-12-14T01:29:01.056Z,1607909341.056 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:29:01.470Z,1607909341.470 [Micromodem](INFO): Nmea in: $CADRQ,012901,1,9,0,64,1*45

2020-12-14T01:29:01.470Z,1607909341.470 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:29:01.913Z,1607909341.913 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:29:02.331Z,1607909342.331 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:29:02.775Z,1607909342.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:03.537Z,1607909343.537 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:29:03.539Z,1607909343.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:03.930Z,1607909343.930 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,012902.641648,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T01:29:03.930Z,1607909343.930 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,012902.641648,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7A

2020-12-14T01:29:04.355Z,1607909344.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:04.742Z,1607909344.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012904.69*5F

2020-12-14T01:29:05.609Z,1607909345.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:07.154Z,1607909347.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:29:08.201Z,1607909348.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:08.763Z,1607909348.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:09.182Z,1607909349.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:10.016Z,1607909350.016 [Micromodem](INFO): Nmea in: $SNTTA,0.145539,,,,012909.92*47

2020-12-14T01:29:10.478Z,1607909350.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.399994 m, bearing: 14.832929 deg, deltaT: 10.018949 s, approachRate: 0.598865 m/s, LOS rate: 0.117989 deg/s, posRepo size: 4
2020-12-14T01:29:12.629Z,1607909352.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:13.211Z,1607909353.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:13.624Z,1607909353.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:14.475Z,1607909354.475 [Micromodem](INFO): Nmea in: $SNTTA,0.147190,,,,012914.36*40

2020-12-14T01:29:14.880Z,1607909354.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.860001 m, bearing: 17.783164 deg, deltaT: 4.629244 s, approachRate: 0.531406 m/s, LOS rate: 0.637304 deg/s, posRepo size: 4
2020-12-14T01:29:17.293Z,1607909357.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:18.107Z,1607909358.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:18.493Z,1607909358.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:19.319Z,1607909359.319 [Micromodem](INFO): Nmea in: $SNTTA,0.149056,,,,012919.26*49

2020-12-14T01:29:19.741Z,1607909359.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.679977 m, bearing: 15.247105 deg, deltaT: 4.727332 s, approachRate: 0.596526 m/s, LOS rate: -0.536467 deg/s, posRepo size: 4
2020-12-14T01:29:22.186Z,1607909362.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:22.935Z,1607909362.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:23.349Z,1607909363.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:24.161Z,1607909364.161 [Micromodem](INFO): Nmea in: $SNTTA,0.150919,,,,012924.09*40

2020-12-14T01:29:24.590Z,1607909364.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.499985 m, bearing: 16.875442 deg, deltaT: 4.802352 s, approachRate: 0.587214 m/s, LOS rate: 0.339071 deg/s, posRepo size: 4
2020-12-14T01:29:27.004Z,1607909367.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:27.775Z,1607909367.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:28.181Z,1607909368.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:29.011Z,1607909369.011 [Micromodem](INFO): Nmea in: $SNTTA,0.152851,,,,012928.94*47

2020-12-14T01:29:29.477Z,1607909369.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.379990 m, bearing: 14.554711 deg, deltaT: 4.885352 s, approachRate: 0.589518 m/s, LOS rate: -0.475039 deg/s, posRepo size: 4
2020-12-14T01:29:31.975Z,1607909371.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:32.623Z,1607909372.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:33.029Z,1607909373.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:33.857Z,1607909373.857 [Micromodem](INFO): Nmea in: $SNTTA,0.154881,,,,012933.78*44

2020-12-14T01:29:34.288Z,1607909374.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.439987 m, bearing: 14.209808 deg, deltaT: 4.966088 s, approachRate: 0.616179 m/s, LOS rate: -0.069452 deg/s, posRepo size: 4
2020-12-14T01:29:36.700Z,1607909376.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:37.495Z,1607909377.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:37.873Z,1607909377.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:38.711Z,1607909378.711 [Micromodem](INFO): Nmea in: $SNTTA,0.156704,,,,012938.65*43

2020-12-14T01:29:39.566Z,1607909379.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:41.126Z,1607909381.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:29:42.386Z,1607909382.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:43.123Z,1607909383.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:43.554Z,1607909383.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:44.392Z,1607909384.392 [Micromodem](INFO): Nmea in: $SNTTA,0.158834,,,,012944.28*43

2020-12-14T01:29:44.927Z,1607909384.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.319992 m, bearing: 16.532125 deg, deltaT: 10.416435 s, approachRate: 0.564493 m/s, LOS rate: 0.222947 deg/s, posRepo size: 4
2020-12-14T01:29:47.227Z,1607909387.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:47.984Z,1607909387.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:48.404Z,1607909388.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:49.229Z,1607909389.229 [Micromodem](INFO): Nmea in: $SNTTA,0.160813,,,,012949.14*4F

2020-12-14T01:29:49.634Z,1607909389.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.319992 m, bearing: 17.957119 deg, deltaT: 4.780604 s, approachRate: 0.627536 m/s, LOS rate: 0.298078 deg/s, posRepo size: 4
2020-12-14T01:29:52.038Z,1607909392.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:52.827Z,1607909392.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:53.233Z,1607909393.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:54.085Z,1607909394.085 [Micromodem](INFO): Nmea in: $SNTTA,0.162598,,,,012953.98*4C

2020-12-14T01:29:54.534Z,1607909394.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.020004 m, bearing: 15.232280 deg, deltaT: 4.872019 s, approachRate: 0.554188 m/s, LOS rate: -0.559283 deg/s, posRepo size: 4
2020-12-14T01:29:56.898Z,1607909396.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:29:57.704Z,1607909397.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:29:58.141Z,1607909398.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:29:58.965Z,1607909398.965 [Micromodem](INFO): Nmea in: $SNTTA,0.164584,,,,012958.86*43

2020-12-14T01:29:59.431Z,1607909399.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.959991 m, bearing: 16.591156 deg, deltaT: 4.885352 s, approachRate: 0.601796 m/s, LOS rate: 0.278153 deg/s, posRepo size: 4
2020-12-14T01:30:01.791Z,1607909401.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:02.587Z,1607909402.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:02.995Z,1607909402.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:03.819Z,1607909403.819 [Micromodem](INFO): Nmea in: $SNTTA,0.166473,,,,013003.74*43

2020-12-14T01:30:04.412Z,1607909404.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:05.015Z,1607909405.015 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:30:05.563Z,1607909405.563 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:30:05.563Z,1607909405.563 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:30:05.819Z,1607909405.819 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:30:06.234Z,1607909406.234 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:06.235Z,1607909406.235 [Micromodem](INFO): Nmea in: $CADRQ,013006,1,9,0,64,1*4A

2020-12-14T01:30:06.236Z,1607909406.236 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:30:06.723Z,1607909406.723 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:30:07.122Z,1607909407.122 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:30:07.150Z,1607909407.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:07.942Z,1607909407.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:08.367Z,1607909408.367 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:30:08.367Z,1607909408.367 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:30:08.747Z,1607909408.747 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013007.410941,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T01:30:08.748Z,1607909408.748 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,013007.410941,3,0,200,4000,14500,1,1,9,1,1,1,3,60*77

2020-12-14T01:30:09.982Z,1607909409.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:12.953Z,1607909412.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:15.640Z,1607909415.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:18.515Z,1607909418.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:19.254Z,1607909419.254 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:19.729Z,1607909419.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:20.511Z,1607909420.511 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013020.41*5B

2020-12-14T01:30:21.407Z,1607909421.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:22.541Z,1607909422.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:23.923Z,1607909423.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:24.555Z,1607909424.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:24.967Z,1607909424.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:25.804Z,1607909425.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013025.71*5D

2020-12-14T01:30:26.282Z,1607909426.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.759979 m, bearing: 13.611600 deg, deltaT: 26.968094 s, approachRate: 0.622958 m/s, LOS rate: -0.110485 deg/s, posRepo size: 4
2020-12-14T01:30:28.702Z,1607909428.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:29.483Z,1607909429.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:29.885Z,1607909429.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:30.771Z,1607909430.771 [Micromodem](INFO): Nmea in: $SNTTA,0.177197,,,,013030.63*4A

2020-12-14T01:30:31.613Z,1607909431.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:32.770Z,1607909432.770 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:34.448Z,1607909434.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:35.191Z,1607909435.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:35.597Z,1607909435.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:36.419Z,1607909436.419 [Micromodem](INFO): Nmea in: $SNTTA,0.179344,,,,013036.34*4C

2020-12-14T01:30:36.998Z,1607909436.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:38.822Z,1607909438.822 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:39.675Z,1607909439.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:40.449Z,1607909440.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:40.857Z,1607909440.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:41.675Z,1607909441.675 [Micromodem](INFO): Nmea in: $SNTTA,0.181955,,,,013041.60*40

2020-12-14T01:30:42.497Z,1607909442.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:44.122Z,1607909444.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:45.557Z,1607909445.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:46.124Z,1607909446.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:46.530Z,1607909446.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:47.356Z,1607909447.356 [Micromodem](INFO): Nmea in: $SNTTA,0.184162,,,,013047.28*43

2020-12-14T01:30:48.176Z,1607909448.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:49.762Z,1607909449.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:51.019Z,1607909451.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:51.767Z,1607909451.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:52.261Z,1607909452.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:53.100Z,1607909453.100 [Micromodem](INFO): Nmea in: $SNTTA,0.185903,,,,013052.92*48

2020-12-14T01:30:53.524Z,1607909453.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:55.141Z,1607909455.141 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:30:56.116Z,1607909456.116 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:30:56.138Z,1607909456.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:30:56.703Z,1607909456.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:30:57.123Z,1607909457.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:30:57.953Z,1607909457.953 [Micromodem](INFO): Nmea in: $SNTTA,0.187738,,,,013057.86*4C

2020-12-14T01:30:58.445Z,1607909458.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.059998 m, bearing: 13.753589 deg, deltaT: 32.196590 s, approachRate: 0.568384 m/s, LOS rate: 0.004410 deg/s, posRepo size: 4
2020-12-14T01:31:00.829Z,1607909460.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:01.615Z,1607909461.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:02.013Z,1607909462.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:02.860Z,1607909462.860 [Micromodem](INFO): Nmea in: $SNTTA,0.189921,,,,013102.77*4B

2020-12-14T01:31:03.274Z,1607909463.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.179993 m, bearing: 13.910845 deg, deltaT: 4.720916 s, approachRate: 0.660888 m/s, LOS rate: 0.033310 deg/s, posRepo size: 4
2020-12-14T01:31:05.722Z,1607909465.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:06.463Z,1607909466.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:06.873Z,1607909466.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:07.703Z,1607909467.703 [Micromodem](INFO): Nmea in: $SNTTA,0.191849,,,,013107.62*4C

2020-12-14T01:31:08.551Z,1607909468.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:10.126Z,1607909470.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:10.916Z,1607909470.916 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:31:11.152Z,1607909471.152 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:31:11.174Z,1607909471.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:11.517Z,1607909471.517 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:31:11.518Z,1607909471.518 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:31:11.751Z,1607909471.751 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:31:11.752Z,1607909471.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:12.155Z,1607909472.155 [Micromodem](INFO): Nmea in: $CADRQ,013112,1,9,0,64,1*4E

2020-12-14T01:31:12.155Z,1607909472.155 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,013112,1,9,0,64,1*4E

2020-12-14T01:31:12.561Z,1607909472.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:12.992Z,1607909472.992 [Micromodem](INFO): Nmea in: $SNTTA,0.193968,,,,013112.91*44

2020-12-14T01:31:13.787Z,1607909473.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:15.398Z,1607909475.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:16.214Z,1607909476.214 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:31:16.670Z,1607909476.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:17.411Z,1607909477.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:17.834Z,1607909477.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:18.659Z,1607909478.659 [Micromodem](INFO): Nmea in: $SNTTA,0.196225,,,,013118.57*43

2020-12-14T01:31:19.500Z,1607909479.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:21.122Z,1607909481.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:22.311Z,1607909482.311 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T01:31:22.373Z,1607909482.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:23.115Z,1607909483.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:23.513Z,1607909483.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:24.311Z,1607909484.311 [Micromodem](INFO): Nmea in: $SNTTA,0.198191,,,,013124.27*49

2020-12-14T01:31:25.158Z,1607909485.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:26.360Z,1607909486.360 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:31:26.726Z,1607909486.726 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:28.164Z,1607909488.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:28.747Z,1607909488.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:29.165Z,1607909489.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:29.987Z,1607909489.987 [Micromodem](INFO): Nmea in: $SNTTA,0.200657,,,,013129.90*47

2020-12-14T01:31:30.828Z,1607909490.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:31.230Z,1607909491.230 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T01:31:32.414Z,1607909492.414 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:33.653Z,1607909493.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:34.437Z,1607909494.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:34.901Z,1607909494.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:35.707Z,1607909495.707 [Micromodem](INFO): Nmea in: $SNTTA,0.202948,,,,013135.59*4C

2020-12-14T01:31:36.163Z,1607909496.163 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T01:31:36.196Z,1607909496.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:37.737Z,1607909497.737 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:38.966Z,1607909498.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:39.750Z,1607909499.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:40.161Z,1607909500.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:40.977Z,1607909500.977 [Micromodem](INFO): Nmea in: $SNTTA,0.205195,,,,013140.90*44

2020-12-14T01:31:41.425Z,1607909501.425 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:31:41.462Z,1607909501.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.859985 m, bearing: 20.789656 deg, deltaT: 38.341245 s, approachRate: 0.591530 m/s, LOS rate: 0.179410 deg/s, posRepo size: 4
2020-12-14T01:31:41.462Z,1607909501.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 307.86 m. Resuming terminal guidance.
2020-12-14T01:31:41.463Z,1607909501.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-12-14T01:31:42.230Z,1607909502.230 [Micromodem](INFO): Nmea in: $CAERR,013142,DATA_TIMEOUT,1*4B

2020-12-14T01:31:43.879Z,1607909503.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:44.639Z,1607909504.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:45.079Z,1607909505.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:45.867Z,1607909505.867 [Micromodem](INFO): Nmea in: $SNTTA,0.207079,,,,013145.79*47

2020-12-14T01:31:46.281Z,1607909506.281 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T01:31:46.281Z,1607909506.281 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T01:31:46.281Z,1607909506.281 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T01:31:46.409Z,1607909506.409 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T01:31:46.733Z,1607909506.733 [RDI_Pathfinder](INFO): Powering down
2020-12-14T01:31:46.762Z,1607909506.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:47.635Z,1607909507.635 [lineCaptureDepth:MicromodemComms:CheckIn:A](INFO): Timed out from 2020-12-14T01:21:47.2Z
2020-12-14T01:31:47.635Z,1607909507.635 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T01:31:47.635Z,1607909507.635 [lineCaptureDepth:MicromodemComms:CheckIn](INFO): Completed lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:31:47.635Z,1607909507.635 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T01:31:47.635Z,1607909507.635 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:31:47.635Z,1607909507.635 [lineCaptureDepth:MicromodemComms](INFO): Completed lineCaptureDepth:MicromodemComms
2020-12-14T01:31:47.680Z,1607909507.680 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T01:31:47.681Z,1607909507.681 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T01:31:47.892Z,1607909507.892 [lineCaptureDepth:MicromodemComms] Running Loop=1
2020-12-14T01:31:47.892Z,1607909507.892 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2020-12-14T01:31:47.892Z,1607909507.892 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2020-12-14T01:31:47.892Z,1607909507.892 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:31:47.892Z,1607909507.892 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2020-12-14T01:31:48.270Z,1607909508.270 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:49.553Z,1607909509.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:50.295Z,1607909510.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:50.717Z,1607909510.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:51.542Z,1607909511.542 [Micromodem](INFO): Nmea in: $SNTTA,0.209207,,,,013151.45*48

2020-12-14T01:31:52.390Z,1607909512.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:53.942Z,1607909513.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:31:54.914Z,1607909514.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:55.563Z,1607909515.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:31:55.974Z,1607909515.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:31:56.783Z,1607909516.783 [Micromodem](INFO): Nmea in: $SNTTA,0.211503,,,,013156.71*42

2020-12-14T01:31:57.122Z,1607909517.122 [CTD_Seabird](ERROR): Failed to parse device response: ,7.6280,3.29570,3031.02
2020-12-14T01:31:57.623Z,1607909517.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:31:59.194Z,1607909519.194 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:32:00.444Z,1607909520.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:01.215Z,1607909521.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:01.645Z,1607909521.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:02.460Z,1607909522.460 [Micromodem](INFO): Nmea in: $SNTTA,0.213740,,,,013202.37*45

2020-12-14T01:32:02.958Z,1607909522.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:04.866Z,1607909524.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:32:05.748Z,1607909525.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:06.491Z,1607909526.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:06.889Z,1607909526.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:07.715Z,1607909527.715 [Micromodem](INFO): Nmea in: $SNTTA,0.215544,,,,013207.65*47

2020-12-14T01:32:08.542Z,1607909528.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:10.118Z,1607909530.118 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:32:11.399Z,1607909531.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:12.147Z,1607909532.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:12.561Z,1607909532.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:13.392Z,1607909533.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013213.30*5F

2020-12-14T01:32:13.844Z,1607909533.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.320007 m, bearing: 10.815290 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2020-12-14T01:32:13.862Z,1607909533.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 10.815290deg and heading rate command to 0 deg/s.
2020-12-14T01:32:16.398Z,1607909536.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:16.625Z,1607909536.625 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:32:17.003Z,1607909537.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:17.409Z,1607909537.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:17.566Z,1607909537.566 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:32:17.566Z,1607909537.566 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:32:17.828Z,1607909537.828 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:32:18.243Z,1607909538.243 [Micromodem](INFO): Nmea in: $CADRQ,013218,1,9,0,64,1*47

2020-12-14T01:32:18.243Z,1607909538.243 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:32:18.627Z,1607909538.627 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013218.15*53

2020-12-14T01:32:18.627Z,1607909538.627 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,013218.15*53

2020-12-14T01:32:19.074Z,1607909539.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:19.843Z,1607909539.843 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:32:20.267Z,1607909540.267 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:32:20.642Z,1607909540.642 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:32:20.643Z,1607909540.643 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:32:21.055Z,1607909541.055 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013219.415914,3,0,200,4000,14500,1,1,9,1,1,1,3,60*7F

2020-12-14T01:32:21.918Z,1607909541.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:22.672Z,1607909542.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:23.188Z,1607909543.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:23.975Z,1607909543.975 [Micromodem](INFO): Nmea in: $SNTTA,0.222320,,,,013223.83*49

2020-12-14T01:32:24.420Z,1607909544.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:25.986Z,1607909545.986 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:32:26.966Z,1607909546.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:27.600Z,1607909547.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:28.005Z,1607909548.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:28.835Z,1607909548.835 [Micromodem](INFO): Nmea in: $SNTTA,0.224341,,,,013228.75*4A

2020-12-14T01:32:29.670Z,1607909549.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:31.238Z,1607909551.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:32:32.494Z,1607909552.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:33.271Z,1607909553.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:33.761Z,1607909553.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:34.542Z,1607909554.542 [Micromodem](INFO): Nmea in: $SNTTA,0.226237,,,,013234.42*41

2020-12-14T01:32:35.016Z,1607909555.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.420013 m, bearing: 15.858156 deg, deltaT: 21.196043 s, approachRate: 0.523683 m/s, LOS rate: 0.237915 deg/s, posRepo size: 2
2020-12-14T01:32:35.022Z,1607909555.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.420013 m,
      bearing: 15.858156 deg,
      approachRate: 0.523683 m/s,
      LOS rate: 0.237915 deg/s,
      cmd update: 0.475831 deg/s,
      cmd heading: 10.815290 deg,
      new cmd heading: 10.815290 deg.

2020-12-14T01:32:37.479Z,1607909557.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:38.231Z,1607909558.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:38.633Z,1607909558.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:39.477Z,1607909559.477 [Micromodem](INFO): Nmea in: $SNTTA,0.228214,,,,013239.38*4E

2020-12-14T01:32:39.894Z,1607909559.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 342.420013 m, bearing: 17.853457 deg, deltaT: 5.067563 s, approachRate: 0.592001 m/s, LOS rate: 0.393740 deg/s, posRepo size: 3
2020-12-14T01:32:39.897Z,1607909559.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.420013 m,
      bearing: 17.853457 deg,
      approachRate: 0.592001 m/s,
      LOS rate: 0.393740 deg/s,
      cmd update: 0.787480 deg/s,
      cmd heading: 13.226575 deg,
      new cmd heading: 13.328672 deg.

2020-12-14T01:32:42.356Z,1607909562.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:43.075Z,1607909563.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:43.489Z,1607909563.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:44.305Z,1607909564.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013244.23*5F

2020-12-14T01:32:44.767Z,1607909564.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 345.179993 m, bearing: 20.495654 deg, deltaT: 4.723433 s, approachRate: 0.584316 m/s, LOS rate: 0.559381 deg/s, posRepo size: 4
2020-12-14T01:32:44.777Z,1607909564.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 345.179993 m,
      bearing: 20.495654 deg,
      approachRate: 0.584316 m/s,
      LOS rate: 0.559381 deg/s,
      cmd update: 1.118761 deg/s,
      cmd heading: 16.943053 deg,
      new cmd heading: 17.232496 deg.

2020-12-14T01:32:47.168Z,1607909567.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:47.915Z,1607909567.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:48.389Z,1607909568.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:49.169Z,1607909569.169 [Micromodem](INFO): Nmea in: $SNTTA,0.232036,,,,013249.07*4C

2020-12-14T01:32:49.614Z,1607909569.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 348.180023 m, bearing: 29.267880 deg, deltaT: 4.827339 s, approachRate: 0.621467 m/s, LOS rate: 1.817197 deg/s, posRepo size: 4
2020-12-14T01:32:49.615Z,1607909569.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.180023 m,
      bearing: 29.267880 deg,
      approachRate: 0.621467 m/s,
      LOS rate: 1.817197 deg/s,
      cmd update: 3.634394 deg/s,
      cmd heading: 22.345670 deg,
      new cmd heading: 22.776104 deg.

2020-12-14T01:32:52.043Z,1607909572.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:52.803Z,1607909572.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:53.215Z,1607909573.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:54.051Z,1607909574.051 [Micromodem](INFO): Nmea in: $SNTTA,0.233879,,,,013253.96*4D

2020-12-14T01:32:54.608Z,1607909574.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.940002 m, bearing: 35.288282 deg, deltaT: 4.889527 s, approachRate: 0.564468 m/s, LOS rate: 1.231285 deg/s, posRepo size: 4
2020-12-14T01:32:54.626Z,1607909574.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.940002 m,
      bearing: 35.288282 deg,
      approachRate: 0.564468 m/s,
      LOS rate: 1.231285 deg/s,
      cmd update: 2.462570 deg/s,
      cmd heading: 40.108478 deg,
      new cmd heading: 41.897272 deg.

2020-12-14T01:32:56.982Z,1607909576.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:32:57.787Z,1607909577.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:32:58.191Z,1607909578.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:32:58.983Z,1607909578.983 [Micromodem](INFO): Nmea in: $SNTTA,0.235724,,,,013258.94*45

2020-12-14T01:32:59.454Z,1607909579.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 353.640015 m, bearing: 37.864083 deg, deltaT: 4.913884 s, approachRate: 0.549466 m/s, LOS rate: 0.524188 deg/s, posRepo size: 4
2020-12-14T01:32:59.461Z,1607909579.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.640015 m,
      bearing: 37.864083 deg,
      approachRate: 0.549466 m/s,
      LOS rate: 0.524188 deg/s,
      cmd update: 1.048377 deg/s,
      cmd heading: 52.219989 deg,
      new cmd heading: 53.213314 deg.

2020-12-14T01:33:01.851Z,1607909581.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:02.611Z,1607909582.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:03.009Z,1607909583.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:03.837Z,1607909583.837 [Micromodem](INFO): Nmea in: $SNTTA,0.236877,,,,013303.76*4C

2020-12-14T01:33:04.260Z,1607909584.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.380005 m, bearing: 61.297840 deg, deltaT: 4.851046 s, approachRate: 0.358684 m/s, LOS rate: 4.830661 deg/s, posRepo size: 4
2020-12-14T01:33:04.262Z,1607909584.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.380005 m,
      bearing: 61.297840 deg,
      approachRate: 0.358684 m/s,
      LOS rate: 4.830661 deg/s,
      cmd update: 9.661321 deg/s,
      cmd heading: 57.301483 deg,
      new cmd heading: 57.698276 deg.

2020-12-14T01:33:06.705Z,1607909586.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:07.464Z,1607909587.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:07.857Z,1607909587.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:08.677Z,1607909588.677 [Micromodem](INFO): Nmea in: $SNTTA,0.238026,,,,013308.62*40

2020-12-14T01:33:09.104Z,1607909589.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.059998 m, bearing: 102.005802 deg, deltaT: 4.874684 s, approachRate: 0.344636 m/s, LOS rate: 8.350892 deg/s, posRepo size: 4
2020-12-14T01:33:09.106Z,1607909589.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.059998 m,
      bearing: 102.005802 deg,
      approachRate: 0.344636 m/s,
      LOS rate: 8.350892 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.198242 deg,
      new cmd heading: 107.763404 deg.

2020-12-14T01:33:11.692Z,1607909591.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:12.295Z,1607909592.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:12.701Z,1607909592.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:13.541Z,1607909593.541 [Micromodem](INFO): Nmea in: $SNTTA,0.238716,,,,013313.45*4B

2020-12-14T01:33:13.979Z,1607909593.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.079987 m, bearing: 145.412419 deg, deltaT: 5.006036 s, approachRate: 0.203752 m/s, LOS rate: 8.670856 deg/s, posRepo size: 4
2020-12-14T01:33:13.982Z,1607909593.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.079987 m,
      bearing: 145.412419 deg,
      approachRate: 0.203752 m/s,
      LOS rate: 8.670856 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 164.371379 deg,
      new cmd heading: 167.127827 deg.

2020-12-14T01:33:16.409Z,1607909596.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:17.163Z,1607909597.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:17.591Z,1607909597.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:18.405Z,1607909598.405 [Micromodem](INFO): Nmea in: $SNTTA,0.238486,,,,013318.32*4A

2020-12-14T01:33:18.857Z,1607909598.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.720001 m, bearing: 73.091316 deg, deltaT: 4.707601 s, approachRate: -0.076469 m/s, LOS rate: -15.362624 deg/s, posRepo size: 4
2020-12-14T01:33:18.858Z,1607909598.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.362624 deg/s. Setting heading cmd to target bearing of 73.091316deg and heading rate command to 0 deg/s.
2020-12-14T01:33:21.250Z,1607909601.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:22.027Z,1607909602.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:22.426Z,1607909602.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:22.827Z,1607909602.827 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:33:23.257Z,1607909603.257 [Micromodem](INFO): Nmea in: $SNTTA,0.237501,,,,013323.18*4B

2020-12-14T01:33:23.436Z,1607909603.436 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:33:23.437Z,1607909603.437 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:33:23.872Z,1607909603.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 356.519989 m, bearing: 145.507072 deg, deltaT: 5.053476 s, approachRate: -0.237463 m/s, LOS rate: 14.329891 deg/s, posRepo size: 4
2020-12-14T01:33:23.877Z,1607909603.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.329891 deg/s. Setting heading cmd to target bearing of 145.507072deg and heading rate command to 0 deg/s.
2020-12-14T01:33:24.675Z,1607909604.675 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:33:25.078Z,1607909605.078 [Micromodem](INFO): Nmea in: $CADRQ,013324,1,9,0,64,1*49

2020-12-14T01:33:25.078Z,1607909605.078 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:33:25.497Z,1607909605.497 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:33:25.887Z,1607909605.887 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:33:26.502Z,1607909606.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:27.123Z,1607909607.123 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:33:27.124Z,1607909607.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:27.501Z,1607909607.501 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013326.249320,3,0,200,4000,14500,1,1,9,1,1,1,3,60*70

2020-12-14T01:33:27.501Z,1607909607.501 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,013326.249320,3,0,200,4000,14500,1,1,9,1,1,1,3,60*70

2020-12-14T01:33:27.906Z,1607909607.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:28.330Z,1607909608.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013328.28*5F

2020-12-14T01:33:29.134Z,1607909609.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:30.730Z,1607909610.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:33:32.014Z,1607909612.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:32.751Z,1607909612.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:33.521Z,1607909613.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:33.930Z,1607909613.930 [Micromodem](INFO): Nmea in: $SNTTA,0.233827,,,,013333.91*46

2020-12-14T01:33:34.461Z,1607909614.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.580017 m, bearing: 194.887481 deg, deltaT: 10.517433 s, approachRate: -0.564774 m/s, LOS rate: 4.695101 deg/s, posRepo size: 4
2020-12-14T01:33:34.463Z,1607909614.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.580017 m,
      bearing: 194.887481 deg,
      approachRate: -0.564774 m/s,
      LOS rate: 4.695101 deg/s,
      cmd update: 9.390202 deg/s,
      cmd heading: 145.507072 deg,
      new cmd heading: 145.507072 deg.

2020-12-14T01:33:36.827Z,1607909616.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:37.758Z,1607909617.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:38.105Z,1607909618.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:38.948Z,1607909618.948 [Micromodem](INFO): Nmea in: $SNTTA,0.231702,,,,013338.91*47

2020-12-14T01:33:39.779Z,1607909619.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.399994 m, bearing: 199.261849 deg, deltaT: 5.002344 s, approachRate: -0.635707 m/s, LOS rate: 0.874464 deg/s, posRepo size: 4
2020-12-14T01:33:39.786Z,1607909619.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.399994 m,
      bearing: 199.261849 deg,
      approachRate: -0.635707 m/s,
      LOS rate: 0.874464 deg/s,
      cmd update: 1.748927 deg/s,
      cmd heading: 192.480760 deg,
      new cmd heading: 199.435650 deg.

2020-12-14T01:33:41.770Z,1607909621.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:42.483Z,1607909622.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:42.896Z,1607909622.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:43.757Z,1607909623.757 [Micromodem](INFO): Nmea in: $SNTTA,0.229556,,,,013343.63*4C

2020-12-14T01:33:44.222Z,1607909624.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.160004 m, bearing: 199.423246 deg, deltaT: 4.924544 s, approachRate: -0.657927 m/s, LOS rate: 0.032774 deg/s, posRepo size: 4
2020-12-14T01:33:44.224Z,1607909624.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.160004 m,
      bearing: 199.423246 deg,
      approachRate: -0.657927 m/s,
      LOS rate: 0.032774 deg/s,
      cmd update: 0.065548 deg/s,
      cmd heading: 201.107251 deg,
      new cmd heading: 201.545378 deg.

2020-12-14T01:33:46.672Z,1607909626.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:47.429Z,1607909627.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:47.829Z,1607909627.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:48.673Z,1607909628.673 [Micromodem](INFO): Nmea in: $SNTTA,0.226964,,,,013348.58*4D

2020-12-14T01:33:49.092Z,1607909629.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.199982 m, bearing: 201.248232 deg, deltaT: 4.782665 s, approachRate: -0.827995 m/s, LOS rate: 0.381583 deg/s, posRepo size: 4
2020-12-14T01:33:49.096Z,1607909629.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.199982 m,
      bearing: 201.248232 deg,
      approachRate: -0.827995 m/s,
      LOS rate: 0.381583 deg/s,
      cmd update: 0.763167 deg/s,
      cmd heading: 201.420476 deg,
      new cmd heading: 201.442846 deg.

2020-12-14T01:33:51.522Z,1607909631.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:52.275Z,1607909632.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:52.729Z,1607909632.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:53.517Z,1607909633.517 [Micromodem](INFO): Nmea in: $SNTTA,0.224179,,,,013353.43*4B

2020-12-14T01:33:53.941Z,1607909633.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 336.119995 m, bearing: 206.786163 deg, deltaT: 4.821568 s, approachRate: -0.846195 m/s, LOS rate: 1.148575 deg/s, posRepo size: 4
2020-12-14T01:33:53.943Z,1607909633.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.119995 m,
      bearing: 206.786163 deg,
      approachRate: -0.846195 m/s,
      LOS rate: 1.148575 deg/s,
      cmd update: 2.297149 deg/s,
      cmd heading: 205.103433 deg,
      new cmd heading: 205.381989 deg.

2020-12-14T01:33:56.381Z,1607909636.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:33:57.135Z,1607909637.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:33:57.541Z,1607909637.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:33:58.395Z,1607909638.395 [Micromodem](INFO): Nmea in: $SNTTA,0.221346,,,,013358.29*47

2020-12-14T01:33:58.982Z,1607909638.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.859985 m, bearing: 205.860030 deg, deltaT: 4.861886 s, approachRate: -0.876205 m/s, LOS rate: -0.190488 deg/s, posRepo size: 4
2020-12-14T01:33:58.984Z,1607909638.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.859985 m,
      bearing: 205.860030 deg,
      approachRate: -0.876205 m/s,
      LOS rate: -0.190488 deg/s,
      cmd update: -0.380977 deg/s,
      cmd heading: 216.266898 deg,
      new cmd heading: 217.522958 deg.

2020-12-14T01:34:01.229Z,1607909641.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:01.987Z,1607909641.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:02.409Z,1607909642.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:03.213Z,1607909643.213 [Micromodem](INFO): Nmea in: $SNTTA,0.218492,,,,013403.14*44

2020-12-14T01:34:03.667Z,1607909643.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 327.539978 m, bearing: 207.497404 deg, deltaT: 4.989746 s, approachRate: -0.865777 m/s, LOS rate: 0.328148 deg/s, posRepo size: 4
2020-12-14T01:34:03.669Z,1607909643.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 327.539978 m,
      bearing: 207.497404 deg,
      approachRate: -0.865777 m/s,
      LOS rate: 0.328148 deg/s,
      cmd update: 0.656295 deg/s,
      cmd heading: 214.365984 deg,
      new cmd heading: 214.273736 deg.

2020-12-14T01:34:06.082Z,1607909646.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:06.843Z,1607909646.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:07.253Z,1607909647.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:08.141Z,1607909648.141 [Micromodem](INFO): Nmea in: $SNTTA,0.215535,,,,013407.99*44

2020-12-14T01:34:08.722Z,1607909648.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.100006 m, bearing: 207.658952 deg, deltaT: 4.940236 s, approachRate: -0.898737 m/s, LOS rate: 0.032700 deg/s, posRepo size: 4
2020-12-14T01:34:08.747Z,1607909648.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.100006 m,
      bearing: 207.658952 deg,
      approachRate: -0.898737 m/s,
      LOS rate: 0.032700 deg/s,
      cmd update: 0.065401 deg/s,
      cmd heading: 217.604537 deg,
      new cmd heading: 217.837552 deg.

2020-12-14T01:34:11.126Z,1607909651.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:11.879Z,1607909651.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:12.286Z,1607909652.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:13.108Z,1607909653.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013413.03*59

2020-12-14T01:34:13.566Z,1607909653.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 319.799988 m, bearing: 208.252768 deg, deltaT: 4.778888 s, approachRate: -0.690541 m/s, LOS rate: 0.124258 deg/s, posRepo size: 4
2020-12-14T01:34:13.569Z,1607909653.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.799988 m,
      bearing: 208.252768 deg,
      approachRate: -0.690541 m/s,
      LOS rate: 0.124258 deg/s,
      cmd update: 0.248517 deg/s,
      cmd heading: 217.917603 deg,
      new cmd heading: 217.945008 deg.

2020-12-14T01:34:16.104Z,1607909656.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:16.751Z,1607909656.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:17.133Z,1607909657.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:17.942Z,1607909657.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013417.90*57

2020-12-14T01:34:18.801Z,1607909658.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:20.382Z,1607909660.382 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:34:21.612Z,1607909661.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:22.395Z,1607909662.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:22.809Z,1607909662.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:23.604Z,1607909663.604 [Micromodem](INFO): Nmea in: $SNTTA,0.206445,,,,013423.55*46

2020-12-14T01:34:24.049Z,1607909664.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.359985 m, bearing: 206.514909 deg, deltaT: 10.529888 s, approachRate: -0.991464 m/s, LOS rate: -0.165041 deg/s, posRepo size: 4
2020-12-14T01:34:24.051Z,1607909664.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.359985 m,
      bearing: 206.514909 deg,
      approachRate: -0.991464 m/s,
      LOS rate: -0.165041 deg/s,
      cmd update: -0.330081 deg/s,
      cmd heading: 220.534451 deg,
      new cmd heading: 220.626978 deg.

2020-12-14T01:34:26.465Z,1607909666.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:27.227Z,1607909667.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:27.633Z,1607909667.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:28.472Z,1607909668.472 [Micromodem](INFO): Nmea in: $SNTTA,0.203550,,,,013428.38*46

2020-12-14T01:34:28.472Z,1607909668.472 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:34:28.992Z,1607909668.992 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:34:28.993Z,1607909668.993 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:34:29.196Z,1607909669.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.160004 m, bearing: 206.461606 deg, deltaT: 4.867358 s, approachRate: -0.862887 m/s, LOS rate: -0.010951 deg/s, posRepo size: 4
2020-12-14T01:34:29.214Z,1607909669.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.160004 m,
      bearing: 206.461606 deg,
      approachRate: -0.862887 m/s,
      LOS rate: -0.010951 deg/s,
      cmd update: -0.021902 deg/s,
      cmd heading: 218.929208 deg,
      new cmd heading: 218.712404 deg.

2020-12-14T01:34:29.837Z,1607909669.837 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:34:30.230Z,1607909670.230 [Micromodem](INFO): Nmea in: $CADRQ,013430,1,9,0,64,1*4B

2020-12-14T01:34:30.230Z,1607909670.230 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:34:30.638Z,1607909670.638 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:34:31.027Z,1607909671.027 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:34:31.239Z,1607909671.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:31.835Z,1607909671.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:32.268Z,1607909672.268 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:34:32.268Z,1607909672.268 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:34:32.645Z,1607909672.645 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013431.402724,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-14T01:34:32.646Z,1607909672.646 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,013431.402724,3,0,200,4000,14500,1,1,9,1,1,1,3,60*78

2020-12-14T01:34:33.900Z,1607909673.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:36.765Z,1607909676.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:39.556Z,1607909679.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:42.114Z,1607909682.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:43.150Z,1607909683.150 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:43.568Z,1607909683.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:44.404Z,1607909684.404 [Micromodem](INFO): Nmea in: $SNTTA,0.194058,,,,013444.30*44

2020-12-14T01:34:44.834Z,1607909684.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.940002 m, bearing: 205.791646 deg, deltaT: 15.888845 s, approachRate: -0.894968 m/s, LOS rate: -0.042165 deg/s, posRepo size: 4
2020-12-14T01:34:44.836Z,1607909684.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.940002 m,
      bearing: 205.791646 deg,
      approachRate: -0.894968 m/s,
      LOS rate: -0.042165 deg/s,
      cmd update: -0.084331 deg/s,
      cmd heading: 218.581181 deg,
      new cmd heading: 218.572325 deg.

2020-12-14T01:34:47.208Z,1607909687.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:48.002Z,1607909688.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:48.595Z,1607909688.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:49.414Z,1607909689.414 [Micromodem](INFO): Nmea in: $SNTTA,0.191490,,,,013449.15*4B

2020-12-14T01:34:49.471Z,1607909689.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.799988 m, bearing: 205.231325 deg, deltaT: 4.586854 s, approachRate: -0.902583 m/s, LOS rate: -0.122158 deg/s, posRepo size: 4
2020-12-14T01:34:49.477Z,1607909689.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.799988 m,
      bearing: 205.231325 deg,
      approachRate: -0.902583 m/s,
      LOS rate: -0.122158 deg/s,
      cmd update: -0.244316 deg/s,
      cmd heading: 218.194162 deg,
      new cmd heading: 218.156012 deg.

2020-12-14T01:34:51.596Z,1607909691.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:52.391Z,1607909692.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:52.803Z,1607909692.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:53.601Z,1607909693.601 [Micromodem](INFO): Nmea in: $SNTTA,0.188710,,,,013453.54*46

2020-12-14T01:34:54.030Z,1607909694.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.839996 m, bearing: 205.788819 deg, deltaT: 4.621462 s, approachRate: -0.856870 m/s, LOS rate: 0.120631 deg/s, posRepo size: 4
2020-12-14T01:34:54.032Z,1607909694.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.839996 m,
      bearing: 205.788819 deg,
      approachRate: -0.856870 m/s,
      LOS rate: 0.120631 deg/s,
      cmd update: 0.241263 deg/s,
      cmd heading: 217.064990 deg,
      new cmd heading: 216.969778 deg.

2020-12-14T01:34:56.479Z,1607909696.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:34:57.215Z,1607909697.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:34:57.625Z,1607909697.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:34:58.452Z,1607909698.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013458.37*51

2020-12-14T01:34:59.253Z,1607909699.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:00.846Z,1607909700.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:35:01.841Z,1607909701.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:02.599Z,1607909702.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:03.027Z,1607909703.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:03.857Z,1607909703.857 [Micromodem](INFO): Nmea in: $SNTTA,0.182775,,,,013503.75*48

2020-12-14T01:35:04.280Z,1607909704.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.899994 m, bearing: 205.754039 deg, deltaT: 10.240744 s, approachRate: -0.872984 m/s, LOS rate: -0.003396 deg/s, posRepo size: 4
2020-12-14T01:35:04.282Z,1607909704.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.899994 m,
      bearing: 205.754039 deg,
      approachRate: -0.872984 m/s,
      LOS rate: -0.003396 deg/s,
      cmd update: -0.006792 deg/s,
      cmd heading: 219.535702 deg,
      new cmd heading: 219.631890 deg.

2020-12-14T01:35:06.696Z,1607909706.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:07.467Z,1607909707.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:07.873Z,1607909707.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:08.706Z,1607909708.706 [Micromodem](INFO): Nmea in: $SNTTA,0.179952,,,,013508.62*4A

2020-12-14T01:35:09.153Z,1607909709.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 269.699982 m, bearing: 204.918092 deg, deltaT: 4.925795 s, approachRate: -0.852657 m/s, LOS rate: -0.169708 deg/s, posRepo size: 4
2020-12-14T01:35:09.155Z,1607909709.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.699982 m,
      bearing: 204.918092 deg,
      approachRate: -0.852657 m/s,
      LOS rate: -0.169708 deg/s,
      cmd update: -0.339416 deg/s,
      cmd heading: 219.502270 deg,
      new cmd heading: 219.499895 deg.

2020-12-14T01:35:11.537Z,1607909711.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:12.311Z,1607909712.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:12.751Z,1607909712.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:13.559Z,1607909713.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013513.46*59

2020-12-14T01:35:13.988Z,1607909713.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.319977 m, bearing: 204.226126 deg, deltaT: 4.775754 s, approachRate: -0.917134 m/s, LOS rate: -0.144892 deg/s, posRepo size: 4
2020-12-14T01:35:13.990Z,1607909713.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.319977 m,
      bearing: 204.226126 deg,
      approachRate: -0.917134 m/s,
      LOS rate: -0.144892 deg/s,
      cmd update: -0.289783 deg/s,
      cmd heading: 217.880016 deg,
      new cmd heading: 217.742471 deg.

2020-12-14T01:35:16.562Z,1607909716.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:17.159Z,1607909717.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:17.569Z,1607909717.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:18.405Z,1607909718.405 [Micromodem](INFO): Nmea in: $SNTTA,0.174165,,,,013518.31*4C

2020-12-14T01:35:18.823Z,1607909718.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.119995 m, bearing: 203.961552 deg, deltaT: 4.877639 s, approachRate: -0.861069 m/s, LOS rate: -0.054242 deg/s, posRepo size: 4
2020-12-14T01:35:18.825Z,1607909718.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.119995 m,
      bearing: 203.961552 deg,
      approachRate: -0.861069 m/s,
      LOS rate: -0.054242 deg/s,
      cmd update: -0.108485 deg/s,
      cmd heading: 216.469225 deg,
      new cmd heading: 216.361434 deg.

2020-12-14T01:35:20.974Z,1607909720.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:21.603Z,1607909721.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:22.013Z,1607909722.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:22.844Z,1607909722.844 [Micromodem](INFO): Nmea in: $SNTTA,0.171431,,,,013522.75*44

2020-12-14T01:35:23.483Z,1607909723.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.919983 m, bearing: 203.779268 deg, deltaT: 4.707800 s, approachRate: -0.892139 m/s, LOS rate: -0.038720 deg/s, posRepo size: 4
2020-12-14T01:35:23.486Z,1607909723.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.919983 m,
      bearing: 203.779268 deg,
      approachRate: -0.892139 m/s,
      LOS rate: -0.038720 deg/s,
      cmd update: -0.077439 deg/s,
      cmd heading: 215.957484 deg,
      new cmd heading: 215.923305 deg.

2020-12-14T01:35:25.857Z,1607909725.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:26.639Z,1607909726.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:27.045Z,1607909727.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:27.872Z,1607909727.872 [Micromodem](INFO): Nmea in: $SNTTA,0.168585,,,,013527.79*4B

2020-12-14T01:35:28.316Z,1607909728.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.719986 m, bearing: 202.714892 deg, deltaT: 4.767237 s, approachRate: -0.881013 m/s, LOS rate: -0.223269 deg/s, posRepo size: 4
2020-12-14T01:35:28.345Z,1607909728.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.719986 m,
      bearing: 202.714892 deg,
      approachRate: -0.881013 m/s,
      LOS rate: -0.223269 deg/s,
      cmd update: -0.446538 deg/s,
      cmd heading: 215.588924 deg,
      new cmd heading: 215.559074 deg.

2020-12-14T01:35:30.757Z,1607909730.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:31.499Z,1607909731.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:31.901Z,1607909731.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:32.749Z,1607909732.749 [Micromodem](INFO): Nmea in: $SNTTA,0.165695,,,,013532.65*4D

2020-12-14T01:35:33.358Z,1607909733.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.339981 m, bearing: 203.621504 deg, deltaT: 4.863060 s, approachRate: -0.900669 m/s, LOS rate: 0.186428 deg/s, posRepo size: 4
2020-12-14T01:35:33.365Z,1607909733.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.339981 m,
      bearing: 203.621504 deg,
      approachRate: -0.900669 m/s,
      LOS rate: 0.186428 deg/s,
      cmd update: 0.372857 deg/s,
      cmd heading: 213.413936 deg,
      new cmd heading: 213.173816 deg.

2020-12-14T01:35:34.377Z,1607909734.377 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:35:34.922Z,1607909734.922 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:35:34.922Z,1607909734.922 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:35:35.186Z,1607909735.186 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:35:35.419Z,1607909735.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:35.575Z,1607909735.575 [Micromodem](INFO): Nmea in: $CADRQ,013536,1,9,0,64,1*4C

2020-12-14T01:35:35.578Z,1607909735.578 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:35:35.975Z,1607909735.975 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:35:35.976Z,1607909735.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:36.402Z,1607909736.402 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:35:36.402Z,1607909736.402 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:35:37.606Z,1607909737.606 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:35:37.607Z,1607909737.607 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:35:38.004Z,1607909738.004 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013536.748113,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:35:38.004Z,1607909738.004 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,013536.748113,3,0,200,4000,14500,1,1,9,1,1,1,3,60*71

2020-12-14T01:35:38.052Z,1607909738.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:40.886Z,1607909740.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:43.765Z,1607909743.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:46.422Z,1607909746.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:46.000Z,1607909747.000 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:47.413Z,1607909747.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:48.225Z,1607909748.225 [Micromodem](INFO): Nmea in: $SNTTA,0.156492,,,,013548.15*42

2020-12-14T01:35:48.640Z,1607909748.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.599991 m, bearing: 204.389313 deg, deltaT: 15.664700 s, approachRate: -0.877131 m/s, LOS rate: 0.049015 deg/s, posRepo size: 4
2020-12-14T01:35:48.642Z,1607909748.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.599991 m,
      bearing: 204.389313 deg,
      approachRate: -0.877131 m/s,
      LOS rate: 0.049015 deg/s,
      cmd update: 0.098030 deg/s,
      cmd heading: 219.246454 deg,
      new cmd heading: 219.320521 deg.

2020-12-14T01:35:51.042Z,1607909751.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:51.824Z,1607909751.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:52.259Z,1607909752.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:53.069Z,1607909753.069 [Micromodem](INFO): Nmea in: $SNTTA,0.153554,,,,013552.97*4D

2020-12-14T01:35:53.497Z,1607909753.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.219986 m, bearing: 203.188115 deg, deltaT: 4.643880 s, approachRate: -0.943178 m/s, LOS rate: -0.258663 deg/s, posRepo size: 4
2020-12-14T01:35:53.499Z,1607909753.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.219986 m,
      bearing: 203.188115 deg,
      approachRate: -0.943178 m/s,
      LOS rate: -0.258663 deg/s,
      cmd update: -0.517325 deg/s,
      cmd heading: 219.703471 deg,
      new cmd heading: 219.742067 deg.

2020-12-14T01:35:55.930Z,1607909755.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:35:56.671Z,1607909756.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:35:57.082Z,1607909757.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:35:57.982Z,1607909757.982 [Micromodem](INFO): Nmea in: $SNTTA,0.150846,,,,013557.82*41

2020-12-14T01:35:58.592Z,1607909758.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.139999 m, bearing: 202.625102 deg, deltaT: 5.081687 s, approachRate: -0.802880 m/s, LOS rate: -0.110792 deg/s, posRepo size: 4
2020-12-14T01:35:58.610Z,1607909758.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.139999 m,
      bearing: 202.625102 deg,
      approachRate: -0.802880 m/s,
      LOS rate: -0.110792 deg/s,
      cmd update: -0.221585 deg/s,
      cmd heading: 217.085672 deg,
      new cmd heading: 216.864046 deg.

2020-12-14T01:36:01.125Z,1607909761.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:01.397Z,1607909761.397 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:36:01.759Z,1607909761.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:02.153Z,1607909762.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:02.985Z,1607909762.985 [Micromodem](INFO): Nmea in: $SNTTA,0.147844,,,,013602.91*44

2020-12-14T01:36:03.439Z,1607909763.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.639984 m, bearing: 200.745421 deg, deltaT: 4.837491 s, approachRate: -0.930237 m/s, LOS rate: -0.388565 deg/s, posRepo size: 4
2020-12-14T01:36:03.442Z,1607909763.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.639984 m,
      bearing: 200.745421 deg,
      approachRate: -0.930237 m/s,
      LOS rate: -0.388565 deg/s,
      cmd update: -0.777131 deg/s,
      cmd heading: 216.008138 deg,
      new cmd heading: 215.916896 deg.

2020-12-14T01:36:05.586Z,1607909765.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:06.195Z,1607909766.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:06.601Z,1607909766.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:07.424Z,1607909767.424 [Micromodem](INFO): Nmea in: $SNTTA,0.145245,,,,013607.35*46

2020-12-14T01:36:07.847Z,1607909767.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.739990 m, bearing: 201.044596 deg, deltaT: 4.585686 s, approachRate: -0.850471 m/s, LOS rate: 0.065241 deg/s, posRepo size: 4
2020-12-14T01:36:07.849Z,1607909767.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.739990 m,
      bearing: 201.044596 deg,
      approachRate: -0.850471 m/s,
      LOS rate: 0.065241 deg/s,
      cmd update: 0.130483 deg/s,
      cmd heading: 212.444427 deg,
      new cmd heading: 212.262114 deg.

2020-12-14T01:36:10.239Z,1607909770.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:11.035Z,1607909771.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:11.447Z,1607909771.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:12.265Z,1607909772.265 [Micromodem](INFO): Nmea in: $SNTTA,0.142466,,,,013612.19*4C

2020-12-14T01:36:12.694Z,1607909772.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.539978 m, bearing: 200.222474 deg, deltaT: 4.696495 s, approachRate: -0.894287 m/s, LOS rate: -0.175050 deg/s, posRepo size: 4
2020-12-14T01:36:12.696Z,1607909772.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.539978 m,
      bearing: 200.222474 deg,
      approachRate: -0.894287 m/s,
      LOS rate: -0.175050 deg/s,
      cmd update: -0.350100 deg/s,
      cmd heading: 213.056716 deg,
      new cmd heading: 213.107456 deg.

2020-12-14T01:36:15.134Z,1607909775.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:15.875Z,1607909775.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:16.313Z,1607909776.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:17.117Z,1607909777.117 [Micromodem](INFO): Nmea in: $SNTTA,0.139599,,,,013617.03*4F

2020-12-14T01:36:17.534Z,1607909777.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.279984 m, bearing: 201.140533 deg, deltaT: 4.903370 s, approachRate: -0.868789 m/s, LOS rate: 0.187230 deg/s, posRepo size: 4
2020-12-14T01:36:17.535Z,1607909777.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.279984 m,
      bearing: 201.140533 deg,
      approachRate: -0.868789 m/s,
      LOS rate: 0.187230 deg/s,
      cmd update: 0.374461 deg/s,
      cmd heading: 211.340485 deg,
      new cmd heading: 211.226159 deg.

2020-12-14T01:36:20.030Z,1607909780.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:20.803Z,1607909780.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:21.205Z,1607909781.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:22.047Z,1607909782.047 [Micromodem](INFO): Nmea in: $SNTTA,0.136708,,,,013621.95*40

2020-12-14T01:36:22.485Z,1607909782.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.899979 m, bearing: 201.494720 deg, deltaT: 4.859124 s, approachRate: -0.901398 m/s, LOS rate: 0.072891 deg/s, posRepo size: 4
2020-12-14T01:36:22.487Z,1607909782.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.899979 m,
      bearing: 201.494720 deg,
      approachRate: -0.901398 m/s,
      LOS rate: 0.072891 deg/s,
      cmd update: 0.145782 deg/s,
      cmd heading: 213.162024 deg,
      new cmd heading: 213.314557 deg.

2020-12-14T01:36:25.035Z,1607909785.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:25.651Z,1607909785.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:26.057Z,1607909786.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:26.885Z,1607909786.885 [Micromodem](INFO): Nmea in: $SNTTA,0.133824,,,,013626.80*47

2020-12-14T01:36:27.360Z,1607909787.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.579987 m, bearing: 200.933155 deg, deltaT: 5.003952 s, approachRate: -0.863316 m/s, LOS rate: -0.112224 deg/s, posRepo size: 4
2020-12-14T01:36:27.366Z,1607909787.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.579987 m,
      bearing: 200.933155 deg,
      approachRate: -0.863316 m/s,
      LOS rate: -0.112224 deg/s,
      cmd update: -0.224448 deg/s,
      cmd heading: 213.891509 deg,
      new cmd heading: 213.932986 deg.

2020-12-14T01:36:29.764Z,1607909789.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:30.519Z,1607909790.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:30.913Z,1607909790.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:31.781Z,1607909791.781 [Micromodem](INFO): Nmea in: $SNTTA,0.131028,,,,013631.67*4E

2020-12-14T01:36:32.188Z,1607909792.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.199997 m, bearing: 200.448758 deg, deltaT: 4.754195 s, approachRate: -0.921289 m/s, LOS rate: -0.101888 deg/s, posRepo size: 4
2020-12-14T01:36:32.190Z,1607909792.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.199997 m,
      bearing: 200.448758 deg,
      approachRate: -0.921289 m/s,
      LOS rate: -0.101888 deg/s,
      cmd update: -0.203777 deg/s,
      cmd heading: 212.829901 deg,
      new cmd heading: 212.744019 deg.

2020-12-14T01:36:34.636Z,1607909794.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:35.410Z,1607909795.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:35.795Z,1607909795.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:36.618Z,1607909796.618 [Micromodem](INFO): Nmea in: $SNTTA,0.127989,,,,013636.56*4E

2020-12-14T01:36:37.041Z,1607909797.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.819992 m, bearing: 199.779482 deg, deltaT: 4.829123 s, approachRate: -0.906998 m/s, LOS rate: -0.138592 deg/s, posRepo size: 4
2020-12-14T01:36:37.043Z,1607909797.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.819992 m,
      bearing: 199.779482 deg,
      approachRate: -0.906998 m/s,
      LOS rate: -0.138592 deg/s,
      cmd update: -0.277183 deg/s,
      cmd heading: 211.841267 deg,
      new cmd heading: 211.762900 deg.

2020-12-14T01:36:39.533Z,1607909799.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:40.247Z,1607909800.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:40.752Z,1607909800.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:40.765Z,1607909800.765 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:36:41.293Z,1607909801.293 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:36:41.294Z,1607909801.294 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:36:41.570Z,1607909801.570 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:36:41.600Z,1607909801.600 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:36:41.637Z,1607909801.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.739990 m, bearing: 199.799180 deg, deltaT: 4.723018 s, approachRate: -0.863855 m/s, LOS rate: 0.004171 deg/s, posRepo size: 4
2020-12-14T01:36:41.639Z,1607909801.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.739990 m,
      bearing: 199.799180 deg,
      approachRate: -0.863855 m/s,
      LOS rate: 0.004171 deg/s,
      cmd update: 0.008341 deg/s,
      cmd heading: 210.531605 deg,
      new cmd heading: 210.460778 deg.

2020-12-14T01:36:41.970Z,1607909801.970 [Micromodem](INFO): Nmea in: $CADRQ,013642,1,9,0,64,1*4C

2020-12-14T01:36:41.970Z,1607909801.970 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:36:42.410Z,1607909802.410 [Micromodem](INFO): Nmea in: $SNTTA,0.125219,,,,013641.40*49

2020-12-14T01:36:42.410Z,1607909802.410 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.125219,,,,013641.40*49

2020-12-14T01:36:43.605Z,1607909803.605 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:36:44.007Z,1607909804.007 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:36:44.089Z,1607909804.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:44.403Z,1607909804.403 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:36:44.812Z,1607909804.812 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013643.138233,3,0,200,4000,14500,1,1,9,1,1,1,3,60*70

2020-12-14T01:36:44.813Z,1607909804.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:45.217Z,1607909805.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:46.045Z,1607909806.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013645.97*55

2020-12-14T01:36:46.628Z,1607909806.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 198.379347 deg, deltaT: 4.719545 s, approachRate: -0.889916 m/s, LOS rate: -0.300841 deg/s, posRepo size: 4
2020-12-14T01:36:46.630Z,1607909806.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 198.379347 deg,
      approachRate: -0.889916 m/s,
      LOS rate: -0.300841 deg/s,
      cmd update: -0.601682 deg/s,
      cmd heading: 210.570971 deg,
      new cmd heading: 210.575369 deg.

2020-12-14T01:36:48.879Z,1607909808.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:49.677Z,1607909809.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:50.065Z,1607909810.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:50.890Z,1607909810.890 [Micromodem](INFO): Nmea in: $SNTTA,0.119622,,,,013650.83*45

2020-12-14T01:36:51.360Z,1607909811.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 199.424435 deg, deltaT: 4.963436 s, approachRate: -0.858275 m/s, LOS rate: 0.210557 deg/s, posRepo size: 4
2020-12-14T01:36:51.366Z,1607909811.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 199.424435 deg,
      approachRate: -0.858275 m/s,
      LOS rate: 0.210557 deg/s,
      cmd update: 0.421114 deg/s,
      cmd heading: 207.584494 deg,
      new cmd heading: 207.406611 deg.

2020-12-14T01:36:51.699Z,1607909811.699 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:36:53.764Z,1607909813.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:54.511Z,1607909814.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:54.916Z,1607909814.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:36:55.762Z,1607909815.762 [Micromodem](INFO): Nmea in: $SNTTA,0.116852,,,,013655.66*4D

2020-12-14T01:36:55.807Z,1607909815.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 198.614852 deg, deltaT: 4.317737 s, approachRate: 0.000000 m/s, LOS rate: -0.187502 deg/s, posRepo size: 4
2020-12-14T01:36:55.809Z,1607909815.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 198.614852 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.187502 deg/s,
      cmd update: -0.375003 deg/s,
      cmd heading: 209.401028 deg,
      new cmd heading: 209.581691 deg.

2020-12-14T01:36:56.560Z,1607909816.560 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:36:58.164Z,1607909818.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:36:58.944Z,1607909818.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:36:59.388Z,1607909819.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:00.220Z,1607909820.220 [Micromodem](INFO): Nmea in: $SNTTA,0.114219,0.116875,,,013700.09*50

2020-12-14T01:37:00.246Z,1607909820.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.120010 m, bearing: 198.093613 deg, deltaT: 4.445210 s, approachRate: -1.835681 m/s, LOS rate: -0.117259 deg/s, posRepo size: 4
2020-12-14T01:37:00.250Z,1607909820.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.120010 m,
      bearing: 198.093613 deg,
      approachRate: -1.835681 m/s,
      LOS rate: -0.117259 deg/s,
      cmd update: -0.234517 deg/s,
      cmd heading: 207.732514 deg,
      new cmd heading: 207.575759 deg.

2020-12-14T01:37:01.464Z,1607909821.464 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T01:37:02.644Z,1607909822.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:03.417Z,1607909823.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:03.997Z,1607909823.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:04.802Z,1607909824.802 [Micromodem](INFO): Nmea in: $SNTTA,0.111476,,,,013704.57*47

2020-12-14T01:37:04.859Z,1607909824.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 197.107375 deg, deltaT: 4.642953 s, approachRate: -0.878751 m/s, LOS rate: -0.212416 deg/s, posRepo size: 4
2020-12-14T01:37:04.861Z,1607909824.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 197.107375 deg,
      approachRate: -0.878751 m/s,
      LOS rate: -0.212416 deg/s,
      cmd update: -0.424832 deg/s,
      cmd heading: 206.648219 deg,
      new cmd heading: 206.552612 deg.

2020-12-14T01:37:07.249Z,1607909827.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:08.027Z,1607909828.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:08.442Z,1607909828.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:09.278Z,1607909829.278 [Micromodem](INFO): Nmea in: $SNTTA,0.108654,,,,013709.18*4B

2020-12-14T01:37:09.308Z,1607909829.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 197.142386 deg, deltaT: 4.410754 s, approachRate: -0.952217 m/s, LOS rate: 0.007938 deg/s, posRepo size: 4
2020-12-14T01:37:09.339Z,1607909829.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.840012 m,
      bearing: 197.142386 deg,
      approachRate: -0.952217 m/s,
      LOS rate: 0.007938 deg/s,
      cmd update: 0.015876 deg/s,
      cmd heading: 204.766138 deg,
      new cmd heading: 204.584896 deg.

2020-12-14T01:37:11.756Z,1607909831.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:12.483Z,1607909832.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:12.877Z,1607909832.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:13.747Z,1607909833.747 [Micromodem](INFO): Nmea in: $SNTTA,0.105965,,,,013713.63*4C

2020-12-14T01:37:13.781Z,1607909833.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.819992 m, bearing: 196.859863 deg, deltaT: 4.495874 s, approachRate: -0.894158 m/s, LOS rate: -0.062841 deg/s, posRepo size: 4
2020-12-14T01:37:13.783Z,1607909833.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 196.859863 deg,
      approachRate: -0.894158 m/s,
      LOS rate: -0.062841 deg/s,
      cmd update: -0.125681 deg/s,
      cmd heading: 204.837447 deg,
      new cmd heading: 204.843926 deg.

2020-12-14T01:37:16.163Z,1607909836.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:16.911Z,1607909836.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:17.355Z,1607909837.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:18.166Z,1607909838.166 [Micromodem](INFO): Nmea in: $SNTTA,0.103253,,,,013718.06*4C

2020-12-14T01:37:18.211Z,1607909838.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 196.385615 deg, deltaT: 4.429987 s, approachRate: -0.920993 m/s, LOS rate: -0.107054 deg/s, posRepo size: 4
2020-12-14T01:37:18.217Z,1607909838.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.740005 m,
      bearing: 196.385615 deg,
      approachRate: -0.920993 m/s,
      LOS rate: -0.107054 deg/s,
      cmd update: -0.214108 deg/s,
      cmd heading: 204.280171 deg,
      new cmd heading: 204.229427 deg.

2020-12-14T01:37:20.590Z,1607909840.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:21.415Z,1607909841.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:21.506Z,1607909841.506 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T01:37:21.789Z,1607909841.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:22.990Z,1607909842.990 [Micromodem](INFO): Nmea in: $SNTTA,0.100601,,,,013722.57*41

2020-12-14T01:37:23.158Z,1607909843.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 197.017449 deg, deltaT: 4.865699 s, approachRate: -0.813859 m/s, LOS rate: 0.129855 deg/s, posRepo size: 4
2020-12-14T01:37:23.160Z,1607909843.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 197.017449 deg,
      approachRate: -0.813859 m/s,
      LOS rate: 0.129855 deg/s,
      cmd update: 0.259709 deg/s,
      cmd heading: 203.239234 deg,
      new cmd heading: 203.134511 deg.

2020-12-14T01:37:25.188Z,1607909845.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:25.836Z,1607909845.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:26.237Z,1607909846.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:26.660Z,1607909846.660 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T01:37:27.070Z,1607909847.070 [Micromodem](INFO): Nmea in: $SNTTA,0.097907,,,,013726.99*41

2020-12-14T01:37:27.094Z,1607909847.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.699997 m, bearing: 196.359770 deg, deltaT: 3.999971 s, approachRate: -1.020012 m/s, LOS rate: -0.164421 deg/s, posRepo size: 4
2020-12-14T01:37:27.117Z,1607909847.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.699997 m,
      bearing: 196.359770 deg,
      approachRate: -1.020012 m/s,
      LOS rate: -0.164421 deg/s,
      cmd update: -0.328842 deg/s,
      cmd heading: 204.279116 deg,
      new cmd heading: 204.388672 deg.

2020-12-14T01:37:29.258Z,1607909849.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:29.879Z,1607909849.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:30.285Z,1607909850.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:31.126Z,1607909851.126 [Micromodem](INFO): Nmea in: $SNTTA,0.095428,,,,013731.03*46

2020-12-14T01:37:31.307Z,1607909851.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 195.705410 deg, deltaT: 4.097395 s, approachRate: -0.907894 m/s, LOS rate: -0.159701 deg/s, posRepo size: 4
2020-12-14T01:37:31.310Z,1607909851.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.979996 m,
      bearing: 195.705410 deg,
      approachRate: -0.907894 m/s,
      LOS rate: -0.159701 deg/s,
      cmd update: -0.319403 deg/s,
      cmd heading: 202.933373 deg,
      new cmd heading: 202.754988 deg.

2020-12-14T01:37:33.593Z,1607909853.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:34.387Z,1607909854.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:34.795Z,1607909854.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:35.598Z,1607909855.598 [Micromodem](INFO): Nmea in: $SNTTA,0.092670,,,,013735.54*48

2020-12-14T01:37:35.636Z,1607909855.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 193.995787 deg, deltaT: 4.665076 s, approachRate: -0.874581 m/s, LOS rate: -0.366473 deg/s, posRepo size: 4
2020-12-14T01:37:35.642Z,1607909855.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 193.995787 deg,
      approachRate: -0.874581 m/s,
      LOS rate: -0.366473 deg/s,
      cmd update: -0.732946 deg/s,
      cmd heading: 201.442707 deg,
      new cmd heading: 201.377578 deg.

2020-12-14T01:37:38.041Z,1607909858.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:38.823Z,1607909858.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:39.225Z,1607909859.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:40.074Z,1607909860.074 [Micromodem](INFO): Nmea in: $SNTTA,0.089957,,,,013739.98*44

2020-12-14T01:37:40.098Z,1607909860.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 194.305549 deg, deltaT: 4.254133 s, approachRate: -0.973171 m/s, LOS rate: 0.072815 deg/s, posRepo size: 4
2020-12-14T01:37:40.100Z,1607909860.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.760010 m,
      bearing: 194.305549 deg,
      approachRate: -0.973171 m/s,
      LOS rate: 0.072815 deg/s,
      cmd update: 0.145629 deg/s,
      cmd heading: 198.326484 deg,
      new cmd heading: 198.022505 deg.

2020-12-14T01:37:42.500Z,1607909862.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:43.263Z,1607909863.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:43.673Z,1607909863.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:37:44.510Z,1607909864.510 [Micromodem](INFO): Nmea in: $SNTTA,0.087390,,,,013744.42*46

2020-12-14T01:37:44.545Z,1607909864.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 194.720374 deg, deltaT: 4.404967 s, approachRate: -0.858125 m/s, LOS rate: 0.094172 deg/s, posRepo size: 4
2020-12-14T01:37:44.547Z,1607909864.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.979996 m,
      bearing: 194.720374 deg,
      approachRate: -0.858125 m/s,
      LOS rate: 0.094172 deg/s,
      cmd update: 0.188344 deg/s,
      cmd heading: 198.968748 deg,
      new cmd heading: 199.034392 deg.

2020-12-14T01:37:46.517Z,1607909866.517 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:37:47.059Z,1607909867.059 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:37:47.059Z,1607909867.059 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:37:47.144Z,1607909867.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:47.322Z,1607909867.322 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:37:47.742Z,1607909867.742 [Micromodem](INFO): Nmea in: $CADRQ,013748,1,9,0,64,1*47

2020-12-14T01:37:47.743Z,1607909867.743 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:37:48.119Z,1607909868.119 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:37:48.119Z,1607909868.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:48.531Z,1607909868.531 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:37:48.531Z,1607909868.531 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2020-12-14T01:37:49.775Z,1607909869.775 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:37:49.775Z,1607909869.775 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2020-12-14T01:37:49.844Z,1607909869.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:50.153Z,1607909870.153 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013748.915378,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-14T01:37:50.153Z,1607909870.153 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20201214,013748.915378,3,0,200,4000,14500,1,1,9,1,1,1,3,60*73

2020-12-14T01:37:52.602Z,1607909872.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:55.476Z,1607909875.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:58.010Z,1607909878.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:37:59.455Z,1607909879.455 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:37:59.869Z,1607909879.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:00.714Z,1607909880.714 [Micromodem](INFO): Nmea in: $SNTTA,0.077680,,,,013800.61*43

2020-12-14T01:38:00.818Z,1607909880.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 194.443656 deg, deltaT: 16.209568 s, approachRate: -0.892066 m/s, LOS rate: -0.017071 deg/s, posRepo size: 4
2020-12-14T01:38:00.820Z,1607909880.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.519997 m,
      bearing: 194.443656 deg,
      approachRate: -0.892066 m/s,
      LOS rate: -0.017071 deg/s,
      cmd update: -0.034143 deg/s,
      cmd heading: 202.021232 deg,
      new cmd heading: 202.118647 deg.

2020-12-14T01:38:03.276Z,1607909883.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:03.891Z,1607909883.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:04.328Z,1607909884.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:05.150Z,1607909885.150 [Micromodem](INFO): Nmea in: $SNTTA,0.074865,,,,013805.05*42

2020-12-14T01:38:05.174Z,1607909885.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.140007 m, bearing: 193.994434 deg, deltaT: 4.467459 s, approachRate: -0.980421 m/s, LOS rate: -0.100554 deg/s, posRepo size: 4
2020-12-14T01:38:05.176Z,1607909885.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.140007 m,
      bearing: 193.994434 deg,
      approachRate: -0.980421 m/s,
      LOS rate: -0.100554 deg/s,
      cmd update: -0.201108 deg/s,
      cmd heading: 201.868745 deg,
      new cmd heading: 201.854842 deg.

2020-12-14T01:38:07.738Z,1607909887.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:08.363Z,1607909888.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:08.777Z,1607909888.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:09.586Z,1607909889.586 [Micromodem](INFO): Nmea in: $SNTTA,0.072164,,,,013809.51*41

2020-12-14T01:38:09.803Z,1607909889.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.059998 m, bearing: 192.876483 deg, deltaT: 4.421052 s, approachRate: -0.922859 m/s, LOS rate: -0.252870 deg/s, posRepo size: 4
2020-12-14T01:38:09.805Z,1607909889.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.059998 m,
      bearing: 192.876483 deg,
      approachRate: -0.922859 m/s,
      LOS rate: -0.252870 deg/s,
      cmd update: -0.505740 deg/s,
      cmd heading: 200.978851 deg,
      new cmd heading: 200.856079 deg.

2020-12-14T01:38:12.026Z,1607909892.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:12.791Z,1607909892.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:13.197Z,1607909893.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:14.038Z,1607909894.038 [Micromodem](INFO): Nmea in: $SNTTA,0.069535,,,,013813.94*49

2020-12-14T01:38:14.212Z,1607909894.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 192.947230 deg, deltaT: 4.480012 s, approachRate: -0.870534 m/s, LOS rate: 0.015792 deg/s, posRepo size: 4
2020-12-14T01:38:14.214Z,1607909894.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.159996 m,
      bearing: 192.947230 deg,
      approachRate: -0.870534 m/s,
      LOS rate: 0.015792 deg/s,
      cmd update: 0.031583 deg/s,
      cmd heading: 198.715117 deg,
      new cmd heading: 198.439991 deg.

2020-12-14T01:38:16.230Z,1607909896.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:16.851Z,1607909896.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:17.249Z,1607909897.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:18.082Z,1607909898.082 [Micromodem](INFO): Nmea in: $SNTTA,0.067024,,0.082036,,013818.00*55

2020-12-14T01:38:18.118Z,1607909898.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 192.421592 deg, deltaT: 4.031004 s, approachRate: -0.922845 m/s, LOS rate: -0.130399 deg/s, posRepo size: 4
2020-12-14T01:38:18.120Z,1607909898.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.440002 m,
      bearing: 192.421592 deg,
      approachRate: -0.922845 m/s,
      LOS rate: -0.130399 deg/s,
      cmd update: -0.260797 deg/s,
      cmd heading: 198.842211 deg,
      new cmd heading: 198.855644 deg.

2020-12-14T01:38:20.655Z,1607909900.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:21.303Z,1607909901.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:21.717Z,1607909901.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:22.534Z,1607909902.534 [Micromodem](INFO): Nmea in: $SNTTA,0.064579,,,,013822.46*41

2020-12-14T01:38:22.756Z,1607909902.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 193.254943 deg, deltaT: 4.436985 s, approachRate: -0.851930 m/s, LOS rate: 0.187819 deg/s, posRepo size: 4
2020-12-14T01:38:22.758Z,1607909902.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.660004 m,
      bearing: 193.254943 deg,
      approachRate: -0.851930 m/s,
      LOS rate: 0.187819 deg/s,
      cmd update: 0.375639 deg/s,
      cmd heading: 197.682210 deg,
      new cmd heading: 197.521666 deg.

2020-12-14T01:38:24.990Z,1607909904.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:25.783Z,1607909905.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:26.173Z,1607909906.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:27.002Z,1607909907.002 [Micromodem](INFO): Nmea in: $SNTTA,0.061808,,,0.071351,013826.93*5C

2020-12-14T01:38:27.180Z,1607909907.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 191.230434 deg, deltaT: 4.475404 s, approachRate: -0.925056 m/s, LOS rate: -0.452363 deg/s, posRepo size: 4
2020-12-14T01:38:27.182Z,1607909907.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.520004 m,
      bearing: 191.230434 deg,
      approachRate: -0.925056 m/s,
      LOS rate: -0.452363 deg/s,
      cmd update: -0.904727 deg/s,
      cmd heading: 199.363397 deg,
      new cmd heading: 199.575367 deg.

2020-12-14T01:38:29.189Z,1607909909.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:29.803Z,1607909909.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:30.209Z,1607909910.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:31.042Z,1607909911.042 [Micromodem](INFO): Nmea in: $SNTTA,0.059432,,,,013830.95*4C

2020-12-14T01:38:31.083Z,1607909911.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 191.149975 deg, deltaT: 4.053095 s, approachRate: -0.873407 m/s, LOS rate: -0.019851 deg/s, posRepo size: 4
2020-12-14T01:38:31.086Z,1607909911.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 191.149975 deg,
      approachRate: -0.873407 m/s,
      LOS rate: -0.019851 deg/s,
      cmd update: -0.039703 deg/s,
      cmd heading: 195.700818 deg,
      new cmd heading: 195.321344 deg.

2020-12-14T01:38:33.705Z,1607909913.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:34.304Z,1607909914.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:34.719Z,1607909914.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:35.542Z,1607909915.542 [Micromodem](INFO): Nmea in: $SNTTA,0.056802,,,,013835.45*44

2020-12-14T01:38:35.767Z,1607909915.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 192.676044 deg, deltaT: 4.489651 s, approachRate: -0.855301 m/s, LOS rate: 0.339908 deg/s, posRepo size: 4
2020-12-14T01:38:35.774Z,1607909915.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.139999 m,
      bearing: 192.676044 deg,
      approachRate: -0.855301 m/s,
      LOS rate: 0.339908 deg/s,
      cmd update: 0.679816 deg/s,
      cmd heading: 195.522408 deg,
      new cmd heading: 195.498422 deg.

2020-12-14T01:38:38.041Z,1607909918.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:38.804Z,1607909918.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:39.221Z,1607909919.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:40.055Z,1607909920.055 [Micromodem](INFO): Nmea in: $SNTTA,0.054035,,,,013839.95*4B

2020-12-14T01:38:40.091Z,1607909920.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.820000 m, bearing: 189.217673 deg, deltaT: 4.667737 s, approachRate: -0.925502 m/s, LOS rate: -0.740910 deg/s, posRepo size: 4
2020-12-14T01:38:40.094Z,1607909920.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.820000 m,
      bearing: 189.217673 deg,
      approachRate: -0.925502 m/s,
      LOS rate: -0.740910 deg/s,
      cmd update: -1.481819 deg/s,
      cmd heading: 198.696090 deg,
      new cmd heading: 198.876518 deg.

2020-12-14T01:38:42.492Z,1607909922.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:43.267Z,1607909923.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:43.650Z,1607909923.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:44.491Z,1607909924.491 [Micromodem](INFO): Nmea in: $SNTTA,0.051299,,,,013844.42*4A

2020-12-14T01:38:44.514Z,1607909924.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 190.163641 deg, deltaT: 4.268868 s, approachRate: -0.941701 m/s, LOS rate: 0.221597 deg/s, posRepo size: 4
2020-12-14T01:38:44.516Z,1607909924.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 190.163641 deg,
      approachRate: -0.941701 m/s,
      LOS rate: 0.221597 deg/s,
      cmd update: 0.443194 deg/s,
      cmd heading: 192.370234 deg,
      new cmd heading: 191.748839 deg.

2020-12-14T01:38:46.925Z,1607909926.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:47.699Z,1607909927.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:48.109Z,1607909928.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:48.946Z,1607909928.946 [Micromodem](INFO): Nmea in: $SNTTA,0.048736,,,,013848.85*45

2020-12-14T01:38:48.990Z,1607909928.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 191.167023 deg, deltaT: 4.469902 s, approachRate: -0.832233 m/s, LOS rate: 0.224475 deg/s, posRepo size: 4
2020-12-14T01:38:48.992Z,1607909928.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 191.167023 deg,
      approachRate: -0.832233 m/s,
      LOS rate: 0.224475 deg/s,
      cmd update: 0.448950 deg/s,
      cmd heading: 194.349493 deg,
      new cmd heading: 194.539471 deg.

2020-12-14T01:38:51.382Z,1607909931.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:52.136Z,1607909932.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:52.549Z,1607909932.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:52.561Z,1607909932.561 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:38:53.101Z,1607909933.101 [Micromodem](INFO): Outgoing frame #1, 60 bytes: BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600
2020-12-14T01:38:53.101Z,1607909933.101 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,1*51

2020-12-14T01:38:53.410Z,1607909933.410 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,1*53

2020-12-14T01:38:53.461Z,1607909933.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 190.485793 deg, deltaT: 4.618438 s, approachRate: -0.870425 m/s, LOS rate: -0.147502 deg/s, posRepo size: 4
2020-12-14T01:38:53.463Z,1607909933.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 190.485793 deg,
      approachRate: -0.870425 m/s,
      LOS rate: -0.147502 deg/s,
      cmd update: -0.295004 deg/s,
      cmd heading: 196.422898 deg,
      new cmd heading: 196.549076 deg.

2020-12-14T01:38:53.794Z,1607909933.794 [Micromodem](INFO): Nmea in: $CADRQ,013854,1,9,0,64,1*45

2020-12-14T01:38:53.795Z,1607909933.795 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,BA71D65F6A0000005D00000400260000000000000000151D80030C5669C010EAB2EE90A45FE60A1C0D51EDB9D2D41DB34EFB272A3155186AA4FD5600*0C

2020-12-14T01:38:54.194Z,1607909934.194 [Micromodem](INFO): Nmea in: $SNTTA,0.046015,,,,013853.29*41

2020-12-14T01:38:54.194Z,1607909934.194 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.046015,,,,013853.29*41

2020-12-14T01:38:55.423Z,1607909935.423 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,60*75

2020-12-14T01:38:55.815Z,1607909935.815 [Micromodem](INFO): Nmea in: $CATXP,60*74

2020-12-14T01:38:55.875Z,1607909935.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:38:56.210Z,1607909936.210 [Micromodem](INFO): Nmea in: $CATXF,60*62

2020-12-14T01:38:56.604Z,1607909936.604 [Micromodem](INFO): Nmea in: $CAXST,6,20201214,013854.968452,3,0,200,4000,14500,1,1,9,1,1,1,3,60*74

2020-12-14T01:38:56.605Z,1607909936.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:38:57.015Z,1607909937.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:38:57.850Z,1607909937.850 [Micromodem](INFO): Nmea in: $SNTTA,0.043324,,,,013857.76*4B

2020-12-14T01:38:57.874Z,1607909937.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.800003 m, bearing: 189.333814 deg, deltaT: 4.296290 s, approachRate: -0.991552 m/s, LOS rate: -0.268134 deg/s, posRepo size: 4
2020-12-14T01:38:57.876Z,1607909937.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.800003 m,
      bearing: 189.333814 deg,
      approachRate: -0.991552 m/s,
      LOS rate: -0.268134 deg/s,
      cmd update: -0.536267 deg/s,
      cmd heading: 195.160539 deg,
      new cmd heading: 195.037816 deg.

2020-12-14T01:39:00.311Z,1607909940.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:01.051Z,1607909941.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:39:01.545Z,1607909941.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:39:02.374Z,1607909942.374 [Micromodem](INFO): Nmea in: $SNTTA,0.040649,0.050780,,,013902.20*50

2020-12-14T01:39:02.430Z,1607909942.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.780006 m, bearing: 189.657428 deg, deltaT: 4.480378 s, approachRate: -0.897245 m/s, LOS rate: 0.072229 deg/s, posRepo size: 4
2020-12-14T01:39:02.434Z,1607909942.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.780006 m,
      bearing: 189.657428 deg,
      approachRate: -0.897245 m/s,
      LOS rate: 0.072229 deg/s,
      cmd update: 0.144459 deg/s,
      cmd heading: 192.746456 deg,
      new cmd heading: 192.494833 deg.

2020-12-14T01:39:04.829Z,1607909944.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:05.575Z,1607909945.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:39:06.037Z,1607909946.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:39:06.494Z,1607909946.494 [lineCaptureDepth](INFO): Timed out from 2020-12-14T00:39:06.1Z
2020-12-14T01:39:06.495Z,1607909946.495 [MissionManager](INFO): lineCaptureDepth is completed.
2020-12-14T01:39:06.495Z,1607909946.495 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth] Stopped
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science] Stopped
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science:B] Stopped
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science:C] Stopped
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science:Read_Oil] Stopped
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science:OceanCurrent] Stopped
2020-12-14T01:39:06.495Z,1607909946.495 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes] Stopped
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-14T01:39:06.496Z,1607909946.496 [lineCaptureDepth:MicromodemComms] Stopped
2020-12-14T01:39:06.501Z,1607909946.501 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:J.] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-14T01:39:06.505Z,1607909946.505 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:G] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:H] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2020-12-14T01:39:06.506Z,1607909946.506 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2020-12-14T01:39:06.507Z,1607909946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-14T01:39:06.508Z,1607909946.508 [lineCaptureDepth:Lap] Stopped
2020-12-14T01:39:06.508Z,1607909946.508 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2020-12-14T01:39:06.508Z,1607909946.508 [lineCaptureDepth:Lap:B] Stopped
2020-12-14T01:39:06.508Z,1607909946.508 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2020-12-14T01:39:06.773Z,1607909946.773 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-14T01:39:06.809Z,1607909946.809 [Micromodem](INFO): Nmea in: $SNTTA,0.038121,,,,013906.73*40

2020-12-14T01:39:06.869Z,1607909946.869 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-14T01:39:06.869Z,1607909946.869 [DefaultWithUndock] Running Loop=1
2020-12-14T01:39:06.870Z,1607909946.870 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-14T01:39:06.870Z,1607909946.870 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-14T01:39:06.871Z,1607909946.871 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:A.Wait] Stopped
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-14T01:39:37.201Z,1607909977.201 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-14T01:39:37.202Z,1607909977.202 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-14T01:39:37.202Z,1607909977.202 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-14T01:39:37.202Z,1607909977.202 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-14T01:39:37.996Z,1607909977.996 [PowerOnly](INFO): Powering up loadControl
2020-12-14T01:39:38.503Z,1607909978.503 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T01:39:40.080Z,1607909980.080 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:40.851Z,1607909980.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:39:41.289Z,1607909981.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:39:41.374Z,1607909981.374 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-14T01:39:41.698Z,1607909981.698 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-12-14T01:39:42.076Z,1607909982.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013942.00*53

2020-12-14T01:39:42.119Z,1607909982.119 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-12-14T01:39:42.485Z,1607909982.485 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm.
2020-12-14T01:39:42.486Z,1607909982.486 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -0.36 mm.
2020-12-14T01:39:42.490Z,1607909982.490 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-14T01:39:43.042Z,1607909983.042 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:44.491Z,1607909984.491 [DUSBL_Hydroid](ERROR): No response from remote modem.
2020-12-14T01:39:45.755Z,1607909985.755 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:46.531Z,1607909986.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:39:46.913Z,1607909986.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:39:47.758Z,1607909987.758 [Micromodem](INFO): Nmea in: $SNTTA,0.025532,,,,013947.68*45

2020-12-14T01:39:50.166Z,1607909990.166 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:50.959Z,1607909990.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:39:51.393Z,1607909991.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:39:52.207Z,1607909992.207 [Micromodem](INFO): Nmea in: $SNTTA,0.024383,,,,013952.11*42

2020-12-14T01:39:54.619Z,1607909994.619 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:55.403Z,1607909995.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:39:55.805Z,1607909995.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:39:56.642Z,1607909996.642 [Micromodem](INFO): Nmea in: $SNTTA,0.023653,,,,013956.55*49

2020-12-14T01:39:59.065Z,1607909999.065 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:39:59.843Z,1607909999.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:40:00.245Z,1607910000.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:40:01.086Z,1607910001.086 [Micromodem](INFO): Nmea in: $SNTTA,0.023046,,,,014000.99*46

2020-12-14T01:40:02.727Z,1607910002.727 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 34.38 m. Transitioning DDM to standby.
2020-12-14T01:40:03.511Z,1607910003.511 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T01:40:04.291Z,1607910004.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T01:40:04.700Z,1607910004.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T01:40:05.530Z,1607910005.530 [Micromodem](INFO): Nmea in: $SNTTA,0.022360,,,,014005.44*45

2020-12-14T01:40:06.379Z,1607910006.379 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-14T01:40:06.768Z,1607910006.768 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-14T01:40:06.768Z,1607910006.768 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-14T01:40:06.773Z,1607910006.773 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-14T01:40:06.773Z,1607910006.773 [DefaultWithUndock:LeaveDock] Stopped
2020-12-14T01:40:06.773Z,1607910006.773 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-14T01:40:06.773Z,1607910006.773 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-14T01:40:06.773Z,1607910006.773 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-14T01:40:06.773Z,1607910006.773 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T01:40:06.774Z,1607910006.774 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-14T01:40:06.775Z,1607910006.775 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-14T01:40:06.775Z,1607910006.775 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-14T01:40:06.775Z,1607910006.775 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T01:40:06.775Z,1607910006.775 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T01:40:07.534Z,1607910007.534 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators).
2020-12-14T01:40:07.609Z,1607910007.609 [Radio_Surface](INFO): Powering up
2020-12-14T01:40:13.150Z,1607910013.150 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-14T01:40:43.297Z,1607910043.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T01:41:09.335Z,1607910069.335 [PowerOnly](INFO): Powering down loadControl
2020-12-14T01:41:18.437Z,1607910078.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T01:41:34.419Z,1607910094.419 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -3.05
2020-12-14T01:41:53.585Z,1607910113.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T01:42:28.766Z,1607910148.766 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-14T01:42:32.162Z,1607910152.162 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-14T01:43:03.233Z,1607910183.233 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12866, MT Status=1, MTMSN=532
2020-12-14T01:43:03.233Z,1607910183.233 [NAL9602](INFO): Data available in MT queue
2020-12-14T01:43:03.777Z,1607910183.777 [NAL9602](INFO): Received command:configSet LineCapture.navigationGain 5 none persist
2020-12-14T01:43:03.909Z,1607910183.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T01:43:03.983Z,1607910183.983 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 5.000000 none persist
2020-12-14T01:43:04.929Z,1607910184.929 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014305.00,A,4133.08515,N,07042.54199,W,0.467,204.72,141220,,,A*70
2020-12-14T01:43:04.931Z,1607910184.931 [NAL9602](INFO): GPS fix at 20201214T014305: (41.551419, -70.709033)
2020-12-14T01:43:04.953Z,1607910184.953 [UniversalFixResidualReporter](INFO): Fix residual: 11.4 %DT, over the last 794.5 m. Residual distance 90.6 m at bearing -61.1 degrees. Fix at (41.5514, -70.7090) with 106.2 m made good.
2020-12-14T01:43:04.954Z,1607910184.954 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-14T01:43:04.954Z,1607910184.954 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-14T01:43:05.755Z,1607910185.755 [Micromodem](ERROR): Buffer fill timout failure.
2020-12-14T01:43:33.030Z,1607910213.030 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003237
2020-12-14T01:43:36.549Z,1607910216.549 [NAL9602](INFO): SBD MO Status=1, MOMSN=12867, MT Status=0, MTMSN=0
2020-12-14T01:43:36.601Z,1607910216.601 [NAL9602](INFO): Sent 52 bytes from file Logs/20201213T195538/Courier0106.lzma
2020-12-14T01:43:36.601Z,1607910216.601 [NAL9602](INFO): Packets left to send: 0
2020-12-14T01:43:37.415Z,1607910217.415 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0109.lzma
2020-12-14T01:43:38.051Z,1607910218.051 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0109.lzma.bak
2020-12-14T01:43:38.051Z,1607910218.051 [DataOverHttps](INFO): SBD MOMSN=65212
2020-12-14T01:43:47.092Z,1607910227.092 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Courier0112.lzma
2020-12-14T01:43:48.095Z,1607910228.095 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0112.lzma.bak
2020-12-14T01:43:48.095Z,1607910228.095 [DataOverHttps](INFO): SBD MOMSN=65214
2020-12-14T01:43:51.724Z,1607910231.724 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:43:57.132Z,1607910237.132 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Courier0115.lzma
2020-12-14T01:43:58.497Z,1607910238.497 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0115.lzma.bak
2020-12-14T01:43:58.498Z,1607910238.498 [DataOverHttps](INFO): SBD MOMSN=65218
2020-12-14T01:44:01.831Z,1607910241.831 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:44:07.172Z,1607910247.172 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0118.lzma
2020-12-14T01:44:07.877Z,1607910247.877 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T01:44:08.175Z,1607910248.175 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0118.lzma.bak
2020-12-14T01:44:08.175Z,1607910248.175 [DataOverHttps](INFO): SBD MOMSN=65220
2020-12-14T01:44:17.212Z,1607910257.212 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20201213T195538/Courier0121.lzma
2020-12-14T01:44:18.215Z,1607910258.215 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0121.lzma.bak
2020-12-14T01:44:18.215Z,1607910258.215 [DataOverHttps](INFO): SBD MOMSN=65222
2020-12-14T01:44:27.252Z,1607910267.252 [DataOverHttps](INFO): Sending 88 bytes from file Logs/20201213T195538/Courier0124.lzma
2020-12-14T01:44:28.255Z,1607910268.255 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0124.lzma.bak
2020-12-14T01:44:28.255Z,1607910268.255 [DataOverHttps](INFO): SBD MOMSN=65224
2020-12-14T01:44:37.292Z,1607910277.292 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201213T195538/Courier0127.lzma
2020-12-14T01:44:38.295Z,1607910278.295 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0127.lzma.bak
2020-12-14T01:44:38.295Z,1607910278.295 [DataOverHttps](INFO): SBD MOMSN=65227
2020-12-14T01:44:47.343Z,1607910287.343 [DataOverHttps](INFO): Sending 637 bytes from file Logs/20201213T195538/Express0101.lzma
2020-12-14T01:44:48.335Z,1607910288.335 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0101.lzma.bak
2020-12-14T01:44:48.335Z,1607910288.335 [DataOverHttps](INFO): SBD MOMSN=65229
2020-12-14T01:44:57.372Z,1607910297.372 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20201213T195538/Express0104.lzma
2020-12-14T01:44:58.378Z,1607910298.378 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0104.lzma.bak
2020-12-14T01:44:58.379Z,1607910298.379 [DataOverHttps](INFO): SBD MOMSN=65253
2020-12-14T01:45:07.412Z,1607910307.412 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20201213T195538/Express0107.lzma
2020-12-14T01:45:08.415Z,1607910308.415 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0107.lzma.bak
2020-12-14T01:45:08.415Z,1607910308.415 [DataOverHttps](INFO): SBD MOMSN=65255
2020-12-14T01:45:17.453Z,1607910317.453 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20201213T195538/Express0110.lzma
2020-12-14T01:45:18.455Z,1607910318.455 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0110.lzma.bak
2020-12-14T01:45:18.455Z,1607910318.455 [DataOverHttps](INFO): SBD MOMSN=65257
2020-12-14T01:45:27.492Z,1607910327.492 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20201213T195538/Express0113.lzma
2020-12-14T01:45:28.495Z,1607910328.495 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0113.lzma.bak
2020-12-14T01:45:28.495Z,1607910328.495 [DataOverHttps](INFO): SBD MOMSN=65259
2020-12-14T01:45:37.533Z,1607910337.533 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20201213T195538/Express0116.lzma
2020-12-14T01:45:38.535Z,1607910338.535 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0116.lzma.bak
2020-12-14T01:45:38.536Z,1607910338.536 [DataOverHttps](INFO): SBD MOMSN=65261
2020-12-14T01:45:42.004Z,1607910342.004 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T01:45:47.573Z,1607910347.573 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20201213T195538/Express0119.lzma
2020-12-14T01:45:48.575Z,1607910348.575 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0119.lzma.bak
2020-12-14T01:45:48.575Z,1607910348.575 [DataOverHttps](INFO): SBD MOMSN=65263
2020-12-14T01:45:57.612Z,1607910357.612 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20201213T195538/Express0122.lzma
2020-12-14T01:45:58.615Z,1607910358.615 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0122.lzma.bak
2020-12-14T01:45:58.615Z,1607910358.615 [DataOverHttps](INFO): SBD MOMSN=65265
2020-12-14T01:46:07.073Z,1607910367.073 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T01:46:07.073Z,1607910367.073 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T01:46:07.073Z,1607910367.073 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T01:46:07.126Z,1607910367.126 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T01:46:07.525Z,1607910367.525 [RDI_Pathfinder](INFO): Powering down
2020-12-14T01:46:07.653Z,1607910367.653 [DataOverHttps](INFO): Sending 294 bytes from file Logs/20201213T195538/Express0125.lzma
2020-12-14T01:46:08.282Z,1607910368.282 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T01:46:08.282Z,1607910368.282 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T01:46:08.655Z,1607910368.655 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0125.lzma.bak
2020-12-14T01:46:08.655Z,1607910368.655 [DataOverHttps](INFO): SBD MOMSN=65267
2020-12-14T01:46:17.692Z,1607910377.692 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20201213T195538/Express0128.lzma
2020-12-14T01:46:18.696Z,1607910378.696 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0128.lzma.bak
2020-12-14T01:46:18.696Z,1607910378.696 [DataOverHttps](INFO): SBD MOMSN=65273
2020-12-14T01:46:19.989Z,1607910379.989 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-14T01:46:19.989Z,1607910379.989 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-14T01:46:19.989Z,1607910379.989 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-14T01:46:59.863Z,1607910419.863 [DataOverHttps](IMPORTANT): SBD MTMSN=20201214T014700
2020-12-14T01:47:03.881Z,1607910423.881 [DataOverHttps](INFO): Received command:sched asap "load Science/profile_station.xml;set profile_station.MissionTimeout 11.5 hour;set profile_station.NeedCommsTime 3 hour;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree" inly 1 3
2020-12-14T01:47:03.941Z,1607910423.941 [CommandLine](IMPORTANT): got command schedule asap "load Science/profile_station.xml;set profile_station.MissionTimeout 11.5 hour;set profile_station.NeedCommsTime 3 hour;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree" inly 1 3.000000
2020-12-14T01:47:03.942Z,1607910423.942 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=inly
2020-12-14T01:47:03.943Z,1607910423.943 [CommandLine](IMPORTANT): Scheduled #9 (#1 of 3 with id='inly'): "load Science/profile_station.xml;set profile_station.MissionTimeout 11.5 hour;set profile_station.NeedCommsTime 3 hour;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree" ASAP
2020-12-14T01:47:04.883Z,1607910424.883 [DataOverHttps](IMPORTANT): SBD MTMSN=20201214T014705
2020-12-14T01:47:08.901Z,1607910428.901 [DataOverHttps](INFO): Received command:sched asap "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.Speed .8 meter_per_second" inly 2 3
2020-12-14T01:47:08.950Z,1607910428.950 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.Speed .8 meter_per_second" inly 2 3.000000
2020-12-14T01:47:08.950Z,1607910428.950 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=inly
2020-12-14T01:47:08.951Z,1607910428.951 [CommandLine](IMPORTANT): Scheduled #10 (#2 of 3 with id='inly'): "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.Speed .8 meter_per_second" ASAP
2020-12-14T01:47:09.902Z,1607910429.902 [DataOverHttps](IMPORTANT): SBD MTMSN=20201214T014710
2020-12-14T01:47:13.920Z,1607910433.920 [DataOverHttps](INFO): Received command:sched asap "set profile_station.MinAltitude 3 meter;set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" inly 3 3
2020-12-14T01:47:13.978Z,1607910433.978 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.MinAltitude 3 meter;set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" inly 3 3.000000
2020-12-14T01:47:13.978Z,1607910433.978 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=inly
2020-12-14T01:47:13.979Z,1607910433.979 [CommandLine](IMPORTANT): Scheduled #11 (#3 of 3 with id='inly'): "set profile_station.MinAltitude 3 meter;set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" ASAP
2020-12-14T01:47:14.125Z,1607910434.125 [CommandLine](IMPORTANT): got command load ./Missions/Science/profile_station.xml
2020-12-14T01:47:14.125Z,1607910434.125 [MissionManager](INFO): Loading Mission: ./Missions/Science/profile_station.xml
2020-12-14T01:47:14.249Z,1607910434.249 [MissionManager](INFO): DefineArg profile_station.MissionTimeout = 4.000000 h
2020-12-14T01:47:14.252Z,1607910434.252 [MissionManager](INFO): DefineArg profile_station.NeedCommsTime = 60.000000 min
2020-12-14T01:47:14.255Z,1607910434.255 [MissionManager](INFO): DefineArg profile_station.Lat = 36.806966 arcdeg
2020-12-14T01:47:14.258Z,1607910434.258 [MissionManager](INFO): DefineArg profile_station.Lon = -121.824326 arcdeg
2020-12-14T01:47:14.277Z,1607910434.277 [MissionManager](INFO): DefineArg profile_station.Radius = 300.000000 m
2020-12-14T01:47:14.285Z,1607910434.285 [MissionManager](INFO): DefineArg profile_station.YoYoMinDepth = 2.000000 m
2020-12-14T01:47:14.294Z,1607910434.294 [MissionManager](INFO): DefineArg profile_station.YoYoMaxDepth = 200.000000 m
2020-12-14T01:47:14.298Z,1607910434.298 [MissionManager](INFO): DefineArg profile_station.YoYoMinAltitude = 7.000000 m
2020-12-14T01:47:14.310Z,1607910434.310 [MissionManager](INFO): DefineArg profile_station.YoYoPitch = 20.000000 arcdeg
2020-12-14T01:47:14.322Z,1607910434.322 [MissionManager](INFO): DefineArg profile_station.Speed = 1.000000 m/s
2020-12-14T01:47:14.344Z,1607910434.344 [MissionManager](INFO): DefineArg profile_station.CircleMaxError = 100.000000 m
2020-12-14T01:47:14.347Z,1607910434.347 [MissionManager](INFO): DefineArg profile_station.CircleTurnToPort = 0 bool
2020-12-14T01:47:14.350Z,1607910434.350 [MissionManager](INFO): DefineArg profile_station.KwpHeading = 0.010000 rad/m
2020-12-14T01:47:14.366Z,1607910434.366 [MissionManager](INFO): DefineArg profile_station.MinAltitude = 5.000000 m
2020-12-14T01:47:14.369Z,1607910434.369 [MissionManager](INFO): DefineArg profile_station.MaxDepth = 205.000000 m
2020-12-14T01:47:14.371Z,1607910434.371 [MissionManager](INFO): DefineArg profile_station.MinOffshore = 2.000000 km
2020-12-14T01:47:14.372Z,1607910434.372 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-14T01:47:14.738Z,1607910434.738 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectChlActive = 0 bool
2020-12-14T01:47:14.741Z,1607910434.741 [MissionManager](INFO): DefineArg profile_station:Science.TimeWindowPeakReport = nan min
2020-12-14T01:47:14.743Z,1607910434.743 [MissionManager](INFO): DefineArg profile_station:Science.HighestChlPeakReportActive = 0 bool
2020-12-14T01:47:14.748Z,1607910434.748 [MissionManager](INFO): DefineArg profile_station:Science.PatchTracking = 0 bool
2020-12-14T01:47:14.751Z,1607910434.751 [MissionManager](INFO): DefineArg profile_station:Science.FilterWidthHorizontal = 3.000000 count
2020-12-14T01:47:14.754Z,1607910434.754 [MissionManager](INFO): DefineArg profile_station:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-14T01:47:14.757Z,1607910434.757 [MissionManager](INFO): DefineArg profile_station:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-14T01:47:14.760Z,1607910434.760 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectNO3Active = 0 bool
2020-12-14T01:47:14.779Z,1607910434.779 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectOilActive = 0 bool
2020-12-14T01:47:14.782Z,1607910434.782 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectFDOMActive = 0 bool
2020-12-14T01:47:14.797Z,1607910434.797 [MissionManager](INFO): DefineArg profile_station:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-14T01:47:14.800Z,1607910434.800 [MissionManager](INFO): DefineArg profile_station:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-14T01:47:14.808Z,1607910434.808 [MissionManager](INFO): DefineArg profile_station:Science.EnabledNeilBrown = 0.000000 bool
2020-12-14T01:47:14.819Z,1607910434.819 [MissionManager](INFO): DefineArg profile_station:Science.EnabledSeabird = 1.000000 bool
2020-12-14T01:47:14.827Z,1607910434.827 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-12-14T01:47:14.831Z,1607910434.831 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-12-14T01:47:14.840Z,1607910434.840 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-14T01:47:14.855Z,1607910434.855 [MissionManager](INFO): DefineArg profile_station:Science.LowPassWindowLength = 20.000000 count
2020-12-14T01:47:14.870Z,1607910434.870 [MissionManager](INFO): DefineArg profile_station:Science.MedianFilterLen = 5.000000 count
2020-12-14T01:47:14.877Z,1607910434.877 [MissionManager](INFO): DefineArg profile_station:Science.PeakShallowBound = nan m
2020-12-14T01:47:14.883Z,1607910434.883 [MissionManager](INFO): DefineArg profile_station:Science.PeakDeepBound = nan m
2020-12-14T01:47:14.886Z,1607910434.886 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChl = 0.000000 ug/l
2020-12-14T01:47:14.893Z,1607910434.893 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlDepth = 0.000000 m
2020-12-14T01:47:14.896Z,1607910434.896 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlTemperature = 0.000000 degC
2020-12-14T01:47:14.939Z,1607910434.939 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLatitude = nan arcdeg
2020-12-14T01:47:14.946Z,1607910434.946 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLongitude = nan arcdeg
2020-12-14T01:47:14.962Z,1607910434.962 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3 = 0.000000 umol/l
2020-12-14T01:47:14.977Z,1607910434.977 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Depth = 0.000000 m
2020-12-14T01:47:14.983Z,1607910434.983 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Latitude = nan arcdeg
2020-12-14T01:47:14.986Z,1607910434.986 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Longitude = nan arcdeg
2020-12-14T01:47:14.990Z,1607910434.990 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChl = 0.000000 m
2020-12-14T01:47:15.001Z,1607910435.001 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDepth = 0.000000 m
2020-12-14T01:47:15.009Z,1607910435.009 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLatitude = nan arcdeg
2020-12-14T01:47:15.012Z,1607910435.012 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLongitude = nan arcdeg
2020-12-14T01:47:15.019Z,1607910435.019 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDistance = nan m
2020-12-14T01:47:15.023Z,1607910435.023 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOil = 0.000000 kg/m3
2020-12-14T01:47:15.034Z,1607910435.034 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilDepth = 0.000000 m
2020-12-14T01:47:15.041Z,1607910435.041 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLatitude = nan arcdeg
2020-12-14T01:47:15.047Z,1607910435.047 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLongitude = nan arcdeg
2020-12-14T01:47:15.050Z,1607910435.050 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOM = 0.000000 ppb
2020-12-14T01:47:15.061Z,1607910435.061 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMDepth = 0.000000 m
2020-12-14T01:47:15.064Z,1607910435.064 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLatitude = nan arcdeg
2020-12-14T01:47:15.071Z,1607910435.071 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLongitude = nan arcdeg
2020-12-14T01:47:15.076Z,1607910435.076 [MissionManager](INFO): DefineOutput profile_station:Science.PatchFDOMDistance = nan m
2020-12-14T01:47:15.129Z,1607910435.129 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T01:47:15.152Z,1607910435.152 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-14T01:47:15.185Z,1607910435.185 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T01:47:15.204Z,1607910435.204 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T01:47:15.227Z,1607910435.227 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-14T01:47:15.256Z,1607910435.256 [MissionManager](INFO): RedefineArg profile_station:Science.PeakDetectChlActive = value:1 bool
2020-12-14T01:47:15.257Z,1607910435.257 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-14T01:47:15.410Z,1607910435.410 [MissionManager](INFO): DefineArg profile_station:NeedComms.DiveInterval = 3.000000 h
2020-12-14T01:47:15.421Z,1607910435.421 [MissionManager](INFO): DefineArg profile_station:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-14T01:47:15.424Z,1607910435.424 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-14T01:47:15.437Z,1607910435.437 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceDepthRate = nan m/s
2020-12-14T01:47:15.440Z,1607910435.440 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-14T01:47:15.447Z,1607910435.447 [MissionManager](INFO): DefineArg profile_station:NeedComms.GPSTimeout = 7.000000 min
2020-12-14T01:47:15.450Z,1607910435.450 [MissionManager](INFO): DefineArg profile_station:NeedComms.CommsTimeout = 30.000000 min
2020-12-14T01:47:15.469Z,1607910435.469 [profile_station:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-14T01:47:15.502Z,1607910435.502 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-14T01:47:15.548Z,1607910435.548 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-14T01:47:15.582Z,1607910435.582 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-14T01:47:15.590Z,1607910435.590 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-14T01:47:15.591Z,1607910435.591 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-14T01:47:15.607Z,1607910435.607 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-14T01:47:15.632Z,1607910435.632 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-14T01:47:15.668Z,1607910435.668 [profile_station:I.Pitch](DEBUG): Construct.
2020-12-14T01:47:15.678Z,1607910435.678 [profile_station:J.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-14T01:47:15.693Z,1607910435.693 [profile_station:K.SetSpeed](DEBUG): Construct.
2020-12-14T01:47:15.696Z,1607910435.696 [profile_station:L.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-14T01:47:15.769Z,1607910435.769 [profile_station:M.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-14T01:47:15.797Z,1607910435.797 [profile_station:N.YoYo](DEBUG): Construct YoYo.
2020-12-14T01:47:15.819Z,1607910435.819 [profile_station:CircleWrapper:B.Circle](DEBUG): Construct.
2020-12-14T01:47:15.890Z,1607910435.890 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.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="profile_station">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</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>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
    </Guidance:Buoyancy>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope>
        <Description>
            Another depth envelope for the YoYo behavior. This envelope should
            fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for depth-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:AltitudeEnvelope>
        <Description>
            Another altitude envelope for the YoYo behavior. This envelope
            should fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for bottom-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
        <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:YoYo>
        <Parallel/>
        <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:YoYo>

    <Aggregate Id="CircleWrapper">

        <Sequence Repeat="4096"/>

        <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

        <Guidance:Circle>
            <Sequence/>
            <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
            <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
            <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
            <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
            <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
        </Guidance:Circle>

    </Aggregate>

</Mission>


2020-12-14T01:47:15.891Z,1607910435.891 [CommandLine](IMPORTANT): Loaded ./Missions/Science/profile_station.xml
2020-12-14T01:47:25.601Z,1607910445.601 [CommandLine](IMPORTANT): got command set profile_station.MissionTimeout 11.500000 hour
2020-12-14T01:47:25.602Z,1607910445.602 [CommandLine](IMPORTANT): got command set profile_station.NeedCommsTime 3.000000 hour
2020-12-14T01:47:25.602Z,1607910445.602 [CommandLine](IMPORTANT): got command set profile_station.Lat 41.552319 degree
2020-12-14T01:47:25.603Z,1607910445.603 [CommandLine](IMPORTANT): got command set profile_station.Lon -70.708603 degree
2020-12-14T01:47:45.605Z,1607910465.605 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinDepth 3.000000 meter
2020-12-14T01:47:45.606Z,1607910465.606 [CommandLine](IMPORTANT): got command set profile_station.YoYoMaxDepth 7.000000 meter
2020-12-14T01:47:45.607Z,1607910465.607 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinAltitude 3.000000 meter
2020-12-14T01:47:45.608Z,1607910465.608 [CommandLine](IMPORTANT): got command set profile_station.YoYoPitch 15.000000 degree
2020-12-14T01:47:45.609Z,1607910465.609 [CommandLine](IMPORTANT): got command set profile_station.Speed 0.800000 meter_per_second
2020-12-14T01:47:58.988Z,1607910478.988 [CommandLine](IMPORTANT): got command set profile_station.MinAltitude 3.000000 meter
2020-12-14T01:47:58.993Z,1607910478.993 [CommandLine](IMPORTANT): got command set profile_station.MaxDepth 9.000000 meter
2020-12-14T01:47:58.994Z,1607910478.994 [CommandLine](IMPORTANT): got command set profile_station.MinOffshore 500.000000 meter
2020-12-14T01:47:58.995Z,1607910478.995 [CommandLine](IMPORTANT): got command run
2020-12-14T01:47:58.997Z,1607910478.997 [CommandLine](IMPORTANT): Running 
2020-12-14T01:47:59.228Z,1607910479.228 [DefaultWithUndock] Stopped
2020-12-14T01:47:59.228Z,1607910479.228 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-12-14T01:47:59.228Z,1607910479.228 [DefaultWithUndock:SurfaceDefault] Stopped
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-14T01:47:59.233Z,1607910479.233 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-14T01:47:59.233Z,1607910479.233 [MissionManager](IMPORTANT): Started mission profile_station
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station](DEBUG): Aggregate::initialize profile_station
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science](DEBUG): Aggregate::initialize profile_station:Science
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:A] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:B] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:C] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:D] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:E] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:F] Running Loop=1
2020-12-14T01:47:59.234Z,1607910479.234 [profile_station:Science:Read_Oil] Running Loop=1
2020-12-14T01:47:59.235Z,1607910479.235 [profile_station:Science:PeakDetectChl] Running Loop=1
2020-12-14T01:47:59.235Z,1607910479.235 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectChl
2020-12-14T01:47:59.235Z,1607910479.235 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T01:47:59.235Z,1607910479.235 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T01:47:59.237Z,1607910479.237 [profile_station:Science:HighestChlPeakReport] Running Loop=1
2020-12-14T01:47:59.237Z,1607910479.237 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestChlPeakReport
2020-12-14T01:47:59.237Z,1607910479.237 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-12-14T01:47:59.237Z,1607910479.237 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-12-14T01:47:59.237Z,1607910479.237 [profile_station:Science:PeakDetectNO3] Running Loop=1
2020-12-14T01:47:59.238Z,1607910479.238 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectNO3
2020-12-14T01:47:59.238Z,1607910479.238 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T01:47:59.238Z,1607910479.238 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T01:47:59.239Z,1607910479.239 [profile_station:Science:PeakDetectOil] Running Loop=1
2020-12-14T01:47:59.239Z,1607910479.239 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectOil
2020-12-14T01:47:59.240Z,1607910479.240 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T01:47:59.240Z,1607910479.240 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T01:47:59.246Z,1607910479.246 [profile_station:Science:PeakDetectFDOM] Running Loop=1
2020-12-14T01:47:59.246Z,1607910479.246 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectFDOM
2020-12-14T01:47:59.246Z,1607910479.246 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-12-14T01:47:59.246Z,1607910479.246 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-12-14T01:47:59.247Z,1607910479.247 [profile_station:Science:OceanCurrent] Running Loop=1
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station:Science:OceanCurrent
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:StandardEnvelopes] Running Loop=1
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station:StandardEnvelopes
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-14T01:47:59.248Z,1607910479.248 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:I.Pitch] Running Loop=1
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:I.Pitch](DEBUG): Initialize.
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:J.Buoyancy] Running Loop=1
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:K.SetSpeed] Running Loop=1
2020-12-14T01:47:59.269Z,1607910479.269 [profile_station:K.SetSpeed](DEBUG): Initialize.
2020-12-14T01:47:59.270Z,1607910479.270 [profile_station:L.DepthEnvelope] Running Loop=1
2020-12-14T01:47:59.270Z,1607910479.270 [profile_station:L.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-12-14T01:47:59.270Z,1607910479.270 [profile_station:M.AltitudeEnvelope] Running Loop=1
2020-12-14T01:47:59.270Z,1607910479.270 [profile_station:M.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-12-14T01:47:59.270Z,1607910479.270 [profile_station:N.YoYo] Running Loop=1
2020-12-14T01:47:59.270Z,1607910479.270 [profile_station:N.YoYo](DEBUG): Initialize YoYoComponent.
2020-12-14T01:47:59.271Z,1607910479.271 [profile_station:C] Running Loop=1
2020-12-14T01:47:59.271Z,1607910479.271 [profile_station:N.YoYo] Running Loop=1
2020-12-14T01:47:59.272Z,1607910479.272 [profile_station:M.AltitudeEnvelope] Running Loop=1
2020-12-14T01:47:59.272Z,1607910479.272 [profile_station:L.DepthEnvelope] Running Loop=1
2020-12-14T01:47:59.281Z,1607910479.281 [profile_station:K.SetSpeed] Running Loop=1
2020-12-14T01:47:59.281Z,1607910479.281 [profile_station:J.Buoyancy] Running Loop=1
2020-12-14T01:47:59.282Z,1607910479.282 [profile_station:I.Pitch] Running Loop=1
2020-12-14T01:47:59.282Z,1607910479.282 [profile_station:StandardEnvelopes] Running Loop=1
2020-12-14T01:47:59.282Z,1607910479.282 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-12-14T01:47:59.282Z,1607910479.282 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-12-14T01:47:59.283Z,1607910479.283 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-12-14T01:47:59.283Z,1607910479.283 [profile_station:C] Stopped
2020-12-14T01:47:59.283Z,1607910479.283 [profile_station:E] Running Loop=1
2020-12-14T01:47:59.283Z,1607910479.283 [profile_station:Science] Running Loop=1
2020-12-14T01:47:59.284Z,1607910479.284 [profile_station:Science:PeakDetectFDOM] Stopped
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectFDOM
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectOil] Stopped
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectOil
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectNO3] Stopped
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectNO3
2020-12-14T01:47:59.293Z,1607910479.293 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:HighestChlPeakReport] Stopped
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestChlPeakReport
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:PeakDetectChl] Running Loop=1
2020-12-14T01:47:59.294Z,1607910479.294 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2020-12-14T01:47:59.295Z,1607910479.295 [profile_station:Science:Read_Oil] Running Loop=1
2020-12-14T01:47:59.296Z,1607910479.296 [profile_station:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-12-14T01:47:59.296Z,1607910479.296 [profile_station:Science:F] Stopped
2020-12-14T01:47:59.296Z,1607910479.296 [profile_station:Science:E] Running Loop=1
2020-12-14T01:47:59.299Z,1607910479.299 [profile_station:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-12-14T01:47:59.299Z,1607910479.299 [profile_station:Science:D] Stopped
2020-12-14T01:47:59.299Z,1607910479.299 [profile_station:Science:C] Running Loop=1
2020-12-14T01:47:59.299Z,1607910479.299 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-12-14T01:47:59.300Z,1607910479.300 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-12-14T01:47:59.300Z,1607910479.300 [profile_station:Science:B] Running Loop=1
2020-12-14T01:47:59.317Z,1607910479.317 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-12-14T01:47:59.318Z,1607910479.318 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-12-14T01:47:59.318Z,1607910479.318 [profile_station:Science:A] Stopped
2020-12-14T01:47:59.534Z,1607910479.534 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-12-14T01:47:59.718Z,1607910479.718 [profile_station:E] Stopped
2020-12-14T01:47:59.718Z,1607910479.718 [profile_station:F] Running Loop=1
2020-12-14T01:48:00.033Z,1607910480.033 [profile_station:F] Stopped
2020-12-14T01:48:00.033Z,1607910480.033 [profile_station:G] Running Loop=1
2020-12-14T01:48:00.447Z,1607910480.447 [profile_station:G] Stopped
2020-12-14T01:48:00.448Z,1607910480.448 [profile_station:StartingMission] Running Loop=1
2020-12-14T01:48:00.448Z,1607910480.448 [profile_station:StartingMission](DEBUG): Aggregate::initialize profile_station:StartingMission
2020-12-14T01:48:00.886Z,1607910480.886 [profile_station:NeedComms] Running Loop=1
2020-12-14T01:48:00.886Z,1607910480.886 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2020-12-14T01:48:00.886Z,1607910480.886 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2020-12-14T01:48:00.886Z,1607910480.886 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T01:48:00.887Z,1607910480.887 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-12-14T01:48:00.887Z,1607910480.887 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-12-14T01:48:00.887Z,1607910480.887 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-12-14T01:48:00.888Z,1607910480.888 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T01:48:00.888Z,1607910480.888 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T01:48:00.888Z,1607910480.888 [profile_station:NeedComms:A] Running Loop=1
2020-12-14T01:48:00.890Z,1607910480.890 [profile_station:NeedComms:A](INFO): last time_fix was: 1607910185.000000 second since 1970/01/01T00:00:00Z 
2020-12-14T01:48:00.890Z,1607910480.890 [profile_station:NeedComms:A] Stopped
2020-12-14T01:48:01.266Z,1607910481.266 [profile_station:NeedComms:C] Running Loop=1
2020-12-14T01:48:01.723Z,1607910481.723 [profile_station:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-12-14T01:48:02.406Z,1607910482.406 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-12-14T01:48:03.261Z,1607910483.261 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014803.00,A,4133.05734,N,07042.53683,W,0.292,177.43,141220,,,A*73
2020-12-14T01:48:03.263Z,1607910483.263 [NAL9602](INFO): GPS fix at 20201214T014803: (41.550956, -70.708947)
2020-12-14T01:48:03.368Z,1607910483.368 [profile_station:NeedComms:C] Stopped
2020-12-14T01:48:03.377Z,1607910483.377 [profile_station:NeedComms:D] Running Loop=1
2020-12-14T01:48:03.850Z,1607910483.850 [profile_station:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-12-14T01:48:08.398Z,1607910488.398 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20201213T195538/Courier0130.lzma
2020-12-14T01:48:09.391Z,1607910489.391 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0130.lzma.bak
2020-12-14T01:48:09.391Z,1607910489.391 [DataOverHttps](INFO): SBD MOMSN=65280
2020-12-14T01:48:18.439Z,1607910498.439 [DataOverHttps](INFO): Sending 673 bytes from file Logs/20201213T195538/Express0131.lzma
2020-12-14T01:48:19.440Z,1607910499.440 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0131.lzma.bak
2020-12-14T01:48:19.441Z,1607910499.441 [DataOverHttps](INFO): SBD MOMSN=65283
2020-12-14T01:48:20.864Z,1607910500.864 [NAL9602](INFO): SBD MO Status=0, MOMSN=12868, MT Status=0, MTMSN=0
2020-12-14T01:48:20.865Z,1607910500.865 [NAL9602](INFO): No messages in MT queue
2020-12-14T01:48:20.939Z,1607910500.939 [profile_station:NeedComms:D] Stopped
2020-12-14T01:48:20.939Z,1607910500.939 [profile_station:NeedComms:E] Running Loop=1
2020-12-14T01:48:21.295Z,1607910501.295 [profile_station:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-12-14T01:48:23.279Z,1607910503.279 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014823.00,A,4133.05584,N,07042.53569,W,0.253,177.43,141220,,,D*77
2020-12-14T01:48:23.283Z,1607910503.283 [NAL9602](INFO): GPS fix at 20201214T014823: (41.550931, -70.708928)
2020-12-14T01:48:23.326Z,1607910503.326 [profile_station:NeedComms:E] Stopped
2020-12-14T01:48:23.328Z,1607910503.328 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2020-12-14T01:48:23.328Z,1607910503.328 [profile_station:NeedComms] Stopped
2020-12-14T01:48:23.333Z,1607910503.333 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2020-12-14T01:48:23.333Z,1607910503.333 [profile_station:NeedComms:B.GoToSurface] Stopped
2020-12-14T01:48:23.334Z,1607910503.334 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:StartingMission](INFO): Completed profile_station:StartingMission
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:StartingMission] Stopped
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:StartingMission](DEBUG): Aggregate::uninitialize profile_station:StartingMission
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:CircleWrapper] Running Loop=1
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T01:48:23.752Z,1607910503.752 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T01:48:24.121Z,1607910504.121 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T01:48:55.197Z,1607910535.197 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T01:51:09.852Z,1607910669.852 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch -15.00 deg, mass-position -0.36 mm (2 active estimators).
2020-12-14T01:51:34.490Z,1607910694.490 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 15.00 deg, mass-position -0.36 mm (3 active estimators).
2020-12-14T01:51:46.306Z,1607910706.306 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243149
2020-12-14T01:52:10.149Z,1607910730.149 [Radio_Surface](INFO): Powering down
2020-12-14T01:52:22.449Z,1607910742.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T01:52:23.453Z,1607910743.453 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-14T01:56:21.805Z,1607910981.805 [CBIT](IMPORTANT): Beginning ground fault scan
2020-12-14T01:56:22.526Z,1607910982.526 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:23.536Z,1607910983.536 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:24.539Z,1607910984.539 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:25.543Z,1607910985.543 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:26.556Z,1607910986.556 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:27.550Z,1607910987.550 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:28.554Z,1607910988.554 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:29.559Z,1607910989.559 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:30.563Z,1607910990.563 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:31.568Z,1607910991.568 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:32.570Z,1607910992.570 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T01:56:32.724Z,1607910992.724 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.106108
CHAN A1 (24V): 0.171773
CHAN A2 (12V): 0.075804
CHAN A3 (5V): 0.014229
CHAN B0 (3.3V): 0.003716
CHAN B1 (3.15aV): 0.002873
CHAN B2 (3.15bV): 0.004086
CHAN B3 (GND): -0.023286
OPEN: 0.006957
Full Scale Calc: 4.765 mA, -1.589 mA
2020-12-14T01:57:12.651Z,1607911032.651 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:57:17.475Z,1607911037.475 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:57:32.418Z,1607911052.418 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:58:27.785Z,1607911107.785 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:58:47.602Z,1607911127.602 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:58:57.685Z,1607911137.685 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T01:59:02.569Z,1607911142.569 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T01:59:07.797Z,1607911147.797 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:01:17.883Z,1607911277.883 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:01:32.814Z,1607911292.814 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T02:01:37.665Z,1607911297.665 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T02:01:52.640Z,1607911312.640 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T02:01:57.606Z,1607911317.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:02:02.704Z,1607911322.704 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:03:29.597Z,1607911409.597 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:03:55.830Z,1607911435.830 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,020
$CAREV,020356,AUV,2.0.32731*19
 expected 6A
2020-12-14T02:14:28.997Z,1607912068.997 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T02:14:28.997Z,1607912068.997 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T02:14:28.997Z,1607912068.997 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T02:14:29.164Z,1607912069.164 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T02:14:29.377Z,1607912069.377 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T02:14:30.244Z,1607912070.244 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T02:14:30.244Z,1607912070.244 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T02:16:51.543Z,1607912211.543 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2020-12-14T02:19:54.597Z,1607912394.597 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2020-12-14T02:20:03.836Z,1607912403.836 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T02:20:23.625Z,1607912423.625 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:20:28.553Z,1607912428.553 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T02:21:03.627Z,1607912463.627 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:21:18.646Z,1607912478.646 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T02:21:18.652Z,1607912478.652 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T02:21:23.820Z,1607912483.820 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:21:28.685Z,1607912488.685 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T02:21:28.685Z,1607912488.685 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T02:21:28.685Z,1607912488.685 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T02:21:28.848Z,1607912488.848 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T02:21:29.133Z,1607912489.133 [RDI_Pathfinder](INFO): Powering down
2020-12-14T02:21:29.989Z,1607912489.989 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T02:21:29.989Z,1607912489.989 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T02:22:33.722Z,1607912553.722 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:22:39.041Z,1607912559.041 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:24:58.332Z,1607912698.332 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:26:42.184Z,1607912802.184 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:28:28.419Z,1607912908.419 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T02:28:28.421Z,1607912908.421 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2020-12-14T02:33:24.176Z,1607913204.176 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T02:33:33.553Z,1607913213.553 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:33:39.158Z,1607913219.158 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:33:44.374Z,1607913224.374 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:33:49.206Z,1607913229.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:33:54.503Z,1607913234.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:34:09.408Z,1607913249.408 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T02:34:14.264Z,1607913254.264 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T02:34:25.188Z,1607913265.188 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T02:34:29.206Z,1607913269.206 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T02:35:51.346Z,1607913351.346 [CTD_Seabird](ERROR): Failed to parse device response: .38
2020-12-14T02:37:50.834Z,1607913470.834 [CTD_Seabird](ERROR): Failed to parse device response: 6.17.23
2020-12-14T02:39:14.091Z,1607913554.091 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T02:40:34.560Z,1607913634.560 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T02:40:49.824Z,1607913649.824 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T02:40:54.694Z,1607913654.694 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:40:59.568Z,1607913659.568 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T02:41:04.784Z,1607913664.784 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:42:09.827Z,1607913729.827 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:43:34.246Z,1607913814.246 [CTD_Seabird](ERROR): Failed to parse device response: 4.14,7.5885,3.234.96
2020-12-14T02:44:19.900Z,1607913859.900 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T02:48:36.478Z,1607914116.478 [CTD_Seabird](ERROR): Failed to parse device response: 2.54.49
2020-12-14T02:52:02.528Z,1607914322.528 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:52:57.062Z,1607914377.062 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T02:52:57.062Z,1607914377.062 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper] Stopped
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper:A] Stopped
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper](INFO): Running loop #2
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper] Running Loop=2
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T02:52:57.063Z,1607914377.063 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T02:53:40.269Z,1607914420.269 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:53:46.342Z,1607914426.342 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:54:05.327Z,1607914445.327 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T02:56:40.849Z,1607914600.849 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T02:58:21.456Z,1607914701.456 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T02:58:47.704Z,1607914727.704 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T02:59:45.182Z,1607914785.182 [RudderServo](ERROR): getPosition uart error serial timeout
2020-12-14T02:59:45.182Z,1607914785.182 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2020-12-14T02:59:45.182Z,1607914785.182 [RudderServo] Communications Fault, FailCount= 1
2020-12-14T02:59:45.182Z,1607914785.182 [RudderServo](ERROR): Communications Fault
2020-12-14T02:59:45.213Z,1607914785.213 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-12-14T02:59:45.552Z,1607914785.552 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-12-14T02:59:45.552Z,1607914785.552 [RudderServo](INFO): Powering down
2020-12-14T02:59:46.375Z,1607914786.375 [RudderServo](DEBUG): Initializing EZServoServo.
2020-12-14T02:59:46.496Z,1607914786.496 [RudderServo](DEBUG): Initializing RudderServo.
2020-12-14T02:59:46.528Z,1607914786.528 [CBIT](INFO): Clearing failed state for component RudderServo
2020-12-14T02:59:46.528Z,1607914786.528 [RudderServo] No Fault, FailCount= 1
2020-12-14T03:00:30.736Z,1607914830.736 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T03:00:35.587Z,1607914835.587 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:00:40.518Z,1607914840.518 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:00:50.531Z,1607914850.531 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:00:55.788Z,1607914855.788 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:01:00.651Z,1607914860.651 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:01:05.557Z,1607914865.557 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T03:01:10.736Z,1607914870.736 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T03:01:15.592Z,1607914875.592 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:02:10.580Z,1607914930.580 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:04:36.815Z,1607915076.815 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T03:08:46.076Z,1607915326.076 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:10:56.086Z,1607915456.086 [CTD_Seabird](ERROR): Failed to parse device response: ,7.6192,3.28718,4284.40
2020-12-14T03:13:51.517Z,1607915631.517 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T03:14:16.171Z,1607915656.171 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:14:26.236Z,1607915666.236 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:14:32.298Z,1607915672.298 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:14:41.188Z,1607915681.188 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:20:56.547Z,1607916056.547 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T03:21:26.833Z,1607916086.833 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:21:31.664Z,1607916091.664 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:21:36.567Z,1607916096.567 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:21:41.769Z,1607916101.769 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:21:46.618Z,1607916106.618 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T03:21:52.677Z,1607916112.677 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T03:22:11.672Z,1607916131.672 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:28:14.534Z,1607916494.534 [CTD_Seabird](ERROR): Failed to parse device response: 6.91,7.8685,3.307.28
2020-12-14T03:28:15.678Z,1607916495.678 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:30:59.719Z,1607916659.719 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:32:21.321Z,1607916741.321 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:33:32.421Z,1607916812.421 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:34:07.215Z,1607916847.215 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:34:12.421Z,1607916852.421 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:34:17.274Z,1607916857.274 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:34:22.162Z,1607916862.162 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:34:37.511Z,1607916877.511 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:34:42.317Z,1607916882.317 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:35:50.390Z,1607916950.390 [CTD_Seabird](ERROR): Failed to parse device response: 29,4007.84
2020-12-14T03:35:53.014Z,1607916953.014 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T03:35:53.016Z,1607916953.016 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T03:36:57.282Z,1607917017.282 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:40:42.294Z,1607917242.294 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:40:57.665Z,1607917257.665 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:41:07.750Z,1607917267.750 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:41:12.602Z,1607917272.602 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T03:41:22.695Z,1607917282.695 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:41:27.561Z,1607917287.561 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T03:41:32.813Z,1607917292.813 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T03:41:37.646Z,1607917297.646 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T03:41:53.823Z,1607917313.823 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T03:45:25.521Z,1607917525.521 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:48:03.076Z,1607917683.076 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T03:53:19.436Z,1607917999.436 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T03:53:19.436Z,1607917999.436 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T03:53:19.457Z,1607917999.457 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T03:53:19.457Z,1607917999.457 [profile_station:CircleWrapper] Stopped
2020-12-14T03:53:19.457Z,1607917999.457 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T03:53:19.457Z,1607917999.457 [profile_station:CircleWrapper:A] Stopped
2020-12-14T03:53:19.457Z,1607917999.457 [profile_station:CircleWrapper](INFO): Running loop #3
2020-12-14T03:53:19.457Z,1607917999.457 [profile_station:CircleWrapper] Running Loop=3
2020-12-14T03:53:19.458Z,1607917999.458 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T03:53:19.458Z,1607917999.458 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T03:53:19.458Z,1607917999.458 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T03:53:19.458Z,1607917999.458 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T03:53:28.310Z,1607918008.310 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:53:38.411Z,1607918018.411 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:53:43.262Z,1607918023.262 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:53:48.153Z,1607918028.153 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:53:53.358Z,1607918033.358 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T03:53:58.219Z,1607918038.219 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:54:08.304Z,1607918048.304 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T03:54:28.504Z,1607918068.504 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:54:33.370Z,1607918073.370 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T03:55:00.845Z,1607918100.845 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T03:57:22.749Z,1607918242.749 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T03:57:22.749Z,1607918242.749 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T03:57:22.749Z,1607918242.749 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T03:57:22.821Z,1607918242.821 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T03:57:23.126Z,1607918243.126 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T03:57:23.928Z,1607918243.928 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T03:57:23.929Z,1607918243.929 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T04:01:08.526Z,1607918468.526 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:01:36.378Z,1607918496.378 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T04:01:36.384Z,1607918496.384 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:10:32.517Z,1607919032.517 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:10:45.435Z,1607919045.435 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T04:13:39.179Z,1607919219.179 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:13:44.395Z,1607919224.395 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:13:54.183Z,1607919234.183 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T04:13:55.316Z,1607919235.316 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:13:59.351Z,1607919239.351 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:14:04.209Z,1607919244.209 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T04:14:14.298Z,1607919254.298 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:14:14.305Z,1607919254.305 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T04:14:19.226Z,1607919259.226 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 40
2020-12-14T04:14:24.413Z,1607919264.413 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:14:29.258Z,1607919269.258 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:14:29.262Z,1607919269.262 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:14:34.496Z,1607919274.496 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:14:39.375Z,1607919279.375 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T04:14:44.228Z,1607919284.228 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:14:49.465Z,1607919289.465 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:16:40.152Z,1607919400.152 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:21:54.858Z,1607919714.858 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T04:26:47.756Z,1607920007.756 [Micromodem](INFO): Nmea in: C

2020-12-14T04:26:47.756Z,1607920007.756 [Micromodem](ERROR): Response from modem failed NMEA checksum: C
 expected 0
2020-12-14T04:28:46.196Z,1607920126.196 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:33:35.394Z,1607920415.394 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:33:50.357Z,1607920430.357 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:33:55.217Z,1607920435.217 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:34:00.461Z,1607920440.461 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:34:05.291Z,1607920445.291 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:34:10.199Z,1607920450.199 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:34:15.415Z,1607920455.415 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:34:30.350Z,1607920470.350 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:34:35.230Z,1607920475.230 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:34:40.443Z,1607920480.443 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T04:34:45.292Z,1607920485.292 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:34:45.308Z,1607920485.308 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:35:00.247Z,1607920500.247 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:35:03.486Z,1607920503.486 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:37:05.497Z,1607920625.497 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:37:06.299Z,1607920626.299 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:38:33.274Z,1607920713.274 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:42:59.435Z,1607920979.435 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:43:16.376Z,1607920996.376 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T04:43:16.380Z,1607920996.380 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T04:44:57.771Z,1607921097.771 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,044458,AUV,2.02
 expected 3D
2020-12-14T04:46:47.050Z,1607921207.050 [CTD_Seabird](ERROR): Failed to parse device response: 4.36,7.6957,3.300.17
2020-12-14T04:46:58.096Z,1607921218.096 [CTD_Seabird](ERROR): Failed to parse device response: .41
2020-12-14T04:48:23.487Z,1607921303.487 [profile_station:NeedComms] Running Loop=1
2020-12-14T04:48:23.487Z,1607921303.487 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2020-12-14T04:48:23.487Z,1607921303.487 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2020-12-14T04:48:23.487Z,1607921303.487 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T04:48:23.488Z,1607921303.488 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-12-14T04:48:23.493Z,1607921303.493 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-12-14T04:48:23.493Z,1607921303.493 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-12-14T04:48:23.493Z,1607921303.493 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T04:48:23.494Z,1607921303.494 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T04:48:23.495Z,1607921303.495 [profile_station:NeedComms:A] Running Loop=1
2020-12-14T04:48:23.498Z,1607921303.498 [profile_station:NeedComms:A](INFO): last time_fix was: 1607910503.000000 second since 1970/01/01T00:00:00Z 
2020-12-14T04:48:23.498Z,1607921303.498 [profile_station:NeedComms:A] Stopped
2020-12-14T04:48:43.646Z,1607921323.646 [profile_station:NeedComms:C] Running Loop=1
2020-12-14T04:48:44.341Z,1607921324.341 [Radio_Surface](INFO): Powering up
2020-12-14T04:48:44.475Z,1607921324.475 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:48:44.486Z,1607921324.486 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T04:48:50.302Z,1607921330.302 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-14T04:48:58.977Z,1607921338.977 [NAL9602](INFO): SBD MO Status=0, MOMSN=12869, MT Status=0, MTMSN=0
2020-12-14T04:48:58.977Z,1607921338.977 [NAL9602](INFO): No messages in MT queue
2020-12-14T04:49:20.433Z,1607921360.433 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T04:49:34.175Z,1607921374.175 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:49:55.581Z,1607921395.581 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T04:50:02.816Z,1607921402.816 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045003.00,A,4132.77624,N,07042.41884,W,0.233,0.00,141220,,,A*7C
2020-12-14T04:50:02.818Z,1607921402.818 [NAL9602](INFO): GPS fix at 20201214T045003: (41.546271, -70.706981)
2020-12-14T04:50:02.830Z,1607921402.830 [UniversalFixResidualReporter](INFO): Fix residual: 7.1 %DT, over the last 5628.5 m. Residual distance 399.7 m at bearing -0.6 degrees. Fix at (41.5463, -70.7070) with 542.9 m made good.
2020-12-14T04:50:02.836Z,1607921402.836 [profile_station:NeedComms:C] Stopped
2020-12-14T04:50:02.846Z,1607921402.846 [profile_station:NeedComms:D] Running Loop=1
2020-12-14T04:50:27.268Z,1607921427.268 [NAL9602](INFO): SBD MO Status=1, MOMSN=12870, MT Status=0, MTMSN=0
2020-12-14T04:50:27.317Z,1607921427.317 [NAL9602](INFO): Sent 89 bytes from file Logs/20201213T195538/Courier0133.lzma
2020-12-14T04:50:27.317Z,1607921427.317 [NAL9602](INFO): Packets left to send: 0
2020-12-14T04:50:30.721Z,1607921430.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T04:50:37.547Z,1607921437.547 [NAL9602](INFO): SBD MO Status=1, MOMSN=12871, MT Status=0, MTMSN=0
2020-12-14T04:50:37.597Z,1607921437.597 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:50:37.597Z,1607921437.597 [NAL9602](INFO): Packets left to send: 7
2020-12-14T04:50:57.262Z,1607921457.262 [NAL9602](INFO): SBD MO Status=1, MOMSN=12872, MT Status=0, MTMSN=0
2020-12-14T04:50:57.316Z,1607921457.316 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:50:57.316Z,1607921457.316 [NAL9602](INFO): Packets left to send: 6
2020-12-14T04:51:05.877Z,1607921465.877 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T04:51:09.531Z,1607921469.531 [NAL9602](INFO): SBD MO Status=1, MOMSN=12873, MT Status=0, MTMSN=0
2020-12-14T04:51:09.581Z,1607921469.581 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:51:09.581Z,1607921469.581 [NAL9602](INFO): Packets left to send: 5
2020-12-14T04:51:18.371Z,1607921478.371 [NAL9602](INFO): SBD MO Status=1, MOMSN=12874, MT Status=0, MTMSN=0
2020-12-14T04:51:18.429Z,1607921478.429 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:51:18.429Z,1607921478.429 [NAL9602](INFO): Packets left to send: 4
2020-12-14T04:51:25.983Z,1607921485.983 [NAL9602](INFO): SBD MO Status=1, MOMSN=12875, MT Status=0, MTMSN=0
2020-12-14T04:51:26.033Z,1607921486.033 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:51:26.033Z,1607921486.033 [NAL9602](INFO): Packets left to send: 3
2020-12-14T04:51:34.189Z,1607921494.189 [NAL9602](INFO): SBD MO Status=1, MOMSN=12876, MT Status=0, MTMSN=0
2020-12-14T04:51:34.245Z,1607921494.245 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:51:34.245Z,1607921494.245 [NAL9602](INFO): Packets left to send: 2
2020-12-14T04:51:41.017Z,1607921501.017 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T04:51:51.848Z,1607921511.848 [NAL9602](INFO): SBD MO Status=1, MOMSN=12877, MT Status=0, MTMSN=0
2020-12-14T04:51:51.897Z,1607921511.897 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:51:51.897Z,1607921511.897 [NAL9602](INFO): Packets left to send: 1
2020-12-14T04:51:58.529Z,1607921518.529 [NAL9602](INFO): SBD MO Status=1, MOMSN=12878, MT Status=0, MTMSN=0
2020-12-14T04:51:58.577Z,1607921518.577 [NAL9602](INFO): Sent 8 bytes from file Logs/20201213T195538/Express0135.lzma
2020-12-14T04:51:58.577Z,1607921518.577 [NAL9602](INFO): Packets left to send: 0
2020-12-14T04:52:09.032Z,1607921529.032 [NAL9602](INFO): SBD MO Status=0, MOMSN=12879, MT Status=0, MTMSN=0
2020-12-14T04:52:09.195Z,1607921529.195 [profile_station:NeedComms:D] Stopped
2020-12-14T04:52:09.196Z,1607921529.196 [profile_station:NeedComms:E] Running Loop=1
2020-12-14T04:52:11.164Z,1607921531.164 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003381
2020-12-14T04:52:11.468Z,1607921531.468 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045212.00,A,4132.76527,N,07042.42025,W,0.292,0.00,141220,,,A*74
2020-12-14T04:52:11.476Z,1607921531.476 [NAL9602](INFO): GPS fix at 20201214T045212: (41.546088, -70.707004)
2020-12-14T04:52:11.550Z,1607921531.550 [profile_station:NeedComms:E] Stopped
2020-12-14T04:52:11.551Z,1607921531.551 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2020-12-14T04:52:11.551Z,1607921531.551 [profile_station:NeedComms] Stopped
2020-12-14T04:52:11.551Z,1607921531.551 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2020-12-14T04:52:11.551Z,1607921531.551 [profile_station:NeedComms:B.GoToSurface] Stopped
2020-12-14T04:52:11.551Z,1607921531.551 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-14T04:52:44.255Z,1607921564.255 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T04:53:23.464Z,1607921603.464 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:53:32.364Z,1607921612.364 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:53:46.159Z,1607921626.159 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:53:51.365Z,1607921631.365 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:01.478Z,1607921641.478 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:06.338Z,1607921646.338 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:11.183Z,1607921651.183 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:11.189Z,1607921651.189 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T04:54:16.414Z,1607921656.414 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:21.256Z,1607921661.256 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T04:54:26.154Z,1607921666.154 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:31.351Z,1607921671.351 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T04:54:31.355Z,1607921671.355 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:36.214Z,1607921676.214 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:54:41.474Z,1607921681.474 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T04:54:41.479Z,1607921681.479 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:54:51.220Z,1607921691.220 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:55:01.275Z,1607921701.275 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T04:57:46.530Z,1607921866.530 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T04:58:16.426Z,1607921896.426 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T04:59:16.977Z,1607921956.977 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247398
2020-12-14T04:59:34.969Z,1607921974.969 [Radio_Surface](INFO): Powering down
2020-12-14T04:59:53.121Z,1607921993.121 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T04:59:54.125Z,1607921994.125 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-14T05:00:34.221Z,1607922034.221 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T05:01:46.563Z,1607922106.563 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T05:05:27.698Z,1607922327.698 [CTD_Seabird](ERROR): Failed to parse device response: 5.70,7.542.05
2020-12-14T05:08:00.605Z,1607922480.605 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T05:08:00.605Z,1607922480.605 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T05:08:00.605Z,1607922480.605 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T05:08:00.605Z,1607922480.605 [profile_station:CircleWrapper] Stopped
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper:A] Stopped
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper](INFO): Running loop #4
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper] Running Loop=4
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T05:08:00.606Z,1607922480.606 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T05:08:36.192Z,1607922516.192 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T05:08:48.291Z,1607922528.291 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:12:27.003Z,1607922747.003 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T05:12:27.003Z,1607922747.003 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T05:12:27.003Z,1607922747.003 [ThrusterServo](ERROR): Communications Fault
2020-12-14T05:12:27.007Z,1607922747.007 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T05:12:27.276Z,1607922747.276 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T05:12:27.276Z,1607922747.276 [ThrusterServo](INFO): Powering down
2020-12-14T05:12:28.107Z,1607922748.107 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T05:12:28.226Z,1607922748.226 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T05:12:28.229Z,1607922748.229 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T05:12:28.230Z,1607922748.230 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T05:12:57.132Z,1607922777.132 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:13:07.230Z,1607922787.230 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T05:13:12.180Z,1607922792.180 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T05:13:17.330Z,1607922797.330 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T05:13:22.187Z,1607922802.187 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 107
2020-12-14T05:13:27.423Z,1607922807.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:13:37.149Z,1607922817.149 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T05:13:42.384Z,1607922822.384 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T05:14:12.282Z,1607922852.282 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:14:17.201Z,1607922857.201 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:14:20.364Z,1607922860.364 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:14:27.238Z,1607922867.238 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:14:32.487Z,1607922872.487 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:14:37.350Z,1607922877.350 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:15:22.248Z,1607922922.248 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:16:59.175Z,1607923019.175 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:20:33.425Z,1607923233.425 [CTD_Seabird](ERROR): Failed to parse device response: 
2020-12-14T05:20:48.228Z,1607923248.228 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:23:57.290Z,1607923437.290 [CTD_Seabird](ERROR): Failed to parse device response: 5.01,6
2020-12-14T05:25:51.681Z,1607923551.681 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T05:25:51.681Z,1607923551.681 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T05:25:51.682Z,1607923551.682 [ThrusterServo](ERROR): Communications Fault
2020-12-14T05:25:51.685Z,1607923551.685 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T05:25:52.075Z,1607923552.075 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T05:25:52.075Z,1607923552.075 [ThrusterServo](INFO): Powering down
2020-12-14T05:25:52.864Z,1607923552.864 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T05:25:52.982Z,1607923552.982 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T05:25:52.986Z,1607923552.986 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T05:25:52.986Z,1607923552.986 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T05:31:31.400Z,1607923891.400 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T05:32:13.410Z,1607923933.410 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:32:33.200Z,1607923953.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:32:38.462Z,1607923958.462 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:32:43.296Z,1607923963.296 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T05:33:03.125Z,1607923983.125 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:33:18.465Z,1607923998.465 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T05:33:18.465Z,1607923998.465 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T05:33:18.465Z,1607923998.465 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T05:33:18.569Z,1607923998.569 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T05:33:18.910Z,1607923998.910 [RDI_Pathfinder](INFO): Powering down
2020-12-14T05:33:19.748Z,1607923999.748 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T05:33:19.748Z,1607923999.748 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T05:33:53.200Z,1607924033.200 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:34:18.243Z,1607924058.243 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:34:28.340Z,1607924068.340 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:34:38.432Z,1607924078.432 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:34:48.196Z,1607924088.196 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T05:35:03.494Z,1607924103.494 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T05:38:21.926Z,1607924301.926 [CTD_Seabird](ERROR): Failed to parse device response: 7,3.28984,3923.12
2020-12-14T05:46:13.013Z,1607924773.013 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:47:29.276Z,1607924849.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:47:29.684Z,1607924849.684 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:48:04.437Z,1607924884.437 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:48:58.208Z,1607924938.208 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:49:34.123Z,1607924974.123 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T05:49:44.243Z,1607924984.243 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:49:59.188Z,1607924999.188 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T05:50:06.854Z,1607925006.854 [CTD_Seabird](ERROR): Failed to parse device response: ,7.5633,3.29159,3600.54
2020-12-14T05:50:09.270Z,1607925009.270 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:50:41.197Z,1607925041.197 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T05:50:41.199Z,1607925041.199 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T05:54:14.520Z,1607925254.520 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:54:24.221Z,1607925264.221 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T05:54:34.306Z,1607925274.306 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T05:54:39.218Z,1607925279.218 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T05:54:49.255Z,1607925289.255 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T05:55:09.452Z,1607925309.452 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T05:55:14.307Z,1607925314.307 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T05:55:24.407Z,1607925324.407 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T05:59:23.190Z,1607925563.190 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T05:59:38.175Z,1607925578.175 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:01:29.653Z,1607925689.653 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:02:13.286Z,1607925733.286 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:05:19.181Z,1607925919.181 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:07:36.105Z,1607926056.105 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T06:09:15.102Z,1607926155.102 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T06:09:25.196Z,1607926165.196 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T06:09:30.026Z,1607926170.026 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:09:34.927Z,1607926174.927 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T06:09:40.135Z,1607926180.135 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T06:09:44.992Z,1607926184.992 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T06:10:05.217Z,1607926205.217 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T06:10:05.217Z,1607926205.217 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T06:10:05.217Z,1607926205.217 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T06:10:05.317Z,1607926205.317 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T06:10:05.641Z,1607926205.641 [RDI_Pathfinder](INFO): Powering down
2020-12-14T06:10:06.465Z,1607926206.465 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T06:10:06.465Z,1607926206.465 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T06:10:48.015Z,1607926248.015 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T06:10:48.015Z,1607926248.015 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper] Stopped
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper:A] Stopped
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper](INFO): Running loop #5
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper] Running Loop=5
2020-12-14T06:10:48.016Z,1607926248.016 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T06:10:48.017Z,1607926248.017 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T06:10:48.017Z,1607926248.017 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T06:10:48.017Z,1607926248.017 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T06:12:10.434Z,1607926330.434 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:14:45.234Z,1607926485.234 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:14:55.252Z,1607926495.252 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:15:00.511Z,1607926500.511 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:15:10.207Z,1607926510.207 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T06:15:15.471Z,1607926515.471 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:15:35.252Z,1607926535.252 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T06:18:00.336Z,1607926680.336 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T06:18:20.506Z,1607926700.506 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:18:29.790Z,1607926709.790 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:24:08.793Z,1607927048.793 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T06:24:08.793Z,1607927048.793 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T06:24:08.793Z,1607927048.793 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T06:24:08.936Z,1607927048.936 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T06:24:09.237Z,1607927049.237 [RDI_Pathfinder](INFO): Powering down
2020-12-14T06:24:10.069Z,1607927050.069 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T06:24:10.069Z,1607927050.069 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T06:26:04.321Z,1607927164.321 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:26:21.318Z,1607927181.318 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:26:41.966Z,1607927201.966 [CTD_Seabird](ERROR): Failed to parse device response: 2.38.48
2020-12-14T06:31:39.213Z,1607927499.213 [CTD_Seabird](ERROR): Failed to parse device response: 3.78,7.5546,3.28844,
2020-12-14T06:34:51.211Z,1607927691.211 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:35:06.518Z,1607927706.518 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:35:11.374Z,1607927711.374 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:35:13.394Z,1607927713.394 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:35:21.464Z,1607927721.464 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:35:31.229Z,1607927731.229 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:35:46.535Z,1607927746.535 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T06:36:36.263Z,1607927796.263 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T06:36:41.458Z,1607927801.458 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:36:51.554Z,1607927811.554 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:36:56.425Z,1607927816.425 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T06:36:56.425Z,1607927816.425 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T06:36:56.425Z,1607927816.425 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T06:36:56.541Z,1607927816.541 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T06:36:56.869Z,1607927816.869 [RDI_Pathfinder](INFO): Powering down
2020-12-14T06:36:57.732Z,1607927817.732 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T06:36:57.732Z,1607927817.732 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T06:38:57.006Z,1607927937.006 [CTD_Seabird](ERROR): Failed to parse device response: .52
2020-12-14T06:42:31.758Z,1607928151.758 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:46:42.235Z,1607928402.235 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:49:16.989Z,1607928556.989 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:49:46.931Z,1607928586.931 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T06:49:56.988Z,1607928596.988 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T06:50:07.087Z,1607928607.087 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T06:50:11.937Z,1607928611.937 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T06:53:47.275Z,1607928827.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:55:05.038Z,1607928905.038 [CTD_Seabird](ERROR): Failed to parse device response: 7,3.30795,4247.14
2020-12-14T06:55:27.459Z,1607928927.459 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T06:55:32.292Z,1607928932.292 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T06:55:42.395Z,1607928942.395 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 43
2020-12-14T06:55:47.266Z,1607928947.266 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T06:57:29.650Z,1607929049.650 [CTD_Seabird](ERROR): Failed to parse device response: ,7.6521,3.30372,4457.60
2020-12-14T06:58:05.829Z,1607929085.829 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T06:58:05.838Z,1607929085.838 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T07:05:35.055Z,1607929535.055 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:06:17.096Z,1607929577.096 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:07:15.265Z,1607929635.265 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T07:08:35.445Z,1607929715.445 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T07:08:35.445Z,1607929715.445 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T07:08:35.445Z,1607929715.445 [ThrusterServo](ERROR): Communications Fault
2020-12-14T07:08:35.449Z,1607929715.449 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T07:08:35.667Z,1607929715.667 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T07:08:35.668Z,1607929715.668 [ThrusterServo](INFO): Powering down
2020-12-14T07:08:36.530Z,1607929716.530 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T07:08:36.650Z,1607929716.650 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T07:08:36.653Z,1607929716.653 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T07:08:36.654Z,1607929716.654 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T07:08:57.907Z,1607929737.907 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:09:03.127Z,1607929743.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:09:13.229Z,1607929753.229 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:09:22.939Z,1607929762.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:09:28.187Z,1607929768.187 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:09:33.016Z,1607929773.016 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T07:09:37.927Z,1607929777.927 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T07:09:53.235Z,1607929793.235 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:10:00.726Z,1607929800.726 [CTD_Seabird](ERROR): Failed to parse device response: 3.47,7.600.89
2020-12-14T07:11:12.018Z,1607929872.018 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T07:11:12.018Z,1607929872.018 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T07:11:12.018Z,1607929872.018 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper] Stopped
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper:A] Stopped
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper](INFO): Running loop #6
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper] Running Loop=6
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T07:11:12.019Z,1607929872.019 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T07:14:43.286Z,1607930083.286 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:15:13.245Z,1607930113.245 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:15:23.296Z,1607930123.296 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T07:15:28.215Z,1607930128.215 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T07:15:38.253Z,1607930138.253 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:15:43.504Z,1607930143.504 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T07:16:51.833Z,1607930211.833 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T07:16:51.834Z,1607930211.834 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T07:16:51.834Z,1607930211.834 [ThrusterServo](ERROR): Communications Fault
2020-12-14T07:16:51.837Z,1607930211.837 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T07:16:52.257Z,1607930212.257 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T07:16:52.257Z,1607930212.257 [ThrusterServo](INFO): Powering down
2020-12-14T07:16:53.055Z,1607930213.055 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T07:16:53.174Z,1607930213.174 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T07:16:53.177Z,1607930213.177 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T07:16:53.178Z,1607930213.178 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T07:23:14.350Z,1607930594.350 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:25:49.516Z,1607930749.516 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:28:20.198Z,1607930900.198 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:28:33.935Z,1607930913.935 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:28:44.022Z,1607930924.022 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:28:53.410Z,1607930933.410 [CTD_Seabird](ERROR): Failed to parse device response: 6.16,7.7547,3.302316
2020-12-14T07:28:54.132Z,1607930934.132 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T07:28:58.982Z,1607930938.982 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:29:04.226Z,1607930944.226 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:29:09.075Z,1607930949.075 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:29:12.314Z,1607930952.314 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T07:30:20.232Z,1607931020.232 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:32:31.894Z,1607931151.894 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:34:49.268Z,1607931289.268 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:34:54.512Z,1607931294.512 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:35:09.521Z,1607931309.521 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T07:35:09.521Z,1607931309.521 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T07:35:09.521Z,1607931309.521 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T07:35:09.620Z,1607931309.620 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T07:35:09.933Z,1607931309.933 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T07:35:10.740Z,1607931310.740 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T07:35:10.740Z,1607931310.740 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T07:37:34.481Z,1607931454.481 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:39:50.101Z,1607931590.101 [CTD_Seabird](ERROR): Failed to parse device response: .57
2020-12-14T07:48:28.178Z,1607932108.178 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T07:48:30.213Z,1607932110.213 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:48:45.142Z,1607932125.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:48:50.020Z,1607932130.020 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T07:48:54.896Z,1607932134.896 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T07:49:00.099Z,1607932140.099 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T07:49:04.972Z,1607932144.972 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T07:49:10.219Z,1607932150.219 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:49:35.259Z,1607932175.259 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T07:50:15.251Z,1607932215.251 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:50:20.116Z,1607932220.116 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:50:30.202Z,1607932230.202 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T07:50:35.053Z,1607932235.053 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T07:50:40.294Z,1607932240.294 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T07:51:05.069Z,1607932265.069 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T07:51:05.069Z,1607932265.069 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T07:51:05.069Z,1607932265.069 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T07:51:05.129Z,1607932265.129 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T07:51:05.417Z,1607932265.417 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T07:51:06.221Z,1607932266.221 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T07:51:06.221Z,1607932266.221 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T07:52:11.631Z,1607932331.631 [profile_station:NeedComms] Running Loop=1
2020-12-14T07:52:11.631Z,1607932331.631 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2020-12-14T07:52:11.632Z,1607932331.632 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2020-12-14T07:52:11.632Z,1607932331.632 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T07:52:11.632Z,1607932331.632 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-12-14T07:52:11.633Z,1607932331.633 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-12-14T07:52:11.633Z,1607932331.633 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-12-14T07:52:11.633Z,1607932331.633 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T07:52:11.634Z,1607932331.634 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T07:52:11.634Z,1607932331.634 [profile_station:NeedComms:A] Running Loop=1
2020-12-14T07:52:11.635Z,1607932331.635 [profile_station:NeedComms:A](INFO): last time_fix was: 1607921532.000000 second since 1970/01/01T00:00:00Z 
2020-12-14T07:52:11.635Z,1607932331.635 [profile_station:NeedComms:A] Stopped
2020-12-14T07:52:49.589Z,1607932369.589 [profile_station:NeedComms:C] Running Loop=1
2020-12-14T07:52:50.249Z,1607932370.249 [Radio_Surface](INFO): Powering up
2020-12-14T07:52:56.417Z,1607932376.417 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-14T07:53:04.109Z,1607932384.109 [NAL9602](INFO): SBD MO Status=0, MOMSN=12880, MT Status=0, MTMSN=0
2020-12-14T07:53:04.109Z,1607932384.109 [NAL9602](INFO): No messages in MT queue
2020-12-14T07:53:26.537Z,1607932406.537 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T07:53:49.774Z,1607932429.774 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075350.00,A,4132.96722,N,07042.41943,W,0.583,297.50,141220,,,A*7D
2020-12-14T07:53:49.779Z,1607932429.779 [NAL9602](INFO): GPS fix at 20201214T075350: (41.549454, -70.706991)
2020-12-14T07:53:49.826Z,1607932429.826 [UniversalFixResidualReporter](INFO): Fix residual: 6.0 %DT, over the last 5669.1 m. Residual distance 341.6 m at bearing 29.6 degrees. Fix at (41.5495, -70.7070) with 374.3 m made good.
2020-12-14T07:53:49.841Z,1607932429.841 [profile_station:NeedComms:C] Stopped
2020-12-14T07:53:49.841Z,1607932429.841 [profile_station:NeedComms:D] Running Loop=1
2020-12-14T07:54:01.677Z,1607932441.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T07:54:08.369Z,1607932448.369 [NAL9602](INFO): SBD MO Status=1, MOMSN=12881, MT Status=0, MTMSN=0
2020-12-14T07:54:08.417Z,1607932448.417 [NAL9602](INFO): Sent 98 bytes from file Logs/20201213T195538/Courier0139.lzma
2020-12-14T07:54:08.417Z,1607932448.417 [NAL9602](INFO): Packets left to send: 0
2020-12-14T07:54:17.381Z,1607932457.381 [NAL9602](INFO): SBD MO Status=1, MOMSN=12882, MT Status=0, MTMSN=0
2020-12-14T07:54:17.437Z,1607932457.437 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:54:17.437Z,1607932457.437 [NAL9602](INFO): Packets left to send: 6
2020-12-14T07:54:26.896Z,1607932466.896 [NAL9602](INFO): SBD MO Status=1, MOMSN=12883, MT Status=0, MTMSN=0
2020-12-14T07:54:26.949Z,1607932466.949 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:54:26.949Z,1607932466.949 [NAL9602](INFO): Packets left to send: 5
2020-12-14T07:54:36.817Z,1607932476.817 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T07:54:45.639Z,1607932485.639 [NAL9602](INFO): SBD MO Status=2, MOMSN=12884, MT Status=2, MTMSN=0
2020-12-14T07:54:45.639Z,1607932485.639 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-14T07:54:56.818Z,1607932496.818 [CTD_Seabird](ERROR): Failed to parse device response: .60
2020-12-14T07:55:05.342Z,1607932505.342 [NAL9602](INFO): SBD MO Status=1, MOMSN=12884, MT Status=0, MTMSN=0
2020-12-14T07:55:05.390Z,1607932505.390 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:55:05.391Z,1607932505.391 [NAL9602](INFO): Packets left to send: 4
2020-12-14T07:55:11.957Z,1607932511.957 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T07:55:16.618Z,1607932516.618 [NAL9602](INFO): SBD MO Status=1, MOMSN=12885, MT Status=0, MTMSN=0
2020-12-14T07:55:16.673Z,1607932516.673 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:55:16.673Z,1607932516.673 [NAL9602](INFO): Packets left to send: 3
2020-12-14T07:55:28.217Z,1607932528.217 [NAL9602](INFO): SBD MO Status=1, MOMSN=12886, MT Status=0, MTMSN=0
2020-12-14T07:55:28.265Z,1607932528.265 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:55:28.265Z,1607932528.265 [NAL9602](INFO): Packets left to send: 2
2020-12-14T07:55:36.605Z,1607932536.605 [NAL9602](INFO): SBD MO Status=1, MOMSN=12887, MT Status=0, MTMSN=0
2020-12-14T07:55:36.653Z,1607932536.653 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:55:36.653Z,1607932536.653 [NAL9602](INFO): Packets left to send: 1
2020-12-14T07:55:47.097Z,1607932547.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T07:56:01.810Z,1607932561.810 [NAL9602](INFO): SBD MO Status=2, MOMSN=12888, MT Status=2, MTMSN=0
2020-12-14T07:56:01.810Z,1607932561.810 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-14T07:56:17.221Z,1607932577.221 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003259
2020-12-14T07:56:18.305Z,1607932578.305 [NAL9602](INFO): SBD MO Status=1, MOMSN=12888, MT Status=0, MTMSN=0
2020-12-14T07:56:18.357Z,1607932578.357 [NAL9602](INFO): Sent 76 bytes from file Logs/20201213T195538/Express0140.lzma
2020-12-14T07:56:18.357Z,1607932578.357 [NAL9602](INFO): Packets left to send: 0
2020-12-14T07:56:18.752Z,1607932578.752 [profile_station:NeedComms:D] Stopped
2020-12-14T07:56:18.769Z,1607932578.769 [profile_station:NeedComms:E] Running Loop=1
2020-12-14T07:56:20.738Z,1607932580.738 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075621.00,A,4132.96721,N,07042.40660,W,0.525,240.33,141220,,,A*71
2020-12-14T07:56:20.741Z,1607932580.741 [NAL9602](INFO): GPS fix at 20201214T075621: (41.549453, -70.706777)
2020-12-14T07:56:20.766Z,1607932580.766 [profile_station:NeedComms:E] Stopped
2020-12-14T07:56:20.767Z,1607932580.767 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2020-12-14T07:56:20.767Z,1607932580.767 [profile_station:NeedComms] Stopped
2020-12-14T07:56:20.767Z,1607932580.767 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2020-12-14T07:56:20.767Z,1607932580.767 [profile_station:NeedComms:B.GoToSurface] Stopped
2020-12-14T07:56:20.767Z,1607932580.767 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-14T07:56:21.556Z,1607932581.556 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm.
2020-12-14T07:56:21.582Z,1607932581.582 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch -15.00 deg, mass-position -0.36 mm.
2020-12-14T07:56:21.583Z,1607932581.583 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 15.00 deg, mass-position -0.36 mm.
2020-12-14T07:56:33.037Z,1607932593.037 [CBIT](IMPORTANT): Beginning ground fault scan
2020-12-14T07:56:33.207Z,1607932593.207 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:34.210Z,1607932594.210 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:35.214Z,1607932595.214 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:36.222Z,1607932596.222 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:37.222Z,1607932597.222 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:38.228Z,1607932598.228 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:39.230Z,1607932599.230 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:40.235Z,1607932600.235 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:41.239Z,1607932601.239 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:42.243Z,1607932602.243 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:43.248Z,1607932603.248 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:44.251Z,1607932604.251 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2020-12-14T07:56:44.359Z,1607932604.359 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.102419
CHAN A1 (24V): 0.171915
CHAN A2 (12V): 0.075839
CHAN A3 (5V): 0.013989
CHAN B0 (3.3V): 0.003501
CHAN B1 (3.15aV): 0.002765
CHAN B2 (3.15bV): 0.003597
CHAN B3 (GND): -0.023324
OPEN: 0.006635
Full Scale Calc: 4.765 mA, -1.589 mA
2020-12-14T07:56:52.816Z,1607932612.816 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T07:57:28.002Z,1607932648.002 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch -15.00 deg, mass-position -0.36 mm (1 active estimators).
2020-12-14T07:57:58.630Z,1607932678.630 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247524
2020-12-14T07:58:18.523Z,1607932698.523 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 15.00 deg, mass-position -0.36 mm (2 active estimators).
2020-12-14T07:58:28.501Z,1607932708.501 [Radio_Surface](INFO): Powering down
2020-12-14T07:58:34.785Z,1607932714.785 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T07:58:35.789Z,1607932715.789 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-14T07:59:50.599Z,1607932790.599 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:00:00.697Z,1607932800.697 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:00:05.550Z,1607932805.550 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:00:10.459Z,1607932810.459 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T08:00:13.137Z,1607932813.137 [CTD_Seabird](ERROR): Failed to parse device response: .02
2020-12-14T08:00:30.600Z,1607932830.600 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T08:00:45.565Z,1607932845.565 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T08:00:50.848Z,1607932850.848 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:00:56.049Z,1607932856.049 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:01:00.510Z,1607932860.510 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:04:56.056Z,1607933096.056 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T08:04:56.056Z,1607933096.056 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper] Stopped
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper:A] Stopped
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper](INFO): Running loop #7
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper] Running Loop=7
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T08:04:56.057Z,1607933096.057 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T08:05:30.779Z,1607933130.779 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T08:05:30.781Z,1607933130.781 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T08:05:54.213Z,1607933154.213 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:06:47.155Z,1607933207.155 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:09:06.116Z,1607933346.116 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:09:10.963Z,1607933350.963 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 106
2020-12-14T08:09:16.229Z,1607933356.229 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T08:09:16.229Z,1607933356.229 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T08:09:16.229Z,1607933356.229 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T08:09:16.400Z,1607933356.400 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T08:09:16.705Z,1607933356.705 [RDI_Pathfinder](INFO): Powering down
2020-12-14T08:09:17.505Z,1607933357.505 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T08:09:17.505Z,1607933357.505 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T08:10:35.829Z,1607933435.829 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T08:10:39.860Z,1607933439.860 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:20:06.711Z,1607934006.711 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:20:21.632Z,1607934021.632 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:20:31.750Z,1607934031.750 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:20:36.568Z,1607934036.568 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T08:20:46.704Z,1607934046.704 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T08:20:56.787Z,1607934056.787 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T08:21:06.480Z,1607934066.480 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:21:12.538Z,1607934072.538 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T08:21:21.485Z,1607934081.485 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:25:21.816Z,1607934321.816 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T08:25:42.009Z,1607934342.009 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:25:46.840Z,1607934346.840 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:25:51.728Z,1607934351.728 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T08:26:16.761Z,1607934376.761 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T08:26:16.761Z,1607934376.761 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T08:26:16.761Z,1607934376.761 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T08:26:16.845Z,1607934376.845 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T08:26:17.201Z,1607934377.201 [RDI_Pathfinder](INFO): Powering down
2020-12-14T08:26:18.100Z,1607934378.100 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T08:26:18.100Z,1607934378.100 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T08:35:02.757Z,1607934902.757 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T08:36:27.242Z,1607934987.242 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:36:42.537Z,1607935002.537 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:36:47.383Z,1607935007.383 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T08:36:52.280Z,1607935012.280 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T08:36:57.484Z,1607935017.484 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T08:37:02.360Z,1607935022.360 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T08:37:07.593Z,1607935027.593 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:37:28.222Z,1607935048.222 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:37:30.614Z,1607935050.614 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:39:10.441Z,1607935150.441 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:40:47.768Z,1607935247.768 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:40:57.489Z,1607935257.489 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:41:27.768Z,1607935287.768 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:42:15.529Z,1607935335.529 [CTD_Seabird](ERROR): Failed to parse device response: ,7.6371,3.29472,4392.74
2020-12-14T08:48:56.612Z,1607935736.612 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:49:35.408Z,1607935775.408 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-14T08:52:08.737Z,1607935928.737 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T08:52:08.737Z,1607935928.737 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T08:52:08.737Z,1607935928.737 [ThrusterServo](ERROR): Communications Fault
2020-12-14T08:52:08.741Z,1607935928.741 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T08:52:08.954Z,1607935928.954 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T08:52:08.954Z,1607935928.954 [ThrusterServo](INFO): Powering down
2020-12-14T08:52:09.782Z,1607935929.782 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T08:52:09.902Z,1607935929.902 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T08:52:09.906Z,1607935929.906 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T08:52:09.906Z,1607935929.906 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T08:54:59.452Z,1607936099.452 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T08:55:18.444Z,1607936118.444 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:56:18.235Z,1607936178.235 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T08:56:28.298Z,1607936188.298 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T08:56:33.544Z,1607936193.544 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T08:56:48.504Z,1607936208.504 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T08:56:53.343Z,1607936213.343 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:56:58.258Z,1607936218.258 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T08:57:13.575Z,1607936233.575 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:00:58.604Z,1607936458.604 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:01:03.510Z,1607936463.510 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:01:18.772Z,1607936478.772 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:01:23.614Z,1607936483.614 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:01:33.735Z,1607936493.735 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:03:12.700Z,1607936592.700 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:03:39.368Z,1607936619.368 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:07:01.395Z,1607936821.395 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T09:07:01.395Z,1607936821.395 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T09:07:01.396Z,1607936821.396 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T09:07:01.396Z,1607936821.396 [profile_station:CircleWrapper] Stopped
2020-12-14T09:07:01.396Z,1607936821.396 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T09:07:01.396Z,1607936821.396 [profile_station:CircleWrapper:A] Stopped
2020-12-14T09:07:01.401Z,1607936821.401 [profile_station:CircleWrapper](INFO): Running loop #8
2020-12-14T09:07:01.401Z,1607936821.401 [profile_station:CircleWrapper] Running Loop=8
2020-12-14T09:07:01.402Z,1607936821.402 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T09:07:01.402Z,1607936821.402 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T09:07:01.402Z,1607936821.402 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T09:07:01.402Z,1607936821.402 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T09:07:08.643Z,1607936828.643 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:09:38.534Z,1607936978.534 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:09:42.592Z,1607936982.592 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:11:37.718Z,1607937097.718 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:12:54.066Z,1607937174.066 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T09:12:54.068Z,1607937174.068 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T09:15:54.254Z,1607937354.254 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T09:16:14.482Z,1607937374.482 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:16:39.510Z,1607937399.510 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T09:17:36.484Z,1607937456.484 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T09:20:29.454Z,1607937629.454 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:20:35.466Z,1607937635.466 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:20:44.740Z,1607937644.740 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:20:49.599Z,1607937649.599 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:20:59.695Z,1607937659.695 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:21:14.646Z,1607937674.646 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:21:19.521Z,1607937679.521 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:21:24.746Z,1607937684.746 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:21:46.556Z,1607937706.556 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T09:25:03.214Z,1607937903.214 [CTD_Seabird](ERROR): Failed to parse device response: 2.49,85
2020-12-14T09:25:12.327Z,1607937912.327 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:25:40.476Z,1607937940.476 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:26:34.619Z,1607937994.619 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:35:30.341Z,1607938530.341 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-14T09:35:35.250Z,1607938535.250 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T09:35:45.300Z,1607938545.300 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T09:35:50.563Z,1607938550.563 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:35:55.379Z,1607938555.379 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:36:00.248Z,1607938560.248 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T09:36:05.484Z,1607938565.484 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T09:37:09.738Z,1607938629.738 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:40:15.584Z,1607938815.584 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:40:35.818Z,1607938835.818 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:40:40.616Z,1607938840.616 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:40:55.596Z,1607938855.596 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:41:10.529Z,1607938870.529 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:41:20.626Z,1607938880.626 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T09:41:25.536Z,1607938885.536 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T09:41:45.663Z,1607938905.663 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:42:16.369Z,1607938936.369 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:45:09.250Z,1607939109.250 [CTD_Seabird](ERROR): Failed to parse device response: 52,4011.48
2020-12-14T09:45:35.545Z,1607939135.545 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:47:24.620Z,1607939244.620 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:49:56.128Z,1607939396.128 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T09:51:06.469Z,1607939466.469 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:53:41.559Z,1607939621.559 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,095342,COPRO.46*49
 expected 27
2020-12-14T09:53:42.350Z,1607939622.350 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:55:26.207Z,1607939726.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:55:36.290Z,1607939736.290 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:55:51.254Z,1607939751.254 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:56:01.357Z,1607939761.357 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T09:56:11.460Z,1607939771.460 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:56:16.299Z,1607939776.299 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:56:21.587Z,1607939781.587 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:56:31.235Z,1607939791.235 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T09:56:36.488Z,1607939796.488 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T09:56:46.243Z,1607939806.243 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T09:56:51.461Z,1607939811.461 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T10:00:35.054Z,1607940035.054 [CTD_Seabird](ERROR): Failed to parse device response: 4.94,7.5818,3525.14
2020-12-14T10:01:01.549Z,1607940061.549 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T10:01:11.621Z,1607940071.621 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:01:21.729Z,1607940081.729 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:05:27.764Z,1607940327.764 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T10:08:21.880Z,1607940501.880 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T10:09:23.694Z,1607940563.694 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T10:11:01.480Z,1607940661.480 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T10:13:38.229Z,1607940818.229 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T10:13:38.229Z,1607940818.229 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper] Stopped
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper:A] Stopped
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper](INFO): Running loop #9
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper] Running Loop=9
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T10:13:38.230Z,1607940818.230 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T10:13:38.231Z,1607940818.231 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T10:13:38.231Z,1607940818.231 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T10:15:57.220Z,1607940957.220 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:16:02.475Z,1607940962.475 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:16:07.303Z,1607940967.303 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:16:12.202Z,1607940972.202 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T10:16:27.491Z,1607940987.491 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T10:16:33.559Z,1607940993.559 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T10:16:42.473Z,1607941002.473 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T10:20:18.212Z,1607941218.212 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T10:20:18.216Z,1607941218.216 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T10:21:17.578Z,1607941277.578 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T10:21:22.482Z,1607941282.482 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T10:21:27.692Z,1607941287.692 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:21:37.796Z,1607941297.796 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T10:21:42.625Z,1607941302.625 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T10:24:12.919Z,1607941452.919 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T10:25:27.661Z,1607941527.661 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:28:45.640Z,1607941725.640 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T10:34:33.490Z,1607942073.490 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T10:36:03.212Z,1607942163.212 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T10:36:23.359Z,1607942183.359 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:36:28.234Z,1607942188.234 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T10:36:43.214Z,1607942203.214 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T10:37:32.051Z,1607942252.051 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,103732,AUV,2.46*44
 expected 37
2020-12-14T10:41:13.530Z,1607942473.530 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:41:18.699Z,1607942478.699 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:41:24.766Z,1607942484.766 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:41:53.498Z,1607942513.498 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T10:46:23.502Z,1607942783.502 [CTD_Seabird](ERROR): Failed to parse device response: 4.84.60
2020-12-14T10:46:56.638Z,1607942816.638 [CTD_Seabird](ERROR): Failed to parse device response: 0,3.28703,3955.74
2020-12-14T10:54:03.910Z,1607943243.910 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T10:54:16.480Z,1607943256.480 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T10:55:59.466Z,1607943359.466 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 121
2020-12-14T10:56:14.432Z,1607943374.432 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:57:02.527Z,1607943422.527 [profile_station:NeedComms] Running Loop=1
2020-12-14T10:57:02.527Z,1607943422.527 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2020-12-14T10:57:02.527Z,1607943422.527 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2020-12-14T10:57:02.527Z,1607943422.527 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T10:57:02.528Z,1607943422.528 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-12-14T10:57:02.529Z,1607943422.529 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-12-14T10:57:02.529Z,1607943422.529 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-12-14T10:57:02.530Z,1607943422.530 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T10:57:02.530Z,1607943422.530 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T10:57:02.531Z,1607943422.531 [profile_station:NeedComms:A] Running Loop=1
2020-12-14T10:57:02.533Z,1607943422.533 [profile_station:NeedComms:A](INFO): last time_fix was: 1607932581.000000 second since 1970/01/01T00:00:00Z 
2020-12-14T10:57:02.533Z,1607943422.533 [profile_station:NeedComms:A] Stopped
2020-12-14T10:57:46.133Z,1607943466.133 [profile_station:NeedComms:C] Running Loop=1
2020-12-14T10:57:46.685Z,1607943466.685 [Radio_Surface](INFO): Powering up
2020-12-14T10:57:52.625Z,1607943472.625 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-14T10:58:22.746Z,1607943502.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T10:58:27.304Z,1607943507.304 [NAL9602](INFO): SBD MO Status=0, MOMSN=12889, MT Status=0, MTMSN=0
2020-12-14T10:58:27.315Z,1607943507.315 [NAL9602](INFO): No messages in MT queue
2020-12-14T10:58:32.207Z,1607943512.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T10:58:57.901Z,1607943537.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T10:59:33.061Z,1607943573.061 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T11:00:08.209Z,1607943608.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T11:00:18.970Z,1607943618.970 [CTD_Seabird](ERROR): Failed to parse device response: 3.28533,3845.91
2020-12-14T11:00:19.625Z,1607943619.625 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,110020.00,A,4132.92271,N,07042.37076,W,0.350,0.00,141220,,,D*76
2020-12-14T11:00:19.627Z,1607943619.627 [NAL9602](INFO): GPS fix at 20201214T110020: (41.548712, -70.706179)
2020-12-14T11:00:19.674Z,1607943619.674 [UniversalFixResidualReporter](INFO): Fix residual: 6.6 %DT, over the last 5504.7 m. Residual distance 362.1 m at bearing 17.8 degrees. Fix at (41.5487, -70.7062) with 96.3 m made good.
2020-12-14T11:00:19.683Z,1607943619.683 [profile_station:NeedComms:C] Stopped
2020-12-14T11:00:19.683Z,1607943619.683 [profile_station:NeedComms:D] Running Loop=1
2020-12-14T11:00:34.676Z,1607943634.676 [NAL9602](INFO): SBD MO Status=1, MOMSN=12890, MT Status=0, MTMSN=0
2020-12-14T11:00:34.725Z,1607943634.725 [NAL9602](INFO): Sent 87 bytes from file Logs/20201213T195538/Courier0142.lzma
2020-12-14T11:00:34.725Z,1607943634.725 [NAL9602](INFO): Packets left to send: 0
2020-12-14T11:00:43.349Z,1607943643.349 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T11:00:45.369Z,1607943645.369 [NAL9602](INFO): SBD MO Status=1, MOMSN=12891, MT Status=0, MTMSN=0
2020-12-14T11:00:45.422Z,1607943645.422 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0143.lzma
2020-12-14T11:00:45.423Z,1607943645.423 [NAL9602](INFO): Packets left to send: 7
2020-12-14T11:01:02.969Z,1607943662.969 [NAL9602](INFO): SBD MO Status=2, MOMSN=12892, MT Status=2, MTMSN=0
2020-12-14T11:01:02.970Z,1607943662.970 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-14T11:01:12.471Z,1607943672.471 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005075
2020-12-14T11:01:16.487Z,1607943676.487 [DataOverHttps](INFO): Sending 1356 bytes from file Logs/20201213T195538/Express0143.lzma
2020-12-14T11:01:17.487Z,1607943677.487 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0143.lzma.bak
2020-12-14T11:01:17.487Z,1607943677.487 [DataOverHttps](INFO): SBD MOMSN=65355
2020-12-14T11:01:18.965Z,1607943678.965 [profile_station:NeedComms:D] Stopped
2020-12-14T11:01:18.966Z,1607943678.966 [profile_station:NeedComms:E] Running Loop=1
2020-12-14T11:01:19.774Z,1607943679.774 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T11:01:24.609Z,1607943684.609 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T11:01:27.453Z,1607943687.453 [NAL9602](INFO): SBD MO Status=1, MOMSN=12892, MT Status=0, MTMSN=0
2020-12-14T11:01:27.509Z,1607943687.509 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0143.lzma
2020-12-14T11:01:27.509Z,1607943687.509 [NAL9602](INFO): Packets left to send: 6
2020-12-14T11:01:28.645Z,1607943688.645 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,110129.00,A,4132.92241,N,07042.35909,W,0.447,132.64,141220,,,D*7D
2020-12-14T11:01:28.647Z,1607943688.647 [NAL9602](INFO): GPS fix at 20201214T110129: (41.548707, -70.705985)
2020-12-14T11:01:28.672Z,1607943688.672 [profile_station:NeedComms:E] Stopped
2020-12-14T11:01:28.673Z,1607943688.673 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2020-12-14T11:01:28.673Z,1607943688.673 [profile_station:NeedComms] Stopped
2020-12-14T11:01:28.673Z,1607943688.673 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2020-12-14T11:01:28.673Z,1607943688.673 [profile_station:NeedComms:B.GoToSurface] Stopped
2020-12-14T11:01:28.674Z,1607943688.674 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-12-14T11:01:29.561Z,1607943689.561 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T11:01:39.582Z,1607943699.582 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:01:54.591Z,1607943714.591 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:02:01.382Z,1607943721.382 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T11:02:04.635Z,1607943724.635 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:02:09.529Z,1607943729.529 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:02:14.725Z,1607943734.725 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:05:05.146Z,1607943905.146 [CTD_Seabird](ERROR): Failed to parse device response: 0752.23
2020-12-14T11:10:04.213Z,1607944204.213 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:11:51.697Z,1607944311.697 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T11:13:47.620Z,1607944427.620 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-12-14T11:14:04.207Z,1607944444.207 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:14:55.494Z,1607944495.494 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:15:00.340Z,1607944500.340 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:15:05.217Z,1607944505.217 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:15:15.298Z,1607944515.298 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:15:25.394Z,1607944525.394 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:15:52.185Z,1607944552.185 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.241974
2020-12-14T11:16:23.189Z,1607944583.189 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T11:16:28.285Z,1607944588.285 [Radio_Surface](INFO): Powering down
2020-12-14T11:16:28.325Z,1607944588.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T11:16:29.329Z,1607944589.329 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-12-14T11:20:31.624Z,1607944831.624 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:20:45.407Z,1607944845.407 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T11:20:45.408Z,1607944845.408 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T11:20:45.408Z,1607944845.408 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T11:20:45.408Z,1607944845.408 [profile_station:CircleWrapper] Stopped
2020-12-14T11:20:45.413Z,1607944845.413 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T11:20:45.413Z,1607944845.413 [profile_station:CircleWrapper:A] Stopped
2020-12-14T11:20:45.414Z,1607944845.414 [profile_station:CircleWrapper](INFO): Running loop #10
2020-12-14T11:20:45.414Z,1607944845.414 [profile_station:CircleWrapper] Running Loop=10
2020-12-14T11:20:45.414Z,1607944845.414 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T11:20:45.415Z,1607944845.415 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T11:20:45.415Z,1607944845.415 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T11:20:45.415Z,1607944845.415 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T11:20:55.506Z,1607944855.506 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T11:21:15.680Z,1607944875.680 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:22:31.641Z,1607944951.641 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:26:40.603Z,1607945200.603 [CTD_Seabird](ERROR): Failed to parse device response: ,7.6197,3.29203,5040.48
2020-12-14T11:26:47.770Z,1607945207.770 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:27:26.183Z,1607945246.183 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T11:27:41.099Z,1607945261.099 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:27:42.305Z,1607945262.305 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T11:27:42.308Z,1607945262.308 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T11:31:46.732Z,1607945506.732 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:33:35.058Z,1607945615.058 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T11:33:35.058Z,1607945615.058 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T11:33:35.058Z,1607945615.058 [ThrusterServo](ERROR): Communications Fault
2020-12-14T11:33:35.063Z,1607945615.063 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T11:33:35.495Z,1607945615.495 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T11:33:35.495Z,1607945615.495 [ThrusterServo](INFO): Powering down
2020-12-14T11:33:36.270Z,1607945616.270 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T11:33:36.390Z,1607945616.390 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T11:33:36.393Z,1607945616.393 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T11:33:36.394Z,1607945616.394 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T11:34:46.549Z,1607945686.549 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-14T11:34:51.360Z,1607945691.360 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T11:35:01.474Z,1607945701.474 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:35:06.310Z,1607945706.310 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:35:11.205Z,1607945711.205 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:35:26.519Z,1607945726.519 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:35:31.366Z,1607945731.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:39:41.494Z,1607945981.494 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:40:01.641Z,1607946001.641 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T11:40:16.588Z,1607946016.588 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T11:40:21.495Z,1607946021.495 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:41:16.805Z,1607946076.805 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T11:41:27.281Z,1607946087.281 [CTD_Seabird](ERROR): Failed to parse device response: .16
2020-12-14T11:43:11.630Z,1607946191.630 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:43:32.579Z,1607946212.579 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T11:45:39.473Z,1607946339.473 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:47:32.762Z,1607946452.762 [CTD_Seabird](ERROR): Failed to parse device response: 2.62,7.4792,3.219.06
2020-12-14T11:51:16.676Z,1607946676.676 [CTD_Seabird](ERROR): Failed to parse device response: ,7.4851,3.28174,4108.04
2020-12-14T11:51:20.814Z,1607946680.814 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T11:51:22.960Z,1607946682.960 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2020-12-14T11:51:22.965Z,1607946682.965 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2020-12-14T11:51:22.965Z,1607946682.965 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T11:51:22.965Z,1607946682.965 [ThrusterServo](ERROR): Communications Fault
2020-12-14T11:51:22.968Z,1607946682.968 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T11:51:23.266Z,1607946683.266 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T11:51:23.266Z,1607946683.266 [ThrusterServo](INFO): Powering down
2020-12-14T11:51:23.689Z,1607946683.689 [ThrusterServo](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Software Overcurrent.
2020-12-14T11:51:23.689Z,1607946683.689 [ThrusterServo] Hardware Fault, FailCount= 1
2020-12-14T11:51:23.689Z,1607946683.689 [ThrusterServo](ERROR): Hardware Fault
2020-12-14T11:51:24.081Z,1607946684.081 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T11:51:24.202Z,1607946684.202 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T11:51:24.205Z,1607946684.205 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T11:51:24.206Z,1607946684.206 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T11:51:40.601Z,1607946700.601 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:52:12.898Z,1607946732.898 [CTD_Seabird](ERROR): Failed to parse device response: 6,3.28179,5168.76
2020-12-14T11:52:12.911Z,1607946732.911 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,115213,AUV,2.0.32731.46*45
 expected 32
2020-12-14T11:53:32.163Z,1607946812.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:53:42.202Z,1607946822.202 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:54:12.503Z,1607946852.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:54:17.348Z,1607946857.348 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T11:54:24.233Z,1607946864.233 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T11:54:24.233Z,1607946864.233 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T11:54:24.233Z,1607946864.233 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T11:54:24.353Z,1607946864.353 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T11:54:24.701Z,1607946864.701 [RDI_Pathfinder](INFO): Powering down
2020-12-14T11:54:25.584Z,1607946865.584 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T11:54:25.584Z,1607946865.584 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T11:58:47.637Z,1607947127.637 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T11:59:52.726Z,1607947192.726 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:00:02.792Z,1607947202.792 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:00:17.744Z,1607947217.744 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:00:27.845Z,1607947227.845 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:00:37.535Z,1607947237.535 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T12:00:42.790Z,1607947242.790 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T12:00:47.626Z,1607947247.626 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-12-14T12:04:42.831Z,1607947482.831 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 94
2020-12-14T12:04:52.921Z,1607947492.921 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:05:03.039Z,1607947503.039 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:05:07.874Z,1607947507.874 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:05:12.749Z,1607947512.749 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:05:17.980Z,1607947517.980 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:05:22.839Z,1607947522.839 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-14T12:05:23.174Z,1607947523.174 [CTD_Seabird](ERROR): Failed to parse device response: 9,3.28687,5365.10
2020-12-14T12:05:32.923Z,1607947532.923 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:05:47.870Z,1607947547.870 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:05:57.980Z,1607947557.980 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:06:04.051Z,1607947564.051 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T12:06:12.937Z,1607947572.937 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:09:37.765Z,1607947777.765 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:10:11.378Z,1607947811.378 [CTD_Seabird](ERROR): Failed to parse device response: ,7.5070,3.28490,3467.20
2020-12-14T12:20:11.654Z,1607948411.654 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T12:20:11.654Z,1607948411.654 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T12:20:11.655Z,1607948411.655 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T12:20:11.655Z,1607948411.655 [profile_station:CircleWrapper] Stopped
2020-12-14T12:20:11.655Z,1607948411.655 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T12:20:11.655Z,1607948411.655 [profile_station:CircleWrapper:A] Stopped
2020-12-14T12:20:11.655Z,1607948411.655 [profile_station:CircleWrapper](INFO): Running loop #11
2020-12-14T12:20:11.655Z,1607948411.655 [profile_station:CircleWrapper] Running Loop=11
2020-12-14T12:20:11.656Z,1607948411.656 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T12:20:11.656Z,1607948411.656 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T12:20:11.657Z,1607948411.657 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T12:20:11.657Z,1607948411.657 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T12:20:18.521Z,1607948418.521 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:20:28.616Z,1607948428.616 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:20:33.488Z,1607948433.488 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:20:38.749Z,1607948438.749 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:20:43.569Z,1607948443.569 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:21:03.776Z,1607948463.776 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T12:21:22.126Z,1607948482.126 [CTD_Seabird](ERROR): Failed to parse device response: 6.16,7.947.51
2020-12-14T12:21:45.831Z,1607948505.831 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:25:13.857Z,1607948713.857 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T12:25:18.739Z,1607948718.739 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:25:23.950Z,1607948723.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:25:28.808Z,1607948728.808 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:25:38.906Z,1607948738.906 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T12:25:58.749Z,1607948758.749 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T12:25:58.749Z,1607948758.749 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T12:25:58.749Z,1607948758.749 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T12:25:58.852Z,1607948758.852 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T12:25:59.181Z,1607948759.181 [RDI_Pathfinder](INFO): Powering down
2020-12-14T12:25:59.972Z,1607948759.972 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T12:25:59.973Z,1607948759.973 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T12:29:44.127Z,1607948984.127 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2020-12-14T12:30:20.525Z,1607949020.525 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-12-14T12:30:20.525Z,1607949020.525 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-12-14T12:30:20.525Z,1607949020.525 [RDI_Pathfinder](ERROR): Communications Fault
2020-12-14T12:30:20.764Z,1607949020.764 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-12-14T12:30:20.966Z,1607949020.966 [RDI_Pathfinder](INFO): Powering down
2020-12-14T12:30:21.840Z,1607949021.840 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-12-14T12:30:21.840Z,1607949021.840 [RDI_Pathfinder] No Fault, FailCount= 1
2020-12-14T12:31:39.281Z,1607949099.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:31:45.025Z,1607949105.025 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T12:31:50.190Z,1607949110.190 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:31:54.271Z,1607949114.271 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:31:59.086Z,1607949119.086 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2020-12-14T12:32:04.344Z,1607949124.344 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:32:09.196Z,1607949129.196 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:35:07.748Z,1607949307.748 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-12-14T12:35:07.750Z,1607949307.750 [BPC1](INFO): Received data from all battery sticks.
2020-12-14T12:36:29.345Z,1607949389.345 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:37:21.497Z,1607949441.497 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:41:09.736Z,1607949669.736 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:41:19.486Z,1607949679.486 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:41:24.686Z,1607949684.686 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:41:29.550Z,1607949689.550 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:41:39.630Z,1607949699.630 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T12:42:49.586Z,1607949769.586 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:44:53.162Z,1607949893.162 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T12:47:04.117Z,1607950024.117 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@4194"
2020-12-14T12:47:04.117Z,1607950024.117 [ThrusterServo] Communications Fault, FailCount= 1
2020-12-14T12:47:04.117Z,1607950024.117 [ThrusterServo](ERROR): Communications Fault
2020-12-14T12:47:04.121Z,1607950024.121 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2020-12-14T12:47:04.518Z,1607950024.518 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-12-14T12:47:04.518Z,1607950024.518 [ThrusterServo](INFO): Powering down
2020-12-14T12:47:04.914Z,1607950024.914 [ThrusterServo](FAULT): LCB fault:  Software Overcurrent.
2020-12-14T12:47:04.914Z,1607950024.914 [ThrusterServo] Hardware Fault, FailCount= 1
2020-12-14T12:47:04.914Z,1607950024.914 [ThrusterServo](ERROR): Hardware Fault
2020-12-14T12:47:05.304Z,1607950025.304 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-12-14T12:47:05.422Z,1607950025.422 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-12-14T12:47:05.427Z,1607950025.427 [CBIT](INFO): Clearing failed state for component ThrusterServo
2020-12-14T12:47:05.427Z,1607950025.427 [ThrusterServo] No Fault, FailCount= 1
2020-12-14T12:47:57.798Z,1607950077.798 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:48:32.123Z,1607950112.123 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:50:15.150Z,1607950215.150 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:50:48.276Z,1607950248.276 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:51:14.989Z,1607950274.989 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:51:20.186Z,1607950280.186 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T12:51:25.055Z,1607950285.055 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T12:51:50.088Z,1607950310.088 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:51:55.336Z,1607950315.336 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:52:00.204Z,1607950320.204 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:52:05.037Z,1607950325.037 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T12:52:16.362Z,1607950336.362 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T12:57:27.901Z,1607950647.901 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T12:57:27.901Z,1607950647.901 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T12:57:27.901Z,1607950647.901 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T12:57:28.017Z,1607950648.017 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T12:57:28.309Z,1607950648.309 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T12:57:29.129Z,1607950649.129 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T12:57:29.129Z,1607950649.129 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T12:58:15.569Z,1607950695.569 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T12:58:15.569Z,1607950695.569 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T12:58:15.569Z,1607950695.569 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T12:58:15.634Z,1607950695.634 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T12:58:15.985Z,1607950695.985 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T12:58:16.784Z,1607950696.784 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T12:58:16.784Z,1607950696.784 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T12:59:26.198Z,1607950766.198 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T13:00:02.157Z,1607950802.157 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-12-14T13:00:32.073Z,1607950832.073 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T13:04:18.311Z,1607951058.311 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T13:05:07.244Z,1607951107.244 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T13:06:37.285Z,1607951197.285 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:07:01.602Z,1607951221.602 [CTD_Seabird](ERROR): Failed to parse device response: 11,3870.40
2020-12-14T13:10:40.974Z,1607951440.974 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:11:01.110Z,1607951461.110 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:11:06.031Z,1607951466.031 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:11:11.206Z,1607951471.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:11:22.135Z,1607951482.135 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T13:11:26.162Z,1607951486.162 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:11:31.013Z,1607951491.013 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2020-12-14T13:11:36.264Z,1607951496.264 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-12-14T13:11:36.268Z,1607951496.268 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:11:46.044Z,1607951506.044 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:12:01.312Z,1607951521.312 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-12-14T13:12:01.316Z,1607951521.316 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-12-14T13:12:06.197Z,1607951526.197 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T13:12:26.060Z,1607951546.060 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-12-14T13:12:31.233Z,1607951551.233 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-12-14T13:12:36.169Z,1607951556.169 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-12-14T13:12:36.169Z,1607951556.169 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-12-14T13:12:36.169Z,1607951556.169 [RDI_PathfinderUp](ERROR): Communications Fault
2020-12-14T13:12:36.257Z,1607951556.257 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-12-14T13:12:36.525Z,1607951556.525 [RDI_PathfinderUp](INFO): Powering down
2020-12-14T13:12:37.340Z,1607951557.340 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-12-14T13:12:37.341Z,1607951557.341 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-12-14T13:16:35.638Z,1607951795.638 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T13:16:35.638Z,1607951795.638 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper] Stopped
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper:A] Stopped
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper](INFO): Running loop #12
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper] Running Loop=12
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper:A] Running Loop=1
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-12-14T13:16:35.639Z,1607951795.639 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-12-14T13:17:59.283Z,1607951879.283 [profile_station](INFO): Timed out from 2020-12-14T01:47:59.2Z
2020-12-14T13:17:59.283Z,1607951879.283 [MissionManager](INFO): profile_station is completed.
2020-12-14T13:17:59.283Z,1607951879.283 [MissionManager](INFO): Uninitializing Mission profile_station
2020-12-14T13:17:59.283Z,1607951879.283 [profile_station] Stopped
2020-12-14T13:17:59.283Z,1607951879.283 [profile_station](DEBUG): Aggregate::uninitialize profile_station
2020-12-14T13:17:59.283Z,1607951879.283 [profile_station:Science] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science](DEBUG): Aggregate::uninitialize profile_station:Science
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:B] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:C] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:E] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:Read_Oil] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:OceanCurrent] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station:Science:OceanCurrent
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:OceanCurrent:A.] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:PeakDetectChl] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectChl
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-12-14T13:17:59.284Z,1607951879.284 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes] Stopped
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station:StandardEnvelopes
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:I.Pitch] Stopped
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:J.Buoyancy] Stopped
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-12-14T13:17:59.285Z,1607951879.285 [profile_station:K.SetSpeed] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:K.SetSpeed](DEBUG): Uninitialize.
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:L.DepthEnvelope] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:L.DepthEnvelope](DEBUG): Uninitialize.
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:M.AltitudeEnvelope] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:M.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:N.YoYo] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:N.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:CircleWrapper] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:CircleWrapper:A] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:CircleWrapper:B.Circle] Stopped
2020-12-14T13:17:59.286Z,1607951879.286 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-12-14T13:17:59.665Z,1607951879.665 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-14T13:17:59.696Z,1607951879.696 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-12-14T13:17:59.697Z,1607951879.697 [DefaultWithUndock] Running Loop=1
2020-12-14T13:17:59.697Z,1607951879.697 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-12-14T13:17:59.697Z,1607951879.697 [DefaultWithUndock:A.Wait] Running Loop=1
2020-12-14T13:17:59.697Z,1607951879.697 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-12-14T13:18:00.069Z,1607951880.069 [WetLabsSeaOWL_UV_A](FAULT): LCB fault:  Invalid Command.
2020-12-14T13:18:00.069Z,1607951880.069 [WetLabsSeaOWL_UV_A] Hardware Fault, FailCount= 1
2020-12-14T13:18:00.069Z,1607951880.069 [WetLabsSeaOWL_UV_A](ERROR): Hardware Fault
2020-12-14T13:18:00.089Z,1607951880.089 [CBIT](ERROR): Hardware Fault in component: WetLabsSeaOWL_UV_A
2020-12-14T13:18:00.573Z,1607951880.573 [CBIT](INFO): Clearing failed state for component WetLabsSeaOWL_UV_A
2020-12-14T13:18:00.573Z,1607951880.573 [WetLabsSeaOWL_UV_A] No Fault, FailCount= 1
2020-12-14T13:18:00.881Z,1607951880.881 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-12-14T13:18:03.033Z,1607951883.033 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-12-14T13:18:30.002Z,1607951910.002 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-12-14T13:18:30.002Z,1607951910.002 [DefaultWithUndock:A.Wait] Stopped
2020-12-14T13:18:30.002Z,1607951910.002 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-12-14T13:18:30.002Z,1607951910.002 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-12-14T13:18:30.002Z,1607951910.002 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-12-14T13:18:30.003Z,1607951910.003 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-12-14T13:18:30.003Z,1607951910.003 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-12-14T13:18:30.003Z,1607951910.003 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-12-14T13:18:30.003Z,1607951910.003 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-12-14T13:18:30.003Z,1607951910.003 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-14T13:18:30.764Z,1607951910.764 [PowerOnly](INFO): Powering up loadControl
2020-12-14T13:18:31.605Z,1607951911.605 [DDM](ERROR): Could not parse latch state
2020-12-14T13:18:31.635Z,1607951911.635 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-12-14T13:18:32.048Z,1607951912.048 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-12-14T13:18:32.831Z,1607951912.831 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch -15.00 deg, mass-position -0.36 mm.
2020-12-14T13:18:32.832Z,1607951912.832 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 15.00 deg, mass-position -0.36 mm.
2020-12-14T13:18:32.857Z,1607951912.857 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T13:18:33.635Z,1607951913.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T13:18:34.066Z,1607951914.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T13:18:34.843Z,1607951914.843 [Micromodem](INFO): Nmea in: $SNTTA,0.397983,,,,131834.69*4C

2020-12-14T13:18:35.677Z,1607951915.677 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-12-14T13:18:36.092Z,1607951916.092 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-12-14T13:18:38.094Z,1607951918.094 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T13:18:38.879Z,1607951918.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T13:18:39.281Z,1607951919.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T13:18:40.103Z,1607951920.103 [Micromodem](INFO): Nmea in: $SNTTA,0.398542,,,,131839.94*4D

2020-12-14T13:18:43.355Z,1607951923.355 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T13:18:44.128Z,1607951924.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T13:18:44.563Z,1607951924.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T13:18:45.355Z,1607951925.355 [Micromodem](INFO): Nmea in: $SNTTA,0.399106,,,,131845.18*47

2020-12-14T13:18:48.627Z,1607951928.627 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T13:18:49.388Z,1607951929.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T13:18:49.785Z,1607951929.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T13:18:50.619Z,1607951930.619 [Micromodem](INFO): Nmea in: $SNTTA,0.399368,,,0.401887,131850.44*5C

2020-12-14T13:18:53.840Z,1607951933.840 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T13:18:54.631Z,1607951934.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T13:18:55.033Z,1607951935.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T13:18:55.866Z,1607951935.866 [Micromodem](INFO): Nmea in: $SNTTA,0.400054,,,,131855.69*41

2020-12-14T13:18:56.266Z,1607951936.266 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 599.04 m. Transitioning DDM to standby.
2020-12-14T13:18:59.092Z,1607951939.092 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-12-14T13:18:59.530Z,1607951939.530 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-12-14T13:18:59.883Z,1607951939.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-12-14T13:18:59.994Z,1607951939.994 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-12-14T13:18:59.994Z,1607951939.994 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:LeaveDock] Stopped
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-12-14T13:18:59.995Z,1607951939.995 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-12-14T13:18:59.996Z,1607951939.996 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-14T13:18:59.996Z,1607951939.996 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-12-14T13:18:59.996Z,1607951939.996 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-12-14T13:18:59.996Z,1607951939.996 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-12-14T13:18:59.996Z,1607951939.996 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-12-14T13:18:59.996Z,1607951939.996 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-12-14T13:19:00.001Z,1607951940.001 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-12-14T13:19:00.001Z,1607951940.001 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-12-14T13:19:00.001Z,1607951940.001 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-12-14T13:19:00.002Z,1607951940.002 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-12-14T13:19:00.257Z,1607951940.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-12-14T13:19:00.697Z,1607951940.697 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators).
2020-12-14T13:19:01.070Z,1607951941.070 [Radio_Surface](INFO): Powering up
2020-12-14T13:19:01.100Z,1607951941.100 [Micromodem](INFO): Nmea in: $SNTTA,0.400520,,,0.403013,131900.94*5F

2020-12-14T13:19:06.826Z,1607951946.826 [DataOverHttps](INFO): Radio surface powered ON.
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-12-14T13:19:31.021Z,1607951971.021 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-12-14T13:19:36.945Z,1607951976.945 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T13:19:47.121Z,1607951987.121 [NAL9602](INFO): SBD MO Status=0, MOMSN=12893, MT Status=0, MTMSN=0
2020-12-14T13:19:47.136Z,1607951987.136 [NAL9602](INFO): No messages in MT queue
2020-12-14T13:19:48.333Z,1607951988.333 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,131948.00,A,4132.83157,N,07042.67452,W,0.700,0.00,141220,,,A*76
2020-12-14T13:19:48.335Z,1607951988.335 [NAL9602](INFO): GPS fix at 20201214T131948: (41.547193, -70.711242)
2020-12-14T13:19:48.378Z,1607951988.378 [UniversalFixResidualReporter](INFO): Fix residual: 6.9 %DT, over the last 4302.2 m. Residual distance 298.0 m at bearing 18.3 degrees. Fix at (41.5472, -70.7112) with 468.8 m made good.
2020-12-14T13:19:48.379Z,1607951988.379 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-14T13:19:48.379Z,1607951988.379 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-14T13:20:02.194Z,1607952002.194 [PowerOnly](INFO): Powering down loadControl
2020-12-14T13:20:10.277Z,1607952010.277 [NAL9602](INFO): SBD MO Status=1, MOMSN=12894, MT Status=0, MTMSN=0
2020-12-14T13:20:10.325Z,1607952010.325 [NAL9602](INFO): Sent 97 bytes from file Logs/20201213T195538/Courier0145.lzma
2020-12-14T13:20:10.325Z,1607952010.325 [NAL9602](INFO): Packets left to send: 0
2020-12-14T13:20:12.109Z,1607952012.109 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T13:20:27.029Z,1607952027.029 [NAL9602](INFO): SBD MO Status=2, MOMSN=12895, MT Status=2, MTMSN=0
2020-12-14T13:20:27.029Z,1607952027.029 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-14T13:20:47.249Z,1607952047.249 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T13:20:50.248Z,1607952050.248 [NAL9602](INFO): SBD MO Status=1, MOMSN=12895, MT Status=0, MTMSN=0
2020-12-14T13:20:50.298Z,1607952050.298 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:20:50.298Z,1607952050.298 [NAL9602](INFO): Packets left to send: 6
2020-12-14T13:21:09.816Z,1607952069.816 [NAL9602](INFO): SBD MO Status=1, MOMSN=12896, MT Status=0, MTMSN=0
2020-12-14T13:21:09.865Z,1607952069.865 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:21:09.865Z,1607952069.865 [NAL9602](INFO): Packets left to send: 5
2020-12-14T13:21:22.389Z,1607952082.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T13:21:28.162Z,1607952088.162 [NAL9602](INFO): SBD MO Status=1, MOMSN=12897, MT Status=0, MTMSN=0
2020-12-14T13:21:28.221Z,1607952088.221 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:21:28.221Z,1607952088.221 [NAL9602](INFO): Packets left to send: 4
2020-12-14T13:21:37.667Z,1607952097.667 [NAL9602](INFO): SBD MO Status=1, MOMSN=12898, MT Status=0, MTMSN=0
2020-12-14T13:21:37.714Z,1607952097.714 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:21:37.714Z,1607952097.714 [NAL9602](INFO): Packets left to send: 3
2020-12-14T13:21:47.187Z,1607952107.187 [NAL9602](INFO): SBD MO Status=1, MOMSN=12899, MT Status=0, MTMSN=0
2020-12-14T13:21:47.238Z,1607952107.238 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:21:47.238Z,1607952107.238 [NAL9602](INFO): Packets left to send: 2
2020-12-14T13:21:57.529Z,1607952117.529 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-12-14T13:22:00.685Z,1607952120.685 [NAL9602](INFO): SBD MO Status=1, MOMSN=12900, MT Status=0, MTMSN=0
2020-12-14T13:22:00.733Z,1607952120.733 [NAL9602](INFO): Sent 184 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:22:00.733Z,1607952120.733 [NAL9602](INFO): Packets left to send: 1
2020-12-14T13:22:11.797Z,1607952131.797 [NAL9602](INFO): SBD MO Status=1, MOMSN=12901, MT Status=0, MTMSN=0
2020-12-14T13:22:11.853Z,1607952131.853 [NAL9602](INFO): Sent 20 bytes from file Logs/20201213T195538/Express0146.lzma
2020-12-14T13:22:11.853Z,1607952131.853 [NAL9602](INFO): Packets left to send: 0
2020-12-14T13:22:26.685Z,1607952146.685 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003347
2020-12-14T13:22:27.972Z,1607952147.972 [NAL9602](INFO): SBD MO Status=2, MOMSN=12902, MT Status=2, MTMSN=0
2020-12-14T13:22:27.973Z,1607952147.973 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-12-14T13:22:28.020Z,1607952148.020 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-14T13:22:28.020Z,1607952148.020 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-14T13:22:28.020Z,1607952148.020 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-14T13:22:58.655Z,1607952178.655 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T13:23:46.736Z,1607952226.736 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T13:23:51.610Z,1607952231.610 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-12-14T13:27:28.573Z,1607952448.573 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-12-14T13:27:28.573Z,1607952448.573 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-12-14T13:27:28.573Z,1607952448.573 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-12-14T13:27:28.574Z,1607952448.574 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-12-14T13:27:28.994Z,1607952448.994 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-12-14T13:27:28.994Z,1607952448.994 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-12-14T13:27:29.367Z,1607952449.367 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.488289 min 
2020-12-14T13:27:29.367Z,1607952449.367 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-12-14T13:27:29.367Z,1607952449.367 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T13:27:29.367Z,1607952449.367 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-12-14T13:27:29.367Z,1607952449.367 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T13:27:29.368Z,1607952449.368 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2020-12-14T13:27:29.368Z,1607952449.368 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2020-12-14T13:27:29.368Z,1607952449.368 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-12-14T13:27:29.368Z,1607952449.368 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-12-14T13:27:31.358Z,1607952451.358 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,132731.00,A,4132.77193,N,07042.66587,W,0.350,214.77,141220,,,A*78
2020-12-14T13:27:31.360Z,1607952451.360 [NAL9602](INFO): GPS fix at 20201214T132731: (41.546199, -70.711098)
2020-12-14T13:27:31.414Z,1607952451.414 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-12-14T13:27:31.414Z,1607952451.414 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-12-14T13:27:34.994Z,1607952454.994 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20201213T195538/Courier0148.lzma
2020-12-14T13:27:35.987Z,1607952455.987 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Courier0148.lzma.bak
2020-12-14T13:27:35.988Z,1607952455.988 [DataOverHttps](INFO): SBD MOMSN=65383
2020-12-14T13:27:45.029Z,1607952465.029 [DataOverHttps](INFO): Sending 170 bytes from file Logs/20201213T195538/Express0149.lzma
2020-12-14T13:27:46.034Z,1607952466.034 [DataOverHttps](INFO): Moved sent file to Logs/20201213T195538/Express0149.lzma.bak
2020-12-14T13:27:46.034Z,1607952466.034 [DataOverHttps](INFO): SBD MOMSN=65387
2020-12-14T13:27:47.593Z,1607952467.593 [NAL9602](INFO): SBD MO Status=0, MOMSN=12902, MT Status=0, MTMSN=0
2020-12-14T13:27:47.593Z,1607952467.593 [NAL9602](INFO): No messages in MT queue
2020-12-14T13:27:47.647Z,1607952467.647 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-12-14T13:27:47.647Z,1607952467.647 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-12-14T13:27:47.648Z,1607952467.648 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-12-14T13:28:18.243Z,1607952498.243 [NAL9602](INFO): Not Powering down - fast GPS
2020-12-14T13:28:27.226Z,1607952507.226 [DataOverHttps](IMPORTANT): SBD MTMSN=20201214T132827
2020-12-14T13:28:31.245Z,1607952511.245 [DataOverHttps](INFO): Received command:restart logs