2021-01-27T17:54:00.824Z,1611770040.824 [Supervisor](DEBUG): Initializing supervisor.
2021-01-27T17:54:00.829Z,1611770040.829 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-01-27T17:54:00.829Z,1611770040.829 [SyncHandler](INFO): Protected caller Thread ID is 826
2021-01-27T17:54:00.830Z,1611770040.830 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-01-27T17:54:00.831Z,1611770040.831 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-01-27T17:54:00.831Z,1611770040.831 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 827
2021-01-27T17:54:00.835Z,1611770040.835 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-01-27T17:54:00.855Z,1611770040.855 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-01-27T17:54:00.856Z,1611770040.856 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-01-27T17:54:00.856Z,1611770040.856 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 828
2021-01-27T17:54:00.858Z,1611770040.858 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-01-27T17:54:00.859Z,1611770040.859 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-01-27T17:54:00.859Z,1611770040.859 [logger ThreadHandler](INFO): Protected caller Thread ID is 829
2021-01-27T17:54:00.863Z,1611770040.863 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-01-27T17:54:00.863Z,1611770040.863 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-01-27T17:54:00.868Z,1611770040.868 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-01-27T17:54:01.258Z,1611770041.258 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-01-27T17:54:01.259Z,1611770041.259 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-01-27T17:54:01.338Z,1611770041.338 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-01-27T17:54:01.643Z,1611770041.643 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-01-27T17:54:01.645Z,1611770041.645 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-01-27T17:54:01.743Z,1611770041.743 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-01-27T17:54:01.745Z,1611770041.745 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-01-27T17:54:01.933Z,1611770041.933 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-01-27T17:54:01.935Z,1611770041.935 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-01-27T17:54:02.419Z,1611770042.419 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-01-27T17:54:02.420Z,1611770042.420 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-01-27T17:54:02.657Z,1611770042.657 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-01-27T17:54:02.659Z,1611770042.659 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-01-27T17:54:02.802Z,1611770042.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-01-27T17:54:02.804Z,1611770042.804 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-01-27T17:54:02.983Z,1611770042.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-01-27T17:54:02.984Z,1611770042.984 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-01-27T17:54:03.081Z,1611770043.081 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-01-27T17:54:03.082Z,1611770043.082 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-01-27T17:54:03.292Z,1611770043.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-01-27T17:54:03.292Z,1611770043.292 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-01-27T17:54:03.585Z,1611770043.585 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-01-27T17:54:03.586Z,1611770043.586 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-01-27T17:54:03.667Z,1611770043.667 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-01-27T17:54:03.791Z,1611770043.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-01-27T17:54:03.793Z,1611770043.793 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-01-27T17:54:04.415Z,1611770044.415 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-01-27T17:54:04.416Z,1611770044.416 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-01-27T17:54:05.592Z,1611770045.592 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-01-27T17:54:05.594Z,1611770045.594 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2021-01-27T17:54:05.596Z,1611770045.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2021-01-27T17:54:05.784Z,1611770045.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2021-01-27T17:54:05.882Z,1611770045.882 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2021-01-27T17:54:05.978Z,1611770045.978 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2021-01-27T17:54:06.274Z,1611770046.274 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-01-27T17:54:06.275Z,1611770046.275 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2021-01-27T17:54:06.361Z,1611770046.361 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2021-01-27T17:54:06.457Z,1611770046.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2021-01-27T17:54:06.569Z,1611770046.569 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2021-01-27T17:54:06.653Z,1611770046.653 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Dock.cfg
2021-01-27T17:54:06.739Z,1611770046.739 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2021-01-27T17:54:06.847Z,1611770046.847 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2021-01-27T17:54:06.944Z,1611770046.944 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2021-01-27T17:54:07.123Z,1611770047.123 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2021-01-27T17:54:07.254Z,1611770047.254 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2021-01-27T17:54:07.258Z,1611770047.258 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-01-27T17:54:07.966Z,1611770047.966 [AHRS_M2] Loaded
2021-01-27T17:54:07.966Z,1611770047.966 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-01-27T17:54:08.706Z,1611770048.706 [BPC1] Loaded
2021-01-27T17:54:08.706Z,1611770048.706 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-01-27T17:54:08.848Z,1611770048.848 [DataOverHttps] Loaded
2021-01-27T17:54:08.848Z,1611770048.848 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-01-27T17:54:08.849Z,1611770048.849 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407924E0
2021-01-27T17:54:08.849Z,1611770048.849 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 918
2021-01-27T17:54:08.870Z,1611770048.870 [DDM] Loaded
2021-01-27T17:54:08.871Z,1611770048.871 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-01-27T17:54:08.889Z,1611770048.889 [Depth_Keller] Loaded
2021-01-27T17:54:08.889Z,1611770048.889 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-01-27T17:54:08.893Z,1611770048.893 [DropWeight] Loaded
2021-01-27T17:54:08.894Z,1611770048.894 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-01-27T17:54:08.935Z,1611770048.935 [DUSBL_Hydroid] Loaded
2021-01-27T17:54:08.935Z,1611770048.935 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-01-27T17:54:08.970Z,1611770048.970 [Micromodem] Loaded
2021-01-27T17:54:08.970Z,1611770048.970 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-01-27T17:54:09.027Z,1611770049.027 [NAL9602] Loaded
2021-01-27T17:54:09.027Z,1611770049.027 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-01-27T17:54:09.055Z,1611770049.055 [Onboard] Loaded
2021-01-27T17:54:09.055Z,1611770049.055 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-01-27T17:54:09.056Z,1611770049.056 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407C24E0
2021-01-27T17:54:09.056Z,1611770049.056 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 919
2021-01-27T17:54:09.062Z,1611770049.062 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-01-27T17:54:09.071Z,1611770049.071 [PowerOnly] Loaded
2021-01-27T17:54:09.072Z,1611770049.072 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-01-27T17:54:09.085Z,1611770049.085 [Radio_Surface] Loaded
2021-01-27T17:54:09.085Z,1611770049.085 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-01-27T17:54:09.086Z,1611770049.086 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407F24E0
2021-01-27T17:54:09.086Z,1611770049.086 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 920
2021-01-27T17:54:09.115Z,1611770049.115 [RDI_Pathfinder] Loaded
2021-01-27T17:54:09.116Z,1611770049.116 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-01-27T17:54:09.140Z,1611770049.140 [RDI_PathfinderUp] Loaded
2021-01-27T17:54:09.141Z,1611770049.141 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-01-27T17:54:09.141Z,1611770049.141 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-01-27T17:54:09.142Z,1611770049.142 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-01-27T17:54:09.158Z,1611770049.158 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-01-27T17:54:09.159Z,1611770049.159 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-01-27T17:54:09.254Z,1611770049.254 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-01-27T17:54:09.254Z,1611770049.254 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-01-27T17:54:09.266Z,1611770049.266 [NavChart] Loaded
2021-01-27T17:54:09.267Z,1611770049.267 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-01-27T17:54:09.272Z,1611770049.272 [UniversalFixResidualReporter] Loaded
2021-01-27T17:54:09.273Z,1611770049.273 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-01-27T17:54:09.283Z,1611770049.283 [WorkSite] Loaded
2021-01-27T17:54:09.283Z,1611770049.283 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-01-27T17:54:09.284Z,1611770049.284 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-01-27T17:54:09.285Z,1611770049.285 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-01-27T17:54:09.391Z,1611770049.391 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-01-27T17:54:09.391Z,1611770049.391 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-01-27T17:54:09.532Z,1611770049.532 [BuoyancyServo] Loaded
2021-01-27T17:54:09.532Z,1611770049.532 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-01-27T17:54:09.553Z,1611770049.553 [ElevatorServo] Loaded
2021-01-27T17:54:09.553Z,1611770049.553 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-01-27T17:54:09.573Z,1611770049.573 [MassServo] Loaded
2021-01-27T17:54:09.573Z,1611770049.573 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-01-27T17:54:09.592Z,1611770049.592 [RudderServo] Loaded
2021-01-27T17:54:09.593Z,1611770049.593 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-01-27T17:54:09.611Z,1611770049.611 [ThrusterServo] Loaded
2021-01-27T17:54:09.611Z,1611770049.611 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-01-27T17:54:09.612Z,1611770049.612 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-01-27T17:54:09.613Z,1611770049.613 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-01-27T17:54:10.254Z,1611770050.254 [CTD_Seabird] Loaded
2021-01-27T17:54:10.255Z,1611770050.255 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-01-27T17:54:10.256Z,1611770050.256 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409154E0
2021-01-27T17:54:10.256Z,1611770050.256 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 921
2021-01-27T17:54:10.275Z,1611770050.275 [PAR_Licor] Loaded
2021-01-27T17:54:10.275Z,1611770050.275 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-01-27T17:54:10.306Z,1611770050.306 [WetLabsSeaOWL_UV_A] Loaded
2021-01-27T17:54:10.306Z,1611770050.306 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-01-27T17:54:10.307Z,1611770050.307 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409454E0
2021-01-27T17:54:10.308Z,1611770050.308 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 922
2021-01-27T17:54:10.308Z,1611770050.308 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-01-27T17:54:10.309Z,1611770050.309 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-01-27T17:54:10.661Z,1611770050.661 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-01-27T17:54:10.663Z,1611770050.663 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-01-27T17:54:10.718Z,1611770050.718 [DepthRateCalculator] Loaded
2021-01-27T17:54:10.719Z,1611770050.719 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-01-27T17:54:10.724Z,1611770050.724 [PitchRateCalculator] Loaded
2021-01-27T17:54:10.724Z,1611770050.724 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-01-27T17:54:10.733Z,1611770050.733 [SpeedCalculator] Loaded
2021-01-27T17:54:10.733Z,1611770050.733 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-01-27T17:54:10.747Z,1611770050.747 [TempGradientCalculator] Loaded
2021-01-27T17:54:10.747Z,1611770050.747 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-01-27T17:54:10.751Z,1611770050.751 [YawRateCalculator] Loaded
2021-01-27T17:54:10.752Z,1611770050.752 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-01-27T17:54:10.772Z,1611770050.772 [ElevatorOffsetCalculator] Loaded
2021-01-27T17:54:10.773Z,1611770050.773 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-01-27T17:54:10.773Z,1611770050.773 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-01-27T17:54:10.774Z,1611770050.774 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-01-27T17:54:10.938Z,1611770050.938 [SBIT](DEBUG): Construct Startup Built In Test.
2021-01-27T17:54:10.949Z,1611770050.949 [SBIT] Loaded
2021-01-27T17:54:10.950Z,1611770050.950 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-01-27T17:54:10.952Z,1611770050.952 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-01-27T17:54:10.965Z,1611770050.965 [IBIT] Loaded
2021-01-27T17:54:10.965Z,1611770050.965 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-01-27T17:54:10.971Z,1611770050.971 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-01-27T17:54:11.069Z,1611770051.069 [CBIT] Loaded
2021-01-27T17:54:11.069Z,1611770051.069 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-01-27T17:54:11.070Z,1611770051.070 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-01-27T17:54:11.070Z,1611770051.070 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-01-27T17:54:11.146Z,1611770051.146 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-01-27T17:54:11.146Z,1611770051.146 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-01-27T17:54:11.275Z,1611770051.275 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-01-27T17:54:11.277Z,1611770051.277 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-01-27T17:54:11.343Z,1611770051.343 [VerticalControl](DEBUG): Construct VerticalControl.
2021-01-27T17:54:11.394Z,1611770051.394 [VerticalControl] Loaded
2021-01-27T17:54:11.394Z,1611770051.394 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-01-27T17:54:11.397Z,1611770051.397 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-01-27T17:54:11.432Z,1611770051.432 [HorizontalControl] Loaded
2021-01-27T17:54:11.433Z,1611770051.433 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-01-27T17:54:11.435Z,1611770051.435 [SpeedControl](DEBUG): Construct SpeedControl.
2021-01-27T17:54:11.437Z,1611770051.437 [SpeedControl] Loaded
2021-01-27T17:54:11.437Z,1611770051.437 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-01-27T17:54:11.440Z,1611770051.440 [LoopControl](DEBUG): Construct LoopControl.
2021-01-27T17:54:11.440Z,1611770051.440 [LoopControl] Loaded
2021-01-27T17:54:11.441Z,1611770051.441 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-01-27T17:54:11.441Z,1611770051.441 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-01-27T17:54:11.442Z,1611770051.442 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-01-27T17:54:11.483Z,1611770051.483 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-01-27T17:54:11.489Z,1611770051.489 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-01-27T17:54:11.492Z,1611770051.492 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-01-27T17:54:11.502Z,1611770051.502 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-01-27T17:54:11.503Z,1611770051.503 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AED4E0
2021-01-27T17:54:11.503Z,1611770051.503 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 923
2021-01-27T17:54:11.508Z,1611770051.508 [Supervisor](INFO): Main Thread ID is 822
2021-01-27T17:54:11.508Z,1611770051.508 [Supervisor](DEBUG): Running supervisor.
2021-01-27T17:54:11.509Z,1611770051.509 [CommandLine ThreadHandler](INFO): Handler Thread ID is 924
2021-01-27T17:54:11.511Z,1611770051.511 [controlThread ThreadHandler](INFO): Handler Thread ID is 925
2021-01-27T17:54:11.511Z,1611770051.511 [controlThread](DEBUG): Initializing ControlThread
2021-01-27T17:54:11.519Z,1611770051.519 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-01-27T17:54:11.520Z,1611770051.520 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-01-27T17:54:11.520Z,1611770051.520 [WorkSite](DEBUG): Initializing WorkSite component.
2021-01-27T17:54:11.524Z,1611770051.524 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-01-27T17:54:11.524Z,1611770051.524 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-01-27T17:54:11.525Z,1611770051.525 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-01-27T17:54:11.525Z,1611770051.525 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-01-27T17:54:11.526Z,1611770051.526 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-01-27T17:54:11.526Z,1611770051.526 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-01-27T17:54:11.527Z,1611770051.527 [SBIT](INFO): Initialize SBIT Component.
2021-01-27T17:54:11.527Z,1611770051.527 [SBIT](IMPORTANT): git: 2021-01-25
2021-01-27T17:54:11.527Z,1611770051.527 [SBIT](INFO): git hash: e8097416d22531cddaa880496e10ca880d93ff57
2021-01-27T17:54:11.527Z,1611770051.527 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-01-27T17:54:11.529Z,1611770051.529 [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
2021-01-27T17:54:11.530Z,1611770051.530 [SBIT](INFO): Beginning SBIT in 21.000000 seconds.
2021-01-27T17:54:11.531Z,1611770051.531 [IBIT](INFO): Initialize IBIT Component.
2021-01-27T17:54:11.531Z,1611770051.531 [CBIT](DEBUG): Initialize CBIT Component.
2021-01-27T17:54:11.532Z,1611770051.532 [logger ThreadHandler](INFO): Handler Thread ID is 926
2021-01-27T17:54:11.544Z,1611770051.544 [CBIT](DEBUG): Initialized mux pins.
2021-01-27T17:54:11.544Z,1611770051.544 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2021-01-27T17:54:11.544Z,1611770051.544 [CBIT](DEBUG): Initializing the watchdog timer.
2021-01-27T17:54:11.552Z,1611770051.552 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 927
2021-01-27T17:54:11.553Z,1611770051.553 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-01-27T17:54:11.564Z,1611770051.564 [Onboard ThreadHandler](INFO): Handler Thread ID is 928
2021-01-27T17:54:11.568Z,1611770051.568 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2021-01-27T17:54:11.569Z,1611770051.569 [CBIT](DEBUG): Initializing heartbeat.
2021-01-27T17:54:11.582Z,1611770051.582 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 929
2021-01-27T17:54:11.600Z,1611770051.600 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 930
2021-01-27T17:54:11.601Z,1611770051.601 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-01-27T17:54:11.605Z,1611770051.605 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 932
2021-01-27T17:54:11.606Z,1611770051.606 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-01-27T17:54:11.617Z,1611770051.617 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 933
2021-01-27T17:54:11.625Z,1611770051.625 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-01-27T17:54:11.625Z,1611770051.625 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-01-27T17:54:11.625Z,1611770051.625 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-01-27T17:54:11.625Z,1611770051.625 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-01-27T17:54:11.626Z,1611770051.626 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-01-27T17:54:11.626Z,1611770051.626 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-01-27T17:54:11.626Z,1611770051.626 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-01-27T17:54:11.626Z,1611770051.626 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-01-27T17:54:11.626Z,1611770051.626 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-01-27T17:54:11.626Z,1611770051.626 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-01-27T17:54:11.627Z,1611770051.627 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-01-27T17:54:11.627Z,1611770051.627 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-01-27T17:54:11.627Z,1611770051.627 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-01-27T17:54:11.627Z,1611770051.627 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-01-27T17:54:11.627Z,1611770051.627 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-01-27T17:54:11.627Z,1611770051.627 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-01-27T17:54:11.640Z,1611770051.640 [CBIT](DEBUG): Deactivating GF circuits.
2021-01-27T17:54:11.640Z,1611770051.640 [CBIT](DEBUG): Deactivating emergency mode.
2021-01-27T17:54:11.676Z,1611770051.676 [CBIT](DEBUG): Backplane powered.
2021-01-27T17:54:11.676Z,1611770051.676 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-01-27T17:54:11.678Z,1611770051.678 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-01-27T17:54:11.679Z,1611770051.679 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-01-27T17:54:11.679Z,1611770051.679 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-01-27T17:54:11.680Z,1611770051.680 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-01-27T17:54:11.727Z,1611770051.727 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-01-27T17:54:11.751Z,1611770051.751 [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>


2021-01-27T17:54:11.752Z,1611770051.751 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-01-27T17:54:11.919Z,1611770051.919 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-01-27T17:54:11.923Z,1611770051.923 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-01-27T17:54:11.947Z,1611770051.947 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-01-27T17:54:11.950Z,1611770051.950 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-01-27T17:54:11.974Z,1611770051.974 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-01-27T17:54:11.977Z,1611770051.977 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-01-27T17:54:11.978Z,1611770051.978 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-01-27T17:54:11.988Z,1611770051.988 [Radio_Surface](INFO): Powering up
2021-01-27T17:54:12.144Z,1611770052.144 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-01-27T17:54:12.144Z,1611770052.144 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T17:54:12.175Z,1611770052.175 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-01-27T17:54:12.211Z,1611770052.211 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-01-27T17:54:12.222Z,1611770052.222 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-01-27T17:54:12.248Z,1611770052.248 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-01-27T17:54:12.253Z,1611770052.253 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         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/Control http://okeanids.mbari.org/tethys/Xml/Control.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>


2021-01-27T17:54:12.264Z,1611770052.264 [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,
2021-01-27T17:54:12.276Z,1611770052.276 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-01-27T17:54:12.393Z,1611770052.393 [DDM](INFO): Powering up
2021-01-27T17:54:12.393Z,1611770052.393 [DDM](DEBUG): Initializing DDM.
2021-01-27T17:54:12.413Z,1611770052.413 [Depth_Keller](ERROR): Pressure reading out of range: 957.962097 decibar
2021-01-27T17:54:12.413Z,1611770052.413 [DUSBL_Hydroid](INFO): Powering up
2021-01-27T17:54:12.414Z,1611770052.414 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-01-27T17:54:12.457Z,1611770052.457 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-01-27T17:54:12.528Z,1611770052.528 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:54:12.536Z,1611770052.536 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-01-27T17:54:12.537Z,1611770052.537 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:54:12.544Z,1611770052.544 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-01-27T17:54:12.545Z,1611770052.545 [MassServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:54:12.552Z,1611770052.552 [MassServo](DEBUG): Initializing MassServo.
2021-01-27T17:54:12.553Z,1611770052.553 [RudderServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:54:12.560Z,1611770052.560 [RudderServo](DEBUG): Initializing RudderServo.
2021-01-27T17:54:12.561Z,1611770052.561 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:54:12.568Z,1611770052.568 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-01-27T17:54:12.570Z,1611770052.570 [CommandLine](FAULT): Scheduling is paused
2021-01-27T17:54:12.571Z,1611770052.571 [CBIT](INFO): Critical error at 20210127T175411
2021-01-27T17:54:12.571Z,1611770052.571 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-01-27T17:54:12.695Z,1611770052.695 [Micromodem](INFO): Powering up
2021-01-27T17:54:12.696Z,1611770052.696 [Micromodem](DEBUG): Initializing Micromodem.
2021-01-27T17:54:13.440Z,1611770053.440 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-01-27T17:54:13.440Z,1611770053.440 [RudderServo](FAULT): Rudder failed to initialize
2021-01-27T17:54:13.440Z,1611770053.440 [RudderServo] Communications Fault, FailCount= 1
2021-01-27T17:54:13.440Z,1611770053.440 [RudderServo](ERROR): Communications Fault
2021-01-27T17:54:13.540Z,1611770053.540 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-01-27T17:54:13.749Z,1611770053.749 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-01-27T17:54:13.749Z,1611770053.749 [RudderServo](INFO): Powering down
2021-01-27T17:54:14.384Z,1611770054.384 [RudderServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:54:14.505Z,1611770054.505 [RudderServo](DEBUG): Initializing RudderServo.
2021-01-27T17:54:14.509Z,1611770054.509 [CBIT](INFO): Clearing failed state for component RudderServo
2021-01-27T17:54:14.509Z,1611770054.509 [RudderServo] No Fault, FailCount= 1
2021-01-27T17:54:17.632Z,1611770057.632 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-01-27T17:54:18.035Z,1611770058.035 [Micromodem](INFO): Nmea in: $CATMG,2021-01-27T17:54:17.989280Z,RTC,RTC*56

2021-01-27T17:54:18.035Z,1611770058.035 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-01-27T17:54:17.989280Z,RTC,RTC*56

2021-01-27T17:54:18.438Z,1611770058.438 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-01-27T17:54:18.438Z,1611770058.438 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-01-27T17:54:18.842Z,1611770058.842 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-01-27T17:54:18.842Z,1611770058.842 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-01-27T17:54:19.250Z,1611770059.250 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-01-27T17:54:19.251Z,1611770059.251 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-01-27T17:54:19.654Z,1611770059.654 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-01-27T17:54:19.654Z,1611770059.654 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-01-27T17:54:20.058Z,1611770060.058 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-01-27T17:54:20.058Z,1611770060.058 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-01-27T17:54:20.470Z,1611770060.470 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-01-27T17:54:20.470Z,1611770060.470 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-01-27T17:54:20.862Z,1611770060.862 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-01-27T17:54:20.862Z,1611770060.862 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-01-27T17:54:21.246Z,1611770061.246 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-01-27T17:54:21.247Z,1611770061.247 [Micromodem](INFO): Nmea out: $CCCLK,2021,01,27,17,54,22*46

2021-01-27T17:54:21.642Z,1611770061.642 [Micromodem](INFO): Nmea in: $CACLK,2021,1,27,17,54,22*74

2021-01-27T17:54:22.059Z,1611770062.059 [Micromodem](INFO): Nmea in: $CATMS,0,2021-01-27T17:54:23Z*75

2021-01-27T17:54:22.060Z,1611770062.060 [Micromodem](INFO): Nmea in: $CATMG,2021-01-27T17:54:23.027338Z,USER_CMD,RTC*1F

2021-01-27T17:54:28.096Z,1611770068.096 [DDM](INFO): Dynamic Docking Module:
2021-01-27T17:54:30.525Z,1611770070.525 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-01-27T17:54:33.032Z,1611770073.032 [SBIT](IMPORTANT): Beginning Startup BIT
2021-01-27T17:54:33.045Z,1611770073.045 [CBIT](IMPORTANT): Beginning ground fault scan
2021-01-27T17:54:39.414Z,1611770079.414 [NAL9602](INFO): Powering up NAL9602
2021-01-27T17:54:43.998Z,1611770083.998 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008772
CHAN A1 (24V): -0.027184
CHAN A2 (12V): -0.007335
CHAN A3 (5V): -0.001896
CHAN B0 (3.3V): 0.000138
CHAN B1 (3.15aV): -0.000075
CHAN B2 (3.15bV): 0.000684
CHAN B3 (GND): 0.002572
OPEN: 0.008570
Full Scale Calc: 4.765 mA, -1.589 mA
2021-01-27T17:54:50.322Z,1611770090.322 [NAL9602](INFO): NAL9602 initialized
2021-01-27T17:55:08.516Z,1611770108.516 [NAL9602](INFO): SBD MO Status=0, MOMSN=13136, MT Status=0, MTMSN=0
2021-01-27T17:55:08.516Z,1611770108.516 [NAL9602](INFO): No messages in MT queue
2021-01-27T17:55:27.140Z,1611770127.140 [SBIT](IMPORTANT): SBIT PASSED
2021-01-27T17:55:27.140Z,1611770127.140 [SBIT](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2021-01-27T17:55:27.540Z,1611770127.540 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2021-01-27T17:55:27.545Z,1611770127.545 [WorkSite](IMPORTANT): WorkSite fix at 20210127T175136: (41.551350, -70.713974)
2021-01-27T17:55:27.547Z,1611770127.547 [MissionManager](IMPORTANT): Started mission Startup
2021-01-27T17:55:27.548Z,1611770127.548 [Startup] Running Loop=1
2021-01-27T17:55:27.548Z,1611770127.548 [Startup](DEBUG): Aggregate::initialize Startup
2021-01-27T17:55:27.548Z,1611770127.548 [Startup:A.GoToSurface] Running Loop=1
2021-01-27T17:55:27.548Z,1611770127.548 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-01-27T17:55:27.549Z,1611770127.549 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-01-27T17:55:27.549Z,1611770127.549 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-01-27T17:55:27.550Z,1611770127.550 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-01-27T17:55:27.550Z,1611770127.550 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-01-27T17:55:27.550Z,1611770127.550 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-01-27T17:55:27.553Z,1611770127.553 [Startup:StartupSatComms] Running Loop=1
2021-01-27T17:55:27.554Z,1611770127.554 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-01-27T17:55:27.554Z,1611770127.554 [Startup:StartupSatComms:A] Running Loop=1
2021-01-27T17:55:27.958Z,1611770127.958 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-01-27T17:56:27.793Z,1611770187.793 [Startup:StartupSatComms:A](INFO): Timed out from 2021-01-27T17:55:27.6Z
2021-01-27T17:56:27.793Z,1611770187.793 [Startup:StartupSatComms:A] Stopped
2021-01-27T17:56:27.794Z,1611770187.794 [Startup:StartupSatComms:B] Running Loop=1
2021-01-27T17:56:28.143Z,1611770188.143 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-01-27T17:56:46.789Z,1611770206.789 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T17:56:50.828Z,1611770210.828 [NAL9602](INFO): SBD MO Status=1, MOMSN=13137, MT Status=0, MTMSN=0
2021-01-27T17:56:50.884Z,1611770210.884 [NAL9602](INFO): Sent 184 bytes from file Logs/20210127T175400/Courier0000.lzma
2021-01-27T17:56:50.884Z,1611770210.884 [NAL9602](INFO): Packets left to send: 1
2021-01-27T17:57:02.287Z,1611770222.287 [NAL9602](INFO): SBD MO Status=1, MOMSN=13138, MT Status=0, MTMSN=0
2021-01-27T17:57:02.348Z,1611770222.348 [NAL9602](INFO): Sent 143 bytes from file Logs/20210127T175400/Courier0000.lzma
2021-01-27T17:57:02.348Z,1611770222.348 [NAL9602](INFO): Packets left to send: 0
2021-01-27T17:57:10.120Z,1611770230.120 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T17:57:12.947Z,1611770232.947 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T17:57:15.360Z,1611770235.360 [NAL9602](INFO): SBD MO Status=1, MOMSN=13139, MT Status=0, MTMSN=0
2021-01-27T17:57:15.408Z,1611770235.408 [NAL9602](INFO): Sent 184 bytes from file Logs/20210127T175400/Express0001.lzma
2021-01-27T17:57:15.408Z,1611770235.408 [NAL9602](INFO): Packets left to send: 4
2021-01-27T17:57:19.914Z,1611770239.914 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T17:57:24.349Z,1611770244.349 [NAL9602](INFO): SBD MO Status=1, MOMSN=13140, MT Status=0, MTMSN=0
2021-01-27T17:57:24.396Z,1611770244.396 [NAL9602](INFO): Sent 184 bytes from file Logs/20210127T175400/Express0001.lzma
2021-01-27T17:57:24.396Z,1611770244.396 [NAL9602](INFO): Packets left to send: 3
2021-01-27T17:57:27.858Z,1611770247.858 [Startup:StartupSatComms:B](INFO): Timed out from 2021-01-27T17:56:27.8Z
2021-01-27T17:57:27.858Z,1611770247.858 [Startup:StartupSatComms:B] Stopped
2021-01-27T17:57:27.858Z,1611770247.858 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-01-27T17:57:27.858Z,1611770247.858 [Startup:StartupSatComms] Stopped
2021-01-27T17:57:27.858Z,1611770247.858 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-01-27T17:57:27.859Z,1611770247.859 [Startup](INFO): Completed Startup
2021-01-27T17:57:27.859Z,1611770247.859 [MissionManager](INFO): Startup is completed.
2021-01-27T17:57:27.859Z,1611770247.859 [MissionManager](INFO): Uninitializing Mission Startup
2021-01-27T17:57:27.859Z,1611770247.859 [Startup] Stopped
2021-01-27T17:57:27.859Z,1611770247.859 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-01-27T17:57:27.859Z,1611770247.859 [Startup:A.GoToSurface] Stopped
2021-01-27T17:57:27.860Z,1611770247.860 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-01-27T17:57:28.148Z,1611770248.148 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-01-27T17:57:28.148Z,1611770248.148 [DefaultWithUndock] Running Loop=1
2021-01-27T17:57:28.148Z,1611770248.148 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-01-27T17:57:28.148Z,1611770248.148 [DefaultWithUndock:A.Wait] Running Loop=1
2021-01-27T17:57:28.148Z,1611770248.148 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-01-27T17:57:40.411Z,1611770260.411 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T175740
2021-01-27T17:57:40.415Z,1611770260.415 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005085
2021-01-27T17:57:44.428Z,1611770264.428 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.5 hour;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 10 count;set lineCaptureDepth.MinAltitude 3 meter" 2tdpp 1 2
2021-01-27T17:57:44.493Z,1611770264.493 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.5 hour;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 10 count;set lineCaptureDepth.MinAltitude 3 meter" 2tdpp 1 2.000000
2021-01-27T17:57:44.493Z,1611770264.493 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tdpp
2021-01-27T17:57:44.494Z,1611770264.494 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='2tdpp'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 1.5 hour;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 10 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP
2021-01-27T17:57:45.430Z,1611770265.430 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T175745
2021-01-27T17:57:47.512Z,1611770267.512 [NAL9602](INFO): SBD MO Status=1, MOMSN=13141, MT Status=0, MTMSN=0
2021-01-27T17:57:47.564Z,1611770267.564 [NAL9602](INFO): Sent 184 bytes from file Logs/20210127T175400/Express0001.lzma
2021-01-27T17:57:47.565Z,1611770267.565 [NAL9602](INFO): Packets left to send: 2
2021-01-27T17:57:49.452Z,1611770269.452 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tdpp 2 2
2021-01-27T17:57:49.533Z,1611770269.533 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tdpp 2 2.000000
2021-01-27T17:57:49.534Z,1611770269.534 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tdpp
2021-01-27T17:57:49.535Z,1611770269.535 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='2tdpp'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2021-01-27T17:57:49.675Z,1611770269.675 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-01-27T17:57:49.675Z,1611770269.675 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-01-27T17:57:50.074Z,1611770270.074 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-01-27T17:57:50.085Z,1611770270.085 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-01-27T17:57:50.097Z,1611770270.097 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-01-27T17:57:50.148Z,1611770270.148 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-01-27T17:57:50.151Z,1611770270.151 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-01-27T17:57:50.166Z,1611770270.166 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-01-27T17:57:50.197Z,1611770270.197 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-01-27T17:57:50.220Z,1611770270.220 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-01-27T17:57:50.240Z,1611770270.240 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-01-27T17:57:50.243Z,1611770270.243 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-01-27T17:57:50.258Z,1611770270.258 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-01-27T17:57:50.270Z,1611770270.270 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-01-27T17:57:50.270Z,1611770270.270 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-01-27T17:57:50.803Z,1611770270.803 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-01-27T17:57:50.806Z,1611770270.806 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-01-27T17:57:50.809Z,1611770270.809 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-01-27T17:57:50.811Z,1611770270.811 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-01-27T17:57:50.814Z,1611770270.814 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-01-27T17:57:50.817Z,1611770270.817 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-01-27T17:57:50.820Z,1611770270.820 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-01-27T17:57:50.823Z,1611770270.823 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-01-27T17:57:50.826Z,1611770270.826 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-01-27T17:57:50.844Z,1611770270.844 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-01-27T17:57:50.847Z,1611770270.847 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-01-27T17:57:50.851Z,1611770270.851 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-01-27T17:57:50.865Z,1611770270.865 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-01-27T17:57:50.869Z,1611770270.869 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-01-27T17:57:50.881Z,1611770270.881 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-01-27T17:57:50.888Z,1611770270.888 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-01-27T17:57:50.896Z,1611770270.896 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-01-27T17:57:50.899Z,1611770270.899 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-01-27T17:57:50.903Z,1611770270.903 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-01-27T17:57:50.914Z,1611770270.914 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-01-27T17:57:50.918Z,1611770270.918 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-01-27T17:57:50.929Z,1611770270.929 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-01-27T17:57:50.972Z,1611770270.972 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-01-27T17:57:50.975Z,1611770270.975 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-01-27T17:57:50.986Z,1611770270.986 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-01-27T17:57:50.994Z,1611770270.994 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-01-27T17:57:51.017Z,1611770271.017 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-01-27T17:57:51.019Z,1611770271.019 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-01-27T17:57:51.027Z,1611770271.027 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-01-27T17:57:51.035Z,1611770271.035 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-01-27T17:57:51.046Z,1611770271.046 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2021-01-27T17:57:51.053Z,1611770271.053 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-01-27T17:57:51.060Z,1611770271.060 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-01-27T17:57:51.063Z,1611770271.063 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-01-27T17:57:51.070Z,1611770271.070 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-01-27T17:57:51.082Z,1611770271.082 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-01-27T17:57:51.085Z,1611770271.085 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-01-27T17:57:51.097Z,1611770271.097 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-01-27T17:57:51.099Z,1611770271.099 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-01-27T17:57:51.113Z,1611770271.113 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-01-27T17:57:51.115Z,1611770271.115 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-01-27T17:57:51.126Z,1611770271.126 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-01-27T17:57:51.129Z,1611770271.129 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-01-27T17:57:51.136Z,1611770271.136 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-01-27T17:57:51.191Z,1611770271.191 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T17:57:51.219Z,1611770271.219 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-01-27T17:57:51.258Z,1611770271.258 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T17:57:51.283Z,1611770271.283 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T17:57:51.310Z,1611770271.310 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-01-27T17:57:51.332Z,1611770271.332 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-01-27T17:57:51.415Z,1611770271.415 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-01-27T17:57:51.423Z,1611770271.423 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-01-27T17:57:51.437Z,1611770271.437 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-01-27T17:57:51.439Z,1611770271.439 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-01-27T17:57:51.458Z,1611770271.458 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-01-27T17:57:51.481Z,1611770271.481 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-01-27T17:57:51.509Z,1611770271.509 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-01-27T17:57:51.582Z,1611770271.582 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-01-27T17:57:51.589Z,1611770271.589 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-01-27T17:57:51.600Z,1611770271.600 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-01-27T17:57:51.603Z,1611770271.603 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-01-27T17:57:51.606Z,1611770271.606 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-01-27T17:57:51.611Z,1611770271.611 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-01-27T17:57:51.623Z,1611770271.623 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-01-27T17:57:51.648Z,1611770271.648 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-01-27T17:57:51.697Z,1611770271.697 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-01-27T17:57:51.809Z,1611770271.809 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-01-27T17:57:51.824Z,1611770271.824 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-01-27T17:57:51.837Z,1611770271.837 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-01-27T17:57:51.861Z,1611770271.861 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T17:57:51.895Z,1611770271.895 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-01-27T17:57:52.213Z,1611770272.213 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552000 arcdeg
2021-01-27T17:57:52.217Z,1611770272.217 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.709610 arcdeg
2021-01-27T17:57:52.228Z,1611770272.228 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-01-27T17:57:52.236Z,1611770272.236 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-01-27T17:57:52.239Z,1611770272.239 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-01-27T17:57:52.247Z,1611770272.247 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-01-27T17:57:52.251Z,1611770272.251 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-01-27T17:57:52.255Z,1611770272.255 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-01-27T17:57:52.266Z,1611770272.266 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-01-27T17:57:52.270Z,1611770272.270 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-01-27T17:57:52.275Z,1611770272.275 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-01-27T17:57:52.288Z,1611770272.288 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-01-27T17:57:52.291Z,1611770272.291 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-01-27T17:57:52.295Z,1611770272.295 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-01-27T17:57:52.298Z,1611770272.298 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-01-27T17:57:52.310Z,1611770272.310 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-01-27T17:57:52.313Z,1611770272.313 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-01-27T17:57:52.324Z,1611770272.324 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-01-27T17:57:52.327Z,1611770272.327 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-01-27T17:57:52.334Z,1611770272.334 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-01-27T17:57:52.338Z,1611770272.338 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-01-27T17:57:52.349Z,1611770272.349 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-01-27T17:57:52.356Z,1611770272.356 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-01-27T17:57:52.361Z,1611770272.361 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-01-27T17:57:52.365Z,1611770272.365 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-01-27T17:57:52.367Z,1611770272.367 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-01-27T17:57:52.381Z,1611770272.381 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-01-27T17:57:52.413Z,1611770272.413 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-01-27T17:57:52.424Z,1611770272.424 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-01-27T17:57:52.427Z,1611770272.427 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-01-27T17:57:52.432Z,1611770272.432 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-01-27T17:57:52.449Z,1611770272.449 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-01-27T17:57:52.471Z,1611770272.471 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-01-27T17:57:52.511Z,1611770272.511 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-01-27T17:57:52.522Z,1611770272.522 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-01-27T17:57:52.531Z,1611770272.531 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-01-27T17:57:52.531Z,1611770272.531 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T17:57:52.630Z,1611770272.630 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-01-27T17:57:52.637Z,1611770272.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-01-27T17:57:52.645Z,1611770272.645 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-01-27T17:57:52.663Z,1611770272.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2021-01-27T17:57:52.777Z,1611770272.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-01-27T17:57:52.801Z,1611770272.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-01-27T17:57:52.827Z,1611770272.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-01-27T17:57:52.827Z,1611770272.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-27T17:57:52.840Z,1611770272.840 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-01-27T17:57:52.861Z,1611770272.861 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-01-27T17:57:52.904Z,1611770272.904 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552000 arcdeg
2021-01-27T17:57:52.912Z,1611770272.912 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.709610 arcdeg
2021-01-27T17:57:52.915Z,1611770272.915 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-01-27T17:57:52.923Z,1611770272.923 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-01-27T17:57:52.931Z,1611770272.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-01-27T17:57:52.978Z,1611770272.978 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T17:57:52.997Z,1611770272.997 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2021-01-27T17:57:52.997Z,1611770272.997 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2021-01-27T17:57:53.033Z,1611770273.033 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2021-01-27T17:57:53.033Z,1611770273.033 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T17:57:53.112Z,1611770273.112 [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:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    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/Units http://okeanids.mbari.org/tethys/Xml/Units.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>


2021-01-27T17:57:53.113Z,1611770273.113 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:A.Wait] Stopped
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-01-27T17:57:58.249Z,1611770278.249 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-01-27T17:57:58.250Z,1611770278.250 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-01-27T17:57:58.250Z,1611770278.250 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-01-27T17:57:58.250Z,1611770278.250 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T17:57:58.653Z,1611770278.653 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-01-27T17:57:59.030Z,1611770279.030 [PowerOnly](INFO): Powering up loadControl
2021-01-27T17:58:00.944Z,1611770280.944 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:01.519Z,1611770281.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:01.908Z,1611770281.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:02.344Z,1611770282.344 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-01-27T17:58:02.696Z,1611770282.696 [Micromodem](INFO): Nmea in: $SNTTA,0.307507,,,,175802.93*45

2021-01-27T17:58:02.760Z,1611770282.760 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-27T17:58:03.533Z,1611770283.533 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:04.221Z,1611770284.221 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 1.500000 hour
2021-01-27T17:58:04.222Z,1611770284.222 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2021-01-27T17:58:04.223Z,1611770284.223 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 10.000000 count
2021-01-27T17:58:04.223Z,1611770284.223 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-01-27T17:58:05.117Z,1611770285.117 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T17:58:06.361Z,1611770286.361 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:07.134Z,1611770287.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:07.544Z,1611770287.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:08.358Z,1611770288.358 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,251,000,02089,189,80,8
2021-01-27T17:58:08.373Z,1611770288.373 [Micromodem](INFO): Nmea in: $SNTTA,0.308188,,,,175808.55*49

2021-01-27T17:58:08.883Z,1611770288.883 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:09.145Z,1611770289.145 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-01-27T17:58:09.146Z,1611770289.146 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2021-01-27T17:58:09.146Z,1611770289.146 [CommandLine](IMPORTANT): got command run
2021-01-27T17:58:09.150Z,1611770289.150 [CommandLine](IMPORTANT): Running 
2021-01-27T17:58:09.182Z,1611770289.182 [DefaultWithUndock] Stopped
2021-01-27T17:58:09.182Z,1611770289.182 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-01-27T17:58:09.182Z,1611770289.182 [DefaultWithUndock:LeaveDock] Stopped
2021-01-27T17:58:09.182Z,1611770289.182 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-01-27T17:58:09.182Z,1611770289.182 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-01-27T17:58:09.182Z,1611770289.182 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-01-27T17:58:09.182Z,1611770289.182 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science:A] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science:B] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science:C] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science:D] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science:E] Running Loop=1
2021-01-27T17:58:09.183Z,1611770289.183 [lineCaptureDepth:Science:F] Running Loop=1
2021-01-27T17:58:09.184Z,1611770289.184 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-01-27T17:58:09.192Z,1611770289.192 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-01-27T17:58:09.192Z,1611770289.192 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-01-27T17:58:09.192Z,1611770289.192 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T17:58:09.192Z,1611770289.192 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T17:58:09.194Z,1611770289.194 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-01-27T17:58:09.194Z,1611770289.194 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-01-27T17:58:09.195Z,1611770289.195 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-01-27T17:58:09.195Z,1611770289.195 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-01-27T17:58:09.195Z,1611770289.195 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-01-27T17:58:09.195Z,1611770289.195 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-01-27T17:58:09.195Z,1611770289.195 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T17:58:09.195Z,1611770289.195 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T17:58:09.202Z,1611770289.202 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-01-27T17:58:09.202Z,1611770289.202 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-01-27T17:58:09.202Z,1611770289.202 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T17:58:09.202Z,1611770289.202 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T17:58:09.205Z,1611770289.205 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-01-27T17:58:09.205Z,1611770289.205 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-01-27T17:58:09.206Z,1611770289.206 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-01-27T17:58:09.206Z,1611770289.206 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-01-27T17:58:09.216Z,1611770289.216 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T17:58:09.217Z,1611770289.217 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T17:58:09.218Z,1611770289.218 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T17:58:09.218Z,1611770289.218 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T17:58:09.218Z,1611770289.218 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T17:58:09.218Z,1611770289.218 [lineCaptureDepth:J.] Running Loop=1
2021-01-27T17:58:09.218Z,1611770289.218 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2021-01-27T17:58:09.218Z,1611770289.218 [lineCaptureDepth:C] Running Loop=1
2021-01-27T17:58:09.219Z,1611770289.219 [lineCaptureDepth:J.] Running Loop=1
2021-01-27T17:58:09.219Z,1611770289.219 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T17:58:09.224Z,1611770289.224 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T17:58:09.225Z,1611770289.225 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T17:58:09.225Z,1611770289.225 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T17:58:09.226Z,1611770289.226 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T17:58:09.227Z,1611770289.227 [lineCaptureDepth:C] Stopped
2021-01-27T17:58:09.227Z,1611770289.227 [lineCaptureDepth:D] Running Loop=1
2021-01-27T17:58:09.227Z,1611770289.227 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-01-27T17:58:09.227Z,1611770289.227 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T17:58:09.227Z,1611770289.227 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T17:58:09.233Z,1611770289.233 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T17:58:09.233Z,1611770289.233 [lineCaptureDepth:Science] Running Loop=1
2021-01-27T17:58:09.234Z,1611770289.234 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-01-27T17:58:09.234Z,1611770289.234 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-01-27T17:58:09.234Z,1611770289.234 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-01-27T17:58:09.234Z,1611770289.234 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T17:58:09.234Z,1611770289.234 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-01-27T17:58:09.234Z,1611770289.234 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-01-27T17:58:09.235Z,1611770289.235 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-01-27T17:58:09.236Z,1611770289.236 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-01-27T17:58:09.236Z,1611770289.236 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-01-27T17:58:09.237Z,1611770289.237 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-01-27T17:58:09.238Z,1611770289.238 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-01-27T17:58:09.239Z,1611770289.239 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-01-27T17:58:09.239Z,1611770289.239 [lineCaptureDepth:Science:F] Stopped
2021-01-27T17:58:09.248Z,1611770289.248 [lineCaptureDepth:Science:E] Stopped
2021-01-27T17:58:09.248Z,1611770289.248 [lineCaptureDepth:Science:D] Stopped
2021-01-27T17:58:09.248Z,1611770289.248 [lineCaptureDepth:Science:C] Running Loop=1
2021-01-27T17:58:09.249Z,1611770289.249 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-01-27T17:58:09.250Z,1611770289.250 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-01-27T17:58:09.250Z,1611770289.250 [lineCaptureDepth:Science:B] Running Loop=1
2021-01-27T17:58:09.251Z,1611770289.251 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-01-27T17:58:09.251Z,1611770289.251 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-01-27T17:58:09.251Z,1611770289.251 [lineCaptureDepth:Science:A] Stopped
2021-01-27T17:58:09.312Z,1611770289.312 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-01-27T17:58:09.555Z,1611770289.555 [lineCaptureDepth:D] Stopped
2021-01-27T17:58:09.555Z,1611770289.555 [lineCaptureDepth:E] Running Loop=1
2021-01-27T17:58:09.985Z,1611770289.985 [lineCaptureDepth:E] Stopped
2021-01-27T17:58:09.985Z,1611770289.985 [lineCaptureDepth:G] Running Loop=1
2021-01-27T17:58:10.386Z,1611770290.386 [lineCaptureDepth:G] Stopped
2021-01-27T17:58:10.386Z,1611770290.386 [lineCaptureDepth:H] Running Loop=1
2021-01-27T17:58:10.830Z,1611770290.830 [lineCaptureDepth:H] Stopped
2021-01-27T17:58:10.830Z,1611770290.830 [lineCaptureDepth:L] Running Loop=1
2021-01-27T17:58:11.193Z,1611770291.193 [lineCaptureDepth:L] Stopped
2021-01-27T17:58:11.193Z,1611770291.193 [lineCaptureDepth:M] Running Loop=1
2021-01-27T17:58:11.631Z,1611770291.631 [lineCaptureDepth:M] Stopped
2021-01-27T17:58:11.636Z,1611770291.636 [lineCaptureDepth:N] Running Loop=1
2021-01-27T17:58:12.062Z,1611770292.062 [lineCaptureDepth:N] Stopped
2021-01-27T17:58:12.062Z,1611770292.062 [lineCaptureDepth:Lap] Running Loop=1
2021-01-27T17:58:12.062Z,1611770292.062 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-01-27T17:58:12.062Z,1611770292.062 [lineCaptureDepth:Lap:A] Running Loop=1
2021-01-27T17:58:12.063Z,1611770292.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:12.377Z,1611770292.377 [lineCaptureDepth:Lap:A] Stopped
2021-01-27T17:58:12.377Z,1611770292.377 [lineCaptureDepth:Lap:B] Running Loop=1
2021-01-27T17:58:12.377Z,1611770292.377 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-01-27T17:58:12.650Z,1611770292.650 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-01-27T17:58:12.833Z,1611770292.833 [lineCaptureDepth:LineCapture] Running Loop=1
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-01-27T17:58:12.834Z,1611770292.834 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-01-27T17:58:12.835Z,1611770292.835 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-01-27T17:58:12.836Z,1611770292.836 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-01-27T17:58:12.837Z,1611770292.837 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-01-27T17:58:12.837Z,1611770292.837 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-01-27T17:58:12.837Z,1611770292.837 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-01-27T17:58:12.837Z,1611770292.837 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-01-27T17:58:12.838Z,1611770292.838 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-01-27T17:58:12.838Z,1611770292.838 [lineCaptureDepth:LineCapture:A] Stopped
2021-01-27T17:58:12.838Z,1611770292.838 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-01-27T17:58:13.203Z,1611770293.203 [lineCaptureDepth:LineCapture:B] Stopped
2021-01-27T17:58:13.203Z,1611770293.203 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-01-27T17:58:13.593Z,1611770293.593 [lineCaptureDepth:LineCapture:D] Stopped
2021-01-27T17:58:13.594Z,1611770293.594 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-01-27T17:58:14.097Z,1611770294.097 [lineCaptureDepth:LineCapture:E] Stopped
2021-01-27T17:58:14.097Z,1611770294.097 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-01-27T17:58:14.469Z,1611770294.469 [lineCaptureDepth:LineCapture:F] Stopped
2021-01-27T17:58:14.469Z,1611770294.469 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-01-27T17:58:14.469Z,1611770294.469 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-01-27T17:58:14.469Z,1611770294.469 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-01-27T17:58:14.469Z,1611770294.469 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-27T17:58:14.469Z,1611770294.469 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T17:58:14.470Z,1611770294.470 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-27T17:58:14.471Z,1611770294.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T17:58:14.472Z,1611770294.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-01-27T17:58:14.472Z,1611770294.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T17:58:14.472Z,1611770294.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-27T17:58:14.472Z,1611770294.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-01-27T17:58:14.473Z,1611770294.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-27T17:58:14.473Z,1611770294.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-27T17:58:14.473Z,1611770294.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-01-27T17:58:14.897Z,1611770294.897 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-01-27T17:58:14.898Z,1611770294.898 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-01-27T17:58:14.904Z,1611770294.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:15.724Z,1611770295.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:15.840Z,1611770295.840 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-01-27T17:58:16.032Z,1611770296.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:16.102Z,1611770296.102 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-27T17:58:16.941Z,1611770296.941 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T17:58:17.253Z,1611770297.253 [Micromodem](INFO): Nmea in: $SNTTA,0.309271,,,0.311776,175817.14*5D

2021-01-27T17:58:18.069Z,1611770298.069 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T17:58:20.115Z,1611770300.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:20.874Z,1611770300.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:21.295Z,1611770301.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:22.113Z,1611770302.113 [Micromodem](INFO): Nmea in: $SNTTA,0.309943,,,,175822.29*44

2021-01-27T17:58:24.965Z,1611770304.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:25.749Z,1611770305.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:26.132Z,1611770306.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:27.039Z,1611770307.039 [Micromodem](INFO): Nmea in: $SNTTA,0.310627,,,,175827.16*48

2021-01-27T17:58:29.826Z,1611770309.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:30.574Z,1611770310.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:30.976Z,1611770310.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:31.823Z,1611770311.823 [Micromodem](INFO): Nmea in: $SNTTA,0.311145,,,,175831.99*4A

2021-01-27T17:58:34.659Z,1611770314.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:35.422Z,1611770315.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:35.844Z,1611770315.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:36.243Z,1611770316.243 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 466.74 m. Transitioning DDM to standby.
2021-01-27T17:58:36.697Z,1611770316.697 [Micromodem](INFO): Nmea in: $SNTTA,0.311694,,,,175836.83*4D

2021-01-27T17:58:39.133Z,1611770319.133 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-01-27T17:58:39.482Z,1611770319.482 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-01-27T17:58:39.482Z,1611770319.482 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-01-27T17:58:39.482Z,1611770319.482 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-01-27T17:58:39.483Z,1611770319.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:39.909Z,1611770319.909 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-01-27T17:58:39.910Z,1611770319.910 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-01-27T17:58:39.910Z,1611770319.910 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-01-27T17:58:40.336Z,1611770320.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:40.396Z,1611770320.396 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-01-27T17:58:40.397Z,1611770320.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-27T17:58:40.397Z,1611770320.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-01-27T17:58:40.397Z,1611770320.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-01-27T17:58:40.397Z,1611770320.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-27T17:58:40.651Z,1611770320.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:40.717Z,1611770320.717 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-27T17:58:40.718Z,1611770320.718 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T17:58:40.718Z,1611770320.718 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-01-27T17:58:40.719Z,1611770320.719 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T17:58:40.719Z,1611770320.719 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-27T17:58:40.719Z,1611770320.719 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-01-27T17:58:40.724Z,1611770320.724 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-27T17:58:40.724Z,1611770320.724 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-01-27T17:58:40.725Z,1611770320.725 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-01-27T17:58:40.725Z,1611770320.725 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-01-27T17:58:40.726Z,1611770320.726 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-01-27T17:58:40.733Z,1611770320.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-01-27T17:58:40.733Z,1611770320.733 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-01-27T17:58:40.734Z,1611770320.734 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-27T17:58:40.734Z,1611770320.734 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-01-27T17:58:40.740Z,1611770320.740 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 467.579987 m 
2021-01-27T17:58:40.741Z,1611770320.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-01-27T17:58:40.741Z,1611770320.741 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-01-27T17:58:40.752Z,1611770320.752 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552000 arcdeg , -70.709610 arcdeg )
2021-01-27T17:58:40.752Z,1611770320.752 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-01-27T17:58:40.752Z,1611770320.752 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-01-27T17:58:40.752Z,1611770320.752 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-01-27T17:58:41.188Z,1611770321.188 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-01-27T17:58:41.188Z,1611770321.188 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-01-27T17:58:41.189Z,1611770321.189 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-01-27T17:58:41.190Z,1611770321.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-01-27T17:58:41.190Z,1611770321.190 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-01-27T17:58:41.509Z,1611770321.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-27T17:58:41.509Z,1611770321.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T17:58:41.509Z,1611770321.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-01-27T17:58:41.510Z,1611770321.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T17:58:41.510Z,1611770321.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-27T17:58:41.510Z,1611770321.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-01-27T17:58:41.510Z,1611770321.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-27T17:58:41.511Z,1611770321.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-27T17:58:41.511Z,1611770321.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-01-27T17:58:41.511Z,1611770321.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-01-27T17:58:41.511Z,1611770321.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-01-27T17:58:41.517Z,1611770321.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-01-27T17:58:41.517Z,1611770321.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-01-27T17:58:41.518Z,1611770321.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-01-27T17:58:41.519Z,1611770321.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-01-27T17:58:41.519Z,1611770321.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-01-27T17:58:41.519Z,1611770321.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-01-27T17:58:41.519Z,1611770321.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-01-27T17:58:41.524Z,1611770321.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-27T17:58:41.525Z,1611770321.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-01-27T17:58:41.526Z,1611770321.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T17:58:41.527Z,1611770321.527 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-01-27T17:58:41.527Z,1611770321.527 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-01-27T17:58:41.532Z,1611770321.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-01-27T17:58:41.532Z,1611770321.532 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-01-27T17:58:41.533Z,1611770321.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-01-27T17:58:41.533Z,1611770321.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-01-27T17:58:41.533Z,1611770321.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-01-27T17:58:41.533Z,1611770321.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-01-27T17:58:41.533Z,1611770321.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-01-27T17:58:41.876Z,1611770321.876 [Micromodem](INFO): Nmea in: $SNTTA,0.312083,,,,175841.76*44

2021-01-27T17:58:41.913Z,1611770321.913 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T17:58:41.942Z,1611770321.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 467.579987 m, bearing: 351.066724 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T17:58:41.943Z,1611770321.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 351.066724deg and heading rate command to 0 deg/s.
2021-01-27T17:58:42.337Z,1611770322.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 468.179993 m, bearing: 343.946470 deg, deltaT: 5.165599 s, approachRate: 0.116154 m/s, LOS rate: -1.378398 deg/s, posRepo size: 2
2021-01-27T17:58:42.338Z,1611770322.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -1.378398 deg/s. Setting heading cmd to target bearing of 343.946470deg and heading rate command to 0 deg/s.
2021-01-27T17:58:42.816Z,1611770322.816 [DDM](ERROR): Could not parse whisker state
2021-01-27T17:58:44.841Z,1611770324.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:45.595Z,1611770325.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:45.988Z,1611770325.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:46.860Z,1611770326.860 [Micromodem](INFO): Nmea in: $SNTTA,0.312722,,,,175847.01*4E

2021-01-27T17:58:47.231Z,1611770327.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 469.079987 m, bearing: 45.240803 deg, deltaT: 4.965478 s, approachRate: 0.181250 m/s, LOS rate: 12.344094 deg/s, posRepo size: 3
2021-01-27T17:58:47.231Z,1611770327.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.344094 deg/s. Setting heading cmd to target bearing of 45.240803deg and heading rate command to 0 deg/s.
2021-01-27T17:58:49.676Z,1611770329.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:50.430Z,1611770330.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:50.836Z,1611770330.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:51.667Z,1611770331.667 [Micromodem](INFO): Nmea in: $SNTTA,0.313200,,,,175851.85*41

2021-01-27T17:58:52.135Z,1611770332.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 469.859985 m, bearing: 8.144646 deg, deltaT: 4.817578 s, approachRate: 0.161907 m/s, LOS rate: -7.700167 deg/s, posRepo size: 4
2021-01-27T17:58:52.137Z,1611770332.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 469.859985 m,
      bearing: 8.144646 deg,
      approachRate: 0.161907 m/s,
      LOS rate: -7.700167 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 45.240803 deg,
      new cmd heading: 45.240803 deg.

2021-01-27T17:58:52.197Z,1611770332.197 [BuoyancyServo](FAULT): Overload Error
2021-01-27T17:58:52.197Z,1611770332.197 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-01-27T17:58:52.197Z,1611770332.197 [BuoyancyServo](ERROR): Hardware Fault
2021-01-27T17:58:52.332Z,1611770332.332 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-01-27T17:58:54.228Z,1611770334.228 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-01-27T17:58:54.228Z,1611770334.228 [BuoyancyServo](INFO): Powering down
2021-01-27T17:58:54.659Z,1611770334.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:58:55.068Z,1611770335.068 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-01-27T17:58:55.068Z,1611770335.068 [BuoyancyServo] No Fault, FailCount= 1
2021-01-27T17:58:55.336Z,1611770335.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:58:55.453Z,1611770335.453 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-01-27T17:58:55.460Z,1611770335.460 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-01-27T17:58:55.755Z,1611770335.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:58:56.543Z,1611770336.543 [Micromodem](INFO): Nmea in: $SNTTA,0.313799,,,,175856.75*4C

2021-01-27T17:58:57.017Z,1611770337.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 469.859985 m, bearing: 332.366130 deg, deltaT: 4.892757 s, approachRate: 0.000000 m/s, LOS rate: -7.312547 deg/s, posRepo size: 4
2021-01-27T17:58:57.019Z,1611770337.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 469.859985 m,
      bearing: 332.366130 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.312547 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 346.223902 deg,
      new cmd heading: 341.356726 deg.

2021-01-27T17:58:59.382Z,1611770339.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:00.178Z,1611770340.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:00.572Z,1611770340.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:01.406Z,1611770341.406 [Micromodem](INFO): Nmea in: $SNTTA,0.313885,,,,175901.59*43

2021-01-27T17:59:01.878Z,1611770341.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 470.879974 m, bearing: 52.934444 deg, deltaT: 4.802970 s, approachRate: 0.212366 m/s, LOS rate: 16.774688 deg/s, posRepo size: 4
2021-01-27T17:59:01.878Z,1611770341.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.774688 deg/s. Setting heading cmd to target bearing of 52.934444deg and heading rate command to 0 deg/s.
2021-01-27T17:59:04.244Z,1611770344.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:05.026Z,1611770345.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:05.469Z,1611770345.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:06.284Z,1611770346.284 [Micromodem](INFO): Nmea in: $SNTTA,0.314010,,,,175906.44*4B

2021-01-27T17:59:06.761Z,1611770346.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 470.999969 m, bearing: 19.248854 deg, deltaT: 4.872526 s, approachRate: 0.024627 m/s, LOS rate: -6.913373 deg/s, posRepo size: 4
2021-01-27T17:59:06.763Z,1611770346.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 470.999969 m,
      bearing: 19.248854 deg,
      approachRate: 0.024627 m/s,
      LOS rate: -6.913373 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 52.934444 deg,
      new cmd heading: 52.934444 deg.

2021-01-27T17:59:09.135Z,1611770349.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:09.902Z,1611770349.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:10.310Z,1611770350.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:11.149Z,1611770351.149 [Micromodem](INFO): Nmea in: $SNTTA,0.314784,,,0.317303,175911.32*5D

2021-01-27T17:59:11.545Z,1611770351.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 472.199982 m, bearing: 34.498032 deg, deltaT: 4.884870 s, approachRate: 0.245659 m/s, LOS rate: 3.121716 deg/s, posRepo size: 4
2021-01-27T17:59:11.547Z,1611770351.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 472.199982 m,
      bearing: 34.498032 deg,
      approachRate: 0.245659 m/s,
      LOS rate: 3.121716 deg/s,
      cmd update: 9.365149 deg/s,
      cmd heading: 354.301698 deg,
      new cmd heading: 349.971450 deg.

2021-01-27T17:59:14.009Z,1611770354.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:14.788Z,1611770354.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:15.156Z,1611770355.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:15.994Z,1611770355.994 [Micromodem](INFO): Nmea in: $SNTTA,0.315619,,,,175916.20*46

2021-01-27T17:59:16.415Z,1611770356.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 472.199982 m, bearing: 341.828346 deg, deltaT: 4.900069 s, approachRate: 0.000000 m/s, LOS rate: -10.748763 deg/s, posRepo size: 4
2021-01-27T17:59:16.417Z,1611770356.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 472.199982 m,
      bearing: 341.828346 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.748763 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 40.154151 deg,
      new cmd heading: 43.286625 deg.

2021-01-27T17:59:18.853Z,1611770358.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:19.632Z,1611770359.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:20.013Z,1611770360.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:20.920Z,1611770360.920 [Micromodem](INFO): Nmea in: $SNTTA,0.316080,,,,175921.05*40

2021-01-27T17:59:21.315Z,1611770361.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 474.359985 m, bearing: 12.215187 deg, deltaT: 4.914038 s, approachRate: 0.439558 m/s, LOS rate: 6.183681 deg/s, posRepo size: 4
2021-01-27T17:59:21.323Z,1611770361.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 474.359985 m,
      bearing: 12.215187 deg,
      approachRate: 0.439558 m/s,
      LOS rate: 6.183681 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 341.188356 deg,
      new cmd heading: 337.361424 deg.

2021-01-27T17:59:23.771Z,1611770363.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:24.502Z,1611770364.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:24.904Z,1611770364.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:25.746Z,1611770365.746 [Micromodem](INFO): Nmea in: $SNTTA,0.316168,,,,175925.91*4E

2021-01-27T17:59:26.146Z,1611770366.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 474.359985 m, bearing: 48.096112 deg, deltaT: 4.844692 s, approachRate: 0.000000 m/s, LOS rate: 7.406235 deg/s, posRepo size: 4
2021-01-27T17:59:26.148Z,1611770366.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 474.359985 m,
      bearing: 48.096112 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.406235 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 39.326965 deg,
      new cmd heading: 43.008085 deg.

2021-01-27T17:59:28.553Z,1611770368.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:29.333Z,1611770369.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:29.757Z,1611770369.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:30.582Z,1611770370.582 [Micromodem](INFO): Nmea in: $SNTTA,0.315970,,,,175930.74*43

2021-01-27T17:59:30.583Z,1611770370.583 [PowerOnly](INFO): Powering down loadControl
2021-01-27T17:59:31.018Z,1611770371.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.880005 m, bearing: 37.086004 deg, deltaT: 4.754259 s, approachRate: -0.100958 m/s, LOS rate: -2.315841 deg/s, posRepo size: 4
2021-01-27T17:59:31.020Z,1611770371.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.880005 m,
      bearing: 37.086004 deg,
      approachRate: -0.100958 m/s,
      LOS rate: -2.315841 deg/s,
      cmd update: -6.947523 deg/s,
      cmd heading: 96.426712 deg,
      new cmd heading: 101.470432 deg.

2021-01-27T17:59:33.214Z,1611770373.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:34.094Z,1611770374.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:34.540Z,1611770374.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:35.404Z,1611770375.404 [Micromodem](INFO): Nmea in: $SNTTA,0.315550,,,,175935.51*4F

2021-01-27T17:59:35.835Z,1611770375.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.220001 m, bearing: 85.194493 deg, deltaT: 4.855344 s, approachRate: -0.135933 m/s, LOS rate: 9.908358 deg/s, posRepo size: 4
2021-01-27T17:59:35.842Z,1611770375.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.220001 m,
      bearing: 85.194493 deg,
      approachRate: -0.135933 m/s,
      LOS rate: 9.908358 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 62.734241 deg,
      new cmd heading: 60.038150 deg.

2021-01-27T17:59:38.173Z,1611770378.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:38.966Z,1611770378.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:39.456Z,1611770379.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:40.284Z,1611770380.284 [Micromodem](INFO): Nmea in: $SNTTA,0.314586,,,,175940.38*48

2021-01-27T17:59:40.767Z,1611770380.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 471.659973 m, bearing: 75.215894 deg, deltaT: 4.882442 s, approachRate: -0.319518 m/s, LOS rate: -2.043772 deg/s, posRepo size: 4
2021-01-27T17:59:40.774Z,1611770380.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 471.659973 m,
      bearing: 75.215894 deg,
      approachRate: -0.319518 m/s,
      LOS rate: -2.043772 deg/s,
      cmd update: -6.131317 deg/s,
      cmd heading: 121.023906 deg,
      new cmd heading: 126.569454 deg.

2021-01-27T17:59:42.856Z,1611770382.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:43.514Z,1611770383.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:43.936Z,1611770383.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:44.808Z,1611770384.808 [Micromodem](INFO): Nmea in: $SNTTA,0.313542,,,,175944.93*42

2021-01-27T17:59:45.178Z,1611770385.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 470.160004 m, bearing: 76.394798 deg, deltaT: 4.578520 s, approachRate: -0.327610 m/s, LOS rate: 0.257486 deg/s, posRepo size: 4
2021-01-27T17:59:45.179Z,1611770385.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 470.160004 m,
      bearing: 76.394798 deg,
      approachRate: -0.327610 m/s,
      LOS rate: 0.257486 deg/s,
      cmd update: 0.772458 deg/s,
      cmd heading: 92.814136 deg,
      new cmd heading: 91.147785 deg.

2021-01-27T17:59:47.892Z,1611770387.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:48.590Z,1611770388.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:49.049Z,1611770389.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:49.884Z,1611770389.884 [Micromodem](INFO): Nmea in: $SNTTA,0.312020,,,,175950.00*4D

2021-01-27T17:59:50.372Z,1611770390.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 467.879974 m, bearing: 75.471644 deg, deltaT: 5.116912 s, approachRate: -0.445587 m/s, LOS rate: -0.180412 deg/s, posRepo size: 4
2021-01-27T17:59:50.374Z,1611770390.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 467.879974 m,
      bearing: 75.471644 deg,
      approachRate: -0.445587 m/s,
      LOS rate: -0.180412 deg/s,
      cmd update: -0.541237 deg/s,
      cmd heading: 96.766861 deg,
      new cmd heading: 97.036633 deg.

2021-01-27T17:59:52.866Z,1611770392.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:53.554Z,1611770393.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:53.960Z,1611770393.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:54.828Z,1611770394.828 [Micromodem](INFO): Nmea in: $SNTTA,0.310429,,,,175954.97*48

2021-01-27T17:59:55.263Z,1611770395.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 465.660004 m, bearing: 77.469426 deg, deltaT: 4.904663 s, approachRate: -0.452624 m/s, LOS rate: 0.407323 deg/s, posRepo size: 4
2021-01-27T17:59:55.274Z,1611770395.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 465.660004 m,
      bearing: 77.469426 deg,
      approachRate: -0.452624 m/s,
      LOS rate: 0.407323 deg/s,
      cmd update: 1.221969 deg/s,
      cmd heading: 94.112246 deg,
      new cmd heading: 93.930409 deg.

2021-01-27T17:59:56.037Z,1611770396.037 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T17:59:57.444Z,1611770397.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T17:59:58.180Z,1611770398.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T17:59:58.607Z,1611770398.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T17:59:59.458Z,1611770399.458 [Micromodem](INFO): Nmea in: $SNTTA,0.309405,,,,175959.59*41

2021-01-27T17:59:59.965Z,1611770399.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 463.859985 m, bearing: 72.449333 deg, deltaT: 4.624492 s, approachRate: -0.389236 m/s, LOS rate: -1.085545 deg/s, posRepo size: 4
2021-01-27T17:59:59.967Z,1611770399.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 463.859985 m,
      bearing: 72.449333 deg,
      approachRate: -0.389236 m/s,
      LOS rate: -1.085545 deg/s,
      cmd update: -3.256634 deg/s,
      cmd heading: 99.748468 deg,
      new cmd heading: 100.268348 deg.

2021-01-27T18:00:02.293Z,1611770402.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:03.055Z,1611770403.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:03.448Z,1611770403.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:04.316Z,1611770404.316 [Micromodem](INFO): Nmea in: $SNTTA,0.308362,,,,180004.47*42

2021-01-27T18:00:04.741Z,1611770404.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.359985 m, bearing: 72.683957 deg, deltaT: 4.779410 s, approachRate: -0.313846 m/s, LOS rate: 0.049091 deg/s, posRepo size: 4
2021-01-27T18:00:04.750Z,1611770404.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 462.359985 m,
      bearing: 72.683957 deg,
      approachRate: -0.313846 m/s,
      LOS rate: 0.049091 deg/s,
      cmd update: 0.147272 deg/s,
      cmd heading: 84.118808 deg,
      new cmd heading: 82.894796 deg.

2021-01-27T18:00:07.137Z,1611770407.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:07.891Z,1611770407.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:08.314Z,1611770408.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:09.164Z,1611770409.164 [Micromodem](INFO): Nmea in: $SNTTA,0.307463,,,,180009.31*47

2021-01-27T18:00:09.535Z,1611770409.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 460.920013 m, bearing: 72.591128 deg, deltaT: 4.910786 s, approachRate: -0.293226 m/s, LOS rate: -0.018903 deg/s, posRepo size: 4
2021-01-27T18:00:09.537Z,1611770409.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 460.920013 m,
      bearing: 72.591128 deg,
      approachRate: -0.293226 m/s,
      LOS rate: -0.018903 deg/s,
      cmd update: -0.056709 deg/s,
      cmd heading: 84.841469 deg,
      new cmd heading: 84.884021 deg.

2021-01-27T18:00:11.989Z,1611770411.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:12.752Z,1611770412.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:13.230Z,1611770413.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:13.992Z,1611770413.992 [Micromodem](INFO): Nmea in: $SNTTA,0.306091,,,,180014.17*47

2021-01-27T18:00:14.411Z,1611770414.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 458.940002 m, bearing: 73.774547 deg, deltaT: 4.793566 s, approachRate: -0.413056 m/s, LOS rate: 0.246877 deg/s, posRepo size: 4
2021-01-27T18:00:14.429Z,1611770414.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 458.940002 m,
      bearing: 73.774547 deg,
      approachRate: -0.413056 m/s,
      LOS rate: 0.246877 deg/s,
      cmd update: 0.740630 deg/s,
      cmd heading: 84.569406 deg,
      new cmd heading: 84.548567 deg.

2021-01-27T18:00:16.863Z,1611770416.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:17.630Z,1611770417.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:18.032Z,1611770418.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:18.900Z,1611770418.900 [Micromodem](INFO): Nmea in: $SNTTA,0.304757,,,,180019.04*47

2021-01-27T18:00:19.366Z,1611770419.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 456.899994 m, bearing: 76.146815 deg, deltaT: 4.973852 s, approachRate: -0.410147 m/s, LOS rate: 0.476948 deg/s, posRepo size: 4
2021-01-27T18:00:19.368Z,1611770419.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.899994 m,
      bearing: 76.146815 deg,
      approachRate: -0.410147 m/s,
      LOS rate: 0.476948 deg/s,
      cmd update: 1.430844 deg/s,
      cmd heading: 88.244217 deg,
      new cmd heading: 88.511334 deg.

2021-01-27T18:00:21.871Z,1611770421.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:22.612Z,1611770422.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:23.023Z,1611770423.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:23.867Z,1611770423.867 [Micromodem](INFO): Nmea in: $SNTTA,0.303600,,,,180024.02*4B

2021-01-27T18:00:24.279Z,1611770424.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.160004 m, bearing: 77.498632 deg, deltaT: 4.938377 s, approachRate: -0.352340 m/s, LOS rate: 0.273737 deg/s, posRepo size: 4
2021-01-27T18:00:24.297Z,1611770424.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.160004 m,
      bearing: 77.498632 deg,
      approachRate: -0.352340 m/s,
      LOS rate: 0.273737 deg/s,
      cmd update: 0.821212 deg/s,
      cmd heading: 95.321568 deg,
      new cmd heading: 95.789280 deg.

2021-01-27T18:00:26.747Z,1611770426.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:27.468Z,1611770427.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:27.864Z,1611770427.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:28.718Z,1611770428.718 [Micromodem](INFO): Nmea in: $SNTTA,0.302220,,,,180028.88*42

2021-01-27T18:00:29.153Z,1611770429.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 453.359985 m, bearing: 77.402443 deg, deltaT: 4.939530 s, approachRate: -0.364411 m/s, LOS rate: -0.019473 deg/s, posRepo size: 4
2021-01-27T18:00:29.155Z,1611770429.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 453.359985 m,
      bearing: 77.402443 deg,
      approachRate: -0.364411 m/s,
      LOS rate: -0.019473 deg/s,
      cmd update: -0.058420 deg/s,
      cmd heading: 99.377980 deg,
      new cmd heading: 99.593304 deg.

2021-01-27T18:00:31.533Z,1611770431.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:32.322Z,1611770432.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:32.782Z,1611770432.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:33.558Z,1611770433.558 [Micromodem](INFO): Nmea in: $SNTTA,0.300858,,,,180033.73*4B

2021-01-27T18:00:34.062Z,1611770434.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 451.019958 m, bearing: 76.881791 deg, deltaT: 4.677173 s, approachRate: -0.500308 m/s, LOS rate: -0.111318 deg/s, posRepo size: 4
2021-01-27T18:00:34.080Z,1611770434.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 451.019958 m,
      bearing: 76.881791 deg,
      approachRate: -0.500308 m/s,
      LOS rate: -0.111318 deg/s,
      cmd update: -0.333953 deg/s,
      cmd heading: 99.104487 deg,
      new cmd heading: 99.075911 deg.

2021-01-27T18:00:36.373Z,1611770436.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:37.154Z,1611770437.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:37.598Z,1611770437.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:38.428Z,1611770438.428 [Micromodem](INFO): Nmea in: $SNTTA,0.299397,,,,180038.57*4F

2021-01-27T18:00:38.854Z,1611770438.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 449.100006 m, bearing: 76.594370 deg, deltaT: 4.890599 s, approachRate: -0.392580 m/s, LOS rate: -0.058770 deg/s, posRepo size: 4
2021-01-27T18:00:38.857Z,1611770438.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 449.100006 m,
      bearing: 76.594370 deg,
      approachRate: -0.392580 m/s,
      LOS rate: -0.058770 deg/s,
      cmd update: -0.176310 deg/s,
      cmd heading: 97.472607 deg,
      new cmd heading: 97.340643 deg.

2021-01-27T18:00:41.213Z,1611770441.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:42.007Z,1611770442.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:42.420Z,1611770442.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:43.254Z,1611770443.254 [Micromodem](INFO): Nmea in: $SNTTA,0.298278,,,,180043.42*46

2021-01-27T18:00:43.659Z,1611770443.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 447.479980 m, bearing: 74.582981 deg, deltaT: 4.815161 s, approachRate: -0.336443 m/s, LOS rate: -0.417720 deg/s, posRepo size: 4
2021-01-27T18:00:43.661Z,1611770443.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 447.479980 m,
      bearing: 74.582981 deg,
      approachRate: -0.336443 m/s,
      LOS rate: -0.417720 deg/s,
      cmd update: -1.253159 deg/s,
      cmd heading: 96.622970 deg,
      new cmd heading: 96.555782 deg.

2021-01-27T18:00:46.188Z,1611770446.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:46.866Z,1611770446.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:47.279Z,1611770447.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:48.092Z,1611770448.092 [Micromodem](INFO): Nmea in: $SNTTA,0.297034,,,,180048.28*44

2021-01-27T18:00:48.102Z,1611770448.102 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:00:48.497Z,1611770448.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 445.320007 m, bearing: 75.809677 deg, deltaT: 4.876433 s, approachRate: -0.442941 m/s, LOS rate: 0.251556 deg/s, posRepo size: 4
2021-01-27T18:00:48.498Z,1611770448.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 445.320007 m,
      bearing: 75.809677 deg,
      approachRate: -0.442941 m/s,
      LOS rate: 0.251556 deg/s,
      cmd update: 0.754667 deg/s,
      cmd heading: 90.518241 deg,
      new cmd heading: 90.083930 deg.

2021-01-27T18:00:50.965Z,1611770450.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:51.725Z,1611770451.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:52.116Z,1611770452.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:52.937Z,1611770452.937 [Micromodem](INFO): Nmea in: $SNTTA,0.295481,,,,180053.14*49

2021-01-27T18:00:53.359Z,1611770453.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 443.099976 m, bearing: 74.996864 deg, deltaT: 4.832939 s, approachRate: -0.459354 m/s, LOS rate: -0.168182 deg/s, posRepo size: 4
2021-01-27T18:00:53.361Z,1611770453.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 443.099976 m,
      bearing: 74.996864 deg,
      approachRate: -0.459354 m/s,
      LOS rate: -0.168182 deg/s,
      cmd update: -0.504546 deg/s,
      cmd heading: 94.169327 deg,
      new cmd heading: 94.449652 deg.

2021-01-27T18:00:55.778Z,1611770455.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:00:56.551Z,1611770456.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:00:56.993Z,1611770456.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:00:57.804Z,1611770457.804 [Micromodem](INFO): Nmea in: $SNTTA,0.294062,,0.295225,0.292911,180057.96*44

2021-01-27T18:00:58.227Z,1611770458.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 440.879974 m, bearing: 74.660572 deg, deltaT: 4.841569 s, approachRate: -0.458529 m/s, LOS rate: -0.069459 deg/s, posRepo size: 4
2021-01-27T18:00:58.229Z,1611770458.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 440.879974 m,
      bearing: 74.660572 deg,
      approachRate: -0.458529 m/s,
      LOS rate: -0.069459 deg/s,
      cmd update: -0.208377 deg/s,
      cmd heading: 91.726587 deg,
      new cmd heading: 91.525764 deg.

2021-01-27T18:01:00.648Z,1611770460.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:01.406Z,1611770461.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:01.804Z,1611770461.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:02.722Z,1611770462.722 [Micromodem](INFO): Nmea in: $SNTTA,0.292545,,,,180102.82*4D

2021-01-27T18:01:03.078Z,1611770463.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 438.839966 m, bearing: 75.928693 deg, deltaT: 4.949705 s, approachRate: -0.412147 m/s, LOS rate: 0.256201 deg/s, posRepo size: 4
2021-01-27T18:01:03.080Z,1611770463.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 438.839966 m,
      bearing: 75.928693 deg,
      approachRate: -0.412147 m/s,
      LOS rate: 0.256201 deg/s,
      cmd update: 0.768604 deg/s,
      cmd heading: 90.695188 deg,
      new cmd heading: 90.632852 deg.

2021-01-27T18:01:05.455Z,1611770465.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:06.254Z,1611770466.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:06.652Z,1611770466.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:07.509Z,1611770467.509 [Micromodem](INFO): Nmea in: $SNTTA,0.291224,,,,180107.67*40

2021-01-27T18:01:07.942Z,1611770467.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 436.860016 m, bearing: 75.609108 deg, deltaT: 4.744614 s, approachRate: -0.417305 m/s, LOS rate: -0.067357 deg/s, posRepo size: 4
2021-01-27T18:01:07.943Z,1611770467.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.860016 m,
      bearing: 75.609108 deg,
      approachRate: -0.417305 m/s,
      LOS rate: -0.067357 deg/s,
      cmd update: -0.202072 deg/s,
      cmd heading: 94.341936 deg,
      new cmd heading: 94.663296 deg.

2021-01-27T18:01:10.338Z,1611770470.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:11.151Z,1611770471.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:11.528Z,1611770471.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:11.983Z,1611770471.983 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:01:12.323Z,1611770472.323 [Micromodem](INFO): Nmea in: $SNTTA,0.289744,,,,180112.56*4C

2021-01-27T18:01:12.786Z,1611770472.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 433.979980 m, bearing: 74.131854 deg, deltaT: 4.858544 s, approachRate: -0.592777 m/s, LOS rate: -0.304053 deg/s, posRepo size: 4
2021-01-27T18:01:12.788Z,1611770472.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 433.979980 m,
      bearing: 74.131854 deg,
      approachRate: -0.592777 m/s,
      LOS rate: -0.304053 deg/s,
      cmd update: -0.912158 deg/s,
      cmd heading: 93.360993 deg,
      new cmd heading: 93.278525 deg.

2021-01-27T18:01:15.158Z,1611770475.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:15.962Z,1611770475.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:16.365Z,1611770476.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:17.176Z,1611770477.176 [Micromodem](INFO): Nmea in: $SNTTA,0.288555,,,,180117.38*42

2021-01-27T18:01:17.601Z,1611770477.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 432.600006 m, bearing: 75.360407 deg, deltaT: 4.832897 s, approachRate: -0.285538 m/s, LOS rate: 0.254206 deg/s, posRepo size: 4
2021-01-27T18:01:17.623Z,1611770477.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 432.600006 m,
      bearing: 75.360407 deg,
      approachRate: -0.285538 m/s,
      LOS rate: 0.254206 deg/s,
      cmd update: 0.762619 deg/s,
      cmd heading: 88.952792 deg,
      new cmd heading: 88.596431 deg.

2021-01-27T18:01:20.038Z,1611770480.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:20.798Z,1611770480.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:21.208Z,1611770481.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:22.048Z,1611770482.048 [Micromodem](INFO): Nmea in: $SNTTA,0.287554,,,,180122.21*42

2021-01-27T18:01:22.087Z,1611770482.087 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:01:22.451Z,1611770482.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 431.100006 m, bearing: 73.666964 deg, deltaT: 4.909520 s, approachRate: -0.305529 m/s, LOS rate: -0.344930 deg/s, posRepo size: 4
2021-01-27T18:01:22.453Z,1611770482.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 431.100006 m,
      bearing: 73.666964 deg,
      approachRate: -0.305529 m/s,
      LOS rate: -0.344930 deg/s,
      cmd update: -1.034791 deg/s,
      cmd heading: 92.697209 deg,
      new cmd heading: 92.949393 deg.

2021-01-27T18:01:24.914Z,1611770484.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:25.665Z,1611770485.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:26.052Z,1611770486.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:26.967Z,1611770486.967 [Micromodem](INFO): Nmea in: $SNTTA,0.286045,,,,180127.08*48

2021-01-27T18:01:27.300Z,1611770487.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 428.760010 m, bearing: 74.086980 deg, deltaT: 4.914584 s, approachRate: -0.476133 m/s, LOS rate: 0.085463 deg/s, posRepo size: 4
2021-01-27T18:01:27.303Z,1611770487.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.760010 m,
      bearing: 74.086980 deg,
      approachRate: -0.476133 m/s,
      LOS rate: 0.085463 deg/s,
      cmd update: 0.256389 deg/s,
      cmd heading: 87.624085 deg,
      new cmd heading: 87.337900 deg.

2021-01-27T18:01:29.699Z,1611770489.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:30.486Z,1611770490.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:30.892Z,1611770490.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:31.754Z,1611770491.754 [Micromodem](INFO): Nmea in: $SNTTA,0.284678,,,,180131.90*44

2021-01-27T18:01:32.203Z,1611770492.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 426.720001 m, bearing: 73.095776 deg, deltaT: 4.827211 s, approachRate: -0.422606 m/s, LOS rate: -0.205337 deg/s, posRepo size: 4
2021-01-27T18:01:32.205Z,1611770492.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 426.720001 m,
      bearing: 73.095776 deg,
      approachRate: -0.422606 m/s,
      LOS rate: -0.205337 deg/s,
      cmd update: -0.616010 deg/s,
      cmd heading: 88.859667 deg,
      new cmd heading: 88.952153 deg.

2021-01-27T18:01:34.558Z,1611770494.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:35.342Z,1611770495.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:35.870Z,1611770495.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:36.632Z,1611770496.632 [Micromodem](INFO): Nmea in: $SNTTA,0.283006,,,,180136.76*43

2021-01-27T18:01:37.038Z,1611770497.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 424.259979 m, bearing: 72.986889 deg, deltaT: 4.897672 s, approachRate: -0.502284 m/s, LOS rate: -0.022232 deg/s, posRepo size: 4
2021-01-27T18:01:37.044Z,1611770497.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 424.259979 m,
      bearing: 72.986889 deg,
      approachRate: -0.502284 m/s,
      LOS rate: -0.022232 deg/s,
      cmd update: -0.066697 deg/s,
      cmd heading: 85.827890 deg,
      new cmd heading: 85.658994 deg.

2021-01-27T18:01:39.442Z,1611770499.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:40.198Z,1611770500.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:40.604Z,1611770500.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:41.436Z,1611770501.436 [Micromodem](INFO): Nmea in: $SNTTA,0.281459,,,,180141.61*49

2021-01-27T18:01:41.893Z,1611770501.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 422.219971 m, bearing: 76.150312 deg, deltaT: 4.715358 s, approachRate: -0.432631 m/s, LOS rate: 0.670876 deg/s, posRepo size: 4
2021-01-27T18:01:41.895Z,1611770501.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 422.219971 m,
      bearing: 76.150312 deg,
      approachRate: -0.432631 m/s,
      LOS rate: 0.670876 deg/s,
      cmd update: 2.012629 deg/s,
      cmd heading: 85.513928 deg,
      new cmd heading: 85.485839 deg.

2021-01-27T18:01:44.249Z,1611770504.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:45.034Z,1611770505.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:45.448Z,1611770505.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:46.280Z,1611770506.280 [Micromodem](INFO): Nmea in: $SNTTA,0.280320,,,,180146.45*40

2021-01-27T18:01:46.683Z,1611770506.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 420.479980 m, bearing: 74.005400 deg, deltaT: 4.860807 s, approachRate: -0.357963 m/s, LOS rate: -0.441267 deg/s, posRepo size: 4
2021-01-27T18:01:46.692Z,1611770506.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 420.479980 m,
      bearing: 74.005400 deg,
      approachRate: -0.357963 m/s,
      LOS rate: -0.441267 deg/s,
      cmd update: -1.323800 deg/s,
      cmd heading: 95.295346 deg,
      new cmd heading: 96.003852 deg.

2021-01-27T18:01:49.182Z,1611770509.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:49.890Z,1611770509.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:50.292Z,1611770510.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:51.132Z,1611770511.132 [Micromodem](INFO): Nmea in: $SNTTA,0.278726,,,,180151.30*41

2021-01-27T18:01:51.631Z,1611770511.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 417.839966 m, bearing: 73.830875 deg, deltaT: 4.889650 s, approachRate: -0.539919 m/s, LOS rate: -0.035693 deg/s, posRepo size: 4
2021-01-27T18:01:51.633Z,1611770511.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 417.839966 m,
      bearing: 73.830875 deg,
      approachRate: -0.539919 m/s,
      LOS rate: -0.035693 deg/s,
      cmd update: -0.107078 deg/s,
      cmd heading: 88.836224 deg,
      new cmd heading: 88.280040 deg.

2021-01-27T18:01:54.025Z,1611770514.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:54.758Z,1611770514.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:01:55.156Z,1611770515.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:01:55.994Z,1611770515.994 [Micromodem](INFO): Nmea in: $SNTTA,0.277489,,,,180156.17*4A

2021-01-27T18:01:56.461Z,1611770516.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 416.279999 m, bearing: 75.046594 deg, deltaT: 4.927385 s, approachRate: -0.316591 m/s, LOS rate: 0.246727 deg/s, posRepo size: 4
2021-01-27T18:01:56.463Z,1611770516.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 416.279999 m,
      bearing: 75.046594 deg,
      approachRate: -0.316591 m/s,
      LOS rate: 0.246727 deg/s,
      cmd update: 0.740181 deg/s,
      cmd heading: 88.310018 deg,
      new cmd heading: 88.275340 deg.

2021-01-27T18:01:58.870Z,1611770518.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:01:59.584Z,1611770519.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:00.011Z,1611770520.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:00.033Z,1611770520.033 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:02:00.860Z,1611770520.860 [Micromodem](INFO): Nmea in: $SNTTA,0.276393,,,,180201.00*40

2021-01-27T18:02:01.271Z,1611770521.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 414.359985 m, bearing: 74.552259 deg, deltaT: 4.773530 s, approachRate: -0.402221 m/s, LOS rate: -0.103558 deg/s, posRepo size: 4
2021-01-27T18:02:01.279Z,1611770521.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 414.359985 m,
      bearing: 74.552259 deg,
      approachRate: -0.402221 m/s,
      LOS rate: -0.103558 deg/s,
      cmd update: -0.310673 deg/s,
      cmd heading: 91.864332 deg,
      new cmd heading: 92.118642 deg.

2021-01-27T18:02:03.664Z,1611770523.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:04.457Z,1611770524.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:04.871Z,1611770524.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:05.664Z,1611770525.664 [Micromodem](INFO): Nmea in: $SNTTA,0.274906,,,,180205.87*4F

2021-01-27T18:02:06.106Z,1611770526.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 412.379974 m, bearing: 76.655309 deg, deltaT: 4.821385 s, approachRate: -0.410673 m/s, LOS rate: 0.436192 deg/s, posRepo size: 4
2021-01-27T18:02:06.108Z,1611770526.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 412.379974 m,
      bearing: 76.655309 deg,
      approachRate: -0.410673 m/s,
      LOS rate: 0.436192 deg/s,
      cmd update: 1.308576 deg/s,
      cmd heading: 90.366408 deg,
      new cmd heading: 90.255281 deg.

2021-01-27T18:02:08.494Z,1611770528.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:09.282Z,1611770529.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:09.696Z,1611770529.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:10.524Z,1611770530.524 [Micromodem](INFO): Nmea in: $SNTTA,0.273073,,,,180210.69*47

2021-01-27T18:02:10.967Z,1611770530.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 409.379974 m, bearing: 74.547212 deg, deltaT: 4.794544 s, approachRate: -0.625711 m/s, LOS rate: -0.439687 deg/s, posRepo size: 4
2021-01-27T18:02:10.977Z,1611770530.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 409.379974 m,
      bearing: 74.547212 deg,
      approachRate: -0.625711 m/s,
      LOS rate: -0.439687 deg/s,
      cmd update: -1.319060 deg/s,
      cmd heading: 96.635165 deg,
      new cmd heading: 97.195030 deg.

2021-01-27T18:02:13.056Z,1611770533.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:13.774Z,1611770533.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:14.160Z,1611770534.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:14.966Z,1611770534.966 [Micromodem](INFO): Nmea in: $SNTTA,0.272270,,,,180215.19*45

2021-01-27T18:02:15.402Z,1611770535.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 408.119995 m, bearing: 75.609696 deg, deltaT: 4.549447 s, approachRate: -0.276952 m/s, LOS rate: 0.233541 deg/s, posRepo size: 4
2021-01-27T18:02:15.404Z,1611770535.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 408.119995 m,
      bearing: 75.609696 deg,
      approachRate: -0.276952 m/s,
      LOS rate: 0.233541 deg/s,
      cmd update: 0.700624 deg/s,
      cmd heading: 90.629080 deg,
      new cmd heading: 90.219742 deg.

2021-01-27T18:02:17.937Z,1611770537.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:18.586Z,1611770538.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:18.992Z,1611770538.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:19.880Z,1611770539.880 [Micromodem](INFO): Nmea in: $SNTTA,0.270471,,,,180220.00*4E

2021-01-27T18:02:20.243Z,1611770540.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 406.019958 m, bearing: 76.537775 deg, deltaT: 4.916071 s, approachRate: -0.427178 m/s, LOS rate: 0.188785 deg/s, posRepo size: 4
2021-01-27T18:02:20.250Z,1611770540.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 406.019958 m,
      bearing: 76.537775 deg,
      approachRate: -0.427178 m/s,
      LOS rate: 0.188785 deg/s,
      cmd update: 0.566354 deg/s,
      cmd heading: 94.070410 deg,
      new cmd heading: 94.238251 deg.

2021-01-27T18:02:22.666Z,1611770542.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:23.434Z,1611770543.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:23.844Z,1611770543.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:24.672Z,1611770544.672 [Micromodem](INFO): Nmea in: $SNTTA,0.269803,,,,180224.85*46

2021-01-27T18:02:25.261Z,1611770545.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 404.519989 m, bearing: 76.281206 deg, deltaT: 4.789896 s, approachRate: -0.313153 m/s, LOS rate: -0.053565 deg/s, posRepo size: 4
2021-01-27T18:02:25.263Z,1611770545.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 404.519989 m,
      bearing: 76.281206 deg,
      approachRate: -0.313153 m/s,
      LOS rate: -0.053565 deg/s,
      cmd update: -0.160694 deg/s,
      cmd heading: 96.781123 deg,
      new cmd heading: 97.045293 deg.

2021-01-27T18:02:27.525Z,1611770547.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:28.290Z,1611770548.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:28.785Z,1611770548.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:29.528Z,1611770549.528 [Micromodem](INFO): Nmea in: $SNTTA,0.267747,,,,180229.70*40

2021-01-27T18:02:29.983Z,1611770549.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 401.399994 m, bearing: 75.256786 deg, deltaT: 4.764498 s, approachRate: -0.654842 m/s, LOS rate: -0.215011 deg/s, posRepo size: 4
2021-01-27T18:02:29.985Z,1611770549.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 401.399994 m,
      bearing: 75.256786 deg,
      approachRate: -0.654842 m/s,
      LOS rate: -0.215011 deg/s,
      cmd update: -0.645033 deg/s,
      cmd heading: 96.013586 deg,
      new cmd heading: 95.946622 deg.

2021-01-27T18:02:32.360Z,1611770552.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:33.142Z,1611770553.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:33.553Z,1611770553.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:34.380Z,1611770554.380 [Micromodem](INFO): Nmea in: $SNTTA,0.266332,,,,180234.55*4C

2021-01-27T18:02:34.886Z,1611770554.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 399.239960 m, bearing: 75.569862 deg, deltaT: 4.848086 s, approachRate: -0.445544 m/s, LOS rate: 0.064577 deg/s, posRepo size: 4
2021-01-27T18:02:34.888Z,1611770554.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.239960 m,
      bearing: 75.569862 deg,
      approachRate: -0.445544 m/s,
      LOS rate: 0.064577 deg/s,
      cmd update: 0.193731 deg/s,
      cmd heading: 92.899313 deg,
      new cmd heading: 92.582364 deg.

2021-01-27T18:02:36.359Z,1611770556.359 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-01-27T18:02:36.362Z,1611770556.362 [BPC1](INFO): Received data from all battery sticks.
2021-01-27T18:02:37.201Z,1611770557.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:37.990Z,1611770557.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:38.413Z,1611770558.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:39.225Z,1611770559.225 [Micromodem](INFO): Nmea in: $SNTTA,0.265005,,,,180239.40*41

2021-01-27T18:02:39.639Z,1611770559.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 397.260010 m, bearing: 79.421638 deg, deltaT: 4.852253 s, approachRate: -0.408048 m/s, LOS rate: 0.793812 deg/s, posRepo size: 4
2021-01-27T18:02:39.641Z,1611770559.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.260010 m,
      bearing: 79.421638 deg,
      approachRate: -0.408048 m/s,
      LOS rate: 0.793812 deg/s,
      cmd update: 2.381436 deg/s,
      cmd heading: 93.841753 deg,
      new cmd heading: 93.915365 deg.

2021-01-27T18:02:42.083Z,1611770562.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:42.863Z,1611770562.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:43.252Z,1611770563.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:44.066Z,1611770564.066 [Micromodem](INFO): Nmea in: $SNTTA,0.263790,,,,180244.27*47

2021-01-27T18:02:44.495Z,1611770564.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 395.399994 m, bearing: 78.589058 deg, deltaT: 4.855323 s, approachRate: -0.383088 m/s, LOS rate: -0.171478 deg/s, posRepo size: 4
2021-01-27T18:02:44.497Z,1611770564.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 395.399994 m,
      bearing: 78.589058 deg,
      approachRate: -0.383088 m/s,
      LOS rate: -0.171478 deg/s,
      cmd update: -0.514433 deg/s,
      cmd heading: 105.422874 deg,
      new cmd heading: 106.310912 deg.

2021-01-27T18:02:46.926Z,1611770566.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:47.694Z,1611770567.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:47.805Z,1611770567.805 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T18:02:47.805Z,1611770567.805 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T18:02:47.806Z,1611770567.806 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T18:02:47.806Z,1611770567.806 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T18:02:47.806Z,1611770567.806 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T18:02:47.806Z,1611770567.806 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T18:02:47.807Z,1611770567.807 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-01-27T18:02:48.228Z,1611770568.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:02:48.311Z,1611770568.311 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A81160040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-01-27T18:02:48.312Z,1611770568.312 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2021-01-27T18:02:48.313Z,1611770568.313 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F34EE6423AB8D6972A115B4BC9111403F8D0DDCB0AC0755B9A4B755B6811B7993B243C000
2021-01-27T18:02:48.313Z,1611770568.313 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-27T18:02:48.408Z,1611770568.408 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T18:02:48.408Z,1611770568.408 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T18:02:48.408Z,1611770568.408 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T18:02:48.409Z,1611770568.409 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T18:02:48.409Z,1611770568.409 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T18:02:48.626Z,1611770568.626 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-27T18:02:48.627Z,1611770568.627 [Micromodem](INFO): Nmea in: $CADRQ,180249,1,10,0,64,1*70

2021-01-27T18:02:48.648Z,1611770568.648 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A81160040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*45

2021-01-27T18:02:49.087Z,1611770569.087 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:02:49.089Z,1611770569.089 [Micromodem](INFO): Nmea in: $CADRQ,180250,1,10,0,64,2*7B

2021-01-27T18:02:49.089Z,1611770569.089 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*46

2021-01-27T18:02:49.497Z,1611770569.497 [Micromodem](INFO): Nmea in: $SNTTA,0.262562,,,,180249.12*42

2021-01-27T18:02:49.497Z,1611770569.497 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.262562,,,,180249.12*42

2021-01-27T18:02:49.524Z,1611770569.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 393.600006 m, bearing: 66.591387 deg, deltaT: 5.104199 s, approachRate: -0.352648 m/s, LOS rate: -2.350549 deg/s, posRepo size: 4
2021-01-27T18:02:49.526Z,1611770569.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 393.600006 m,
      bearing: 66.591387 deg,
      approachRate: -0.352648 m/s,
      LOS rate: -2.350549 deg/s,
      cmd update: -7.051648 deg/s,
      cmd heading: 102.799170 deg,
      new cmd heading: 102.644073 deg.

2021-01-27T18:02:49.894Z,1611770569.894 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:02:50.297Z,1611770570.297 [Micromodem](INFO): Nmea in: $CADRQ,180250,1,10,0,64,3*7A

2021-01-27T18:02:50.297Z,1611770570.297 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F34EE6423AB8D6972A115B4BC9111403F8D0DDCB0AC0755B9A4B755B6811B7993B243C000*34

2021-01-27T18:02:50.717Z,1611770570.717 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,58*46

2021-01-27T18:02:50.728Z,1611770570.728 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2021-01-27T18:02:51.974Z,1611770571.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:52.718Z,1611770572.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:02:54.754Z,1611770574.754 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2021-01-27T18:02:54.754Z,1611770574.754 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2021-01-27T18:02:54.756Z,1611770574.756 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,180251.754525,3,0,200,4000,14500,1,1,10,1,3,3,3,186*72

2021-01-27T18:02:54.756Z,1611770574.756 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,180251.754525,3,0,200,4000,14500,1,1,10,1,3,3,3,186*72

2021-01-27T18:02:54.835Z,1611770574.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:02:57.573Z,1611770577.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:00.401Z,1611770580.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:03.253Z,1611770583.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:04.030Z,1611770584.030 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:04.432Z,1611770584.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:05.260Z,1611770585.260 [Micromodem](INFO): Nmea in: $SNTTA,0.258565,,,,180305.44*46

2021-01-27T18:03:05.723Z,1611770585.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 387.659973 m, bearing: 73.929360 deg, deltaT: 16.073750 s, approachRate: -0.369549 m/s, LOS rate: 0.456519 deg/s, posRepo size: 4
2021-01-27T18:03:05.726Z,1611770585.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 387.659973 m,
      bearing: 73.929360 deg,
      approachRate: -0.369549 m/s,
      LOS rate: 0.456519 deg/s,
      cmd update: 1.369557 deg/s,
      cmd heading: 349.430343 deg,
      new cmd heading: 346.444435 deg.

2021-01-27T18:03:08.085Z,1611770588.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:08.870Z,1611770588.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:09.276Z,1611770589.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:10.104Z,1611770590.104 [Micromodem](INFO): Nmea in: $SNTTA,0.257680,,,,180310.28*4F

2021-01-27T18:03:10.523Z,1611770590.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 386.459991 m, bearing: 37.813918 deg, deltaT: 4.863766 s, approachRate: -0.246719 m/s, LOS rate: -7.425407 deg/s, posRepo size: 4
2021-01-27T18:03:10.525Z,1611770590.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.459991 m,
      bearing: 37.813918 deg,
      approachRate: -0.246719 m/s,
      LOS rate: -7.425407 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 356.080477 deg,
      new cmd heading: 356.584476 deg.

2021-01-27T18:03:12.953Z,1611770592.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:13.758Z,1611770593.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:14.128Z,1611770594.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:14.942Z,1611770594.942 [Micromodem](INFO): Nmea in: $SNTTA,0.257486,,,,180315.17*42

2021-01-27T18:03:15.383Z,1611770595.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 386.279999 m, bearing: 4.610708 deg, deltaT: 4.866002 s, approachRate: -0.036990 m/s, LOS rate: -6.823509 deg/s, posRepo size: 4
2021-01-27T18:03:15.386Z,1611770595.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.279999 m,
      bearing: 4.610708 deg,
      approachRate: -0.036990 m/s,
      LOS rate: -6.823509 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 297.630023 deg,
      new cmd heading: 293.340467 deg.

2021-01-27T18:03:17.990Z,1611770597.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:18.719Z,1611770598.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:19.116Z,1611770599.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:19.963Z,1611770599.963 [Micromodem](INFO): Nmea in: $SNTTA,0.257786,,,,180320.13*43

2021-01-27T18:03:20.353Z,1611770600.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 386.699982 m, bearing: 34.521808 deg, deltaT: 4.991316 s, approachRate: 0.084143 m/s, LOS rate: 5.992628 deg/s, posRepo size: 4
2021-01-27T18:03:20.355Z,1611770600.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.699982 m,
      bearing: 34.521808 deg,
      approachRate: 0.084143 m/s,
      LOS rate: 5.992628 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.980770 deg,
      new cmd heading: 233.711110 deg.

2021-01-27T18:03:22.809Z,1611770602.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:23.554Z,1611770603.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:23.988Z,1611770603.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:24.813Z,1611770604.813 [Micromodem](INFO): Nmea in: $SNTTA,0.258952,,,,180324.97*43

2021-01-27T18:03:25.214Z,1611770605.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.500000 m, bearing: 2.157839 deg, deltaT: 4.826303 s, approachRate: 0.372960 m/s, LOS rate: -6.705748 deg/s, posRepo size: 4
2021-01-27T18:03:25.217Z,1611770605.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.500000 m,
      bearing: 2.157839 deg,
      approachRate: 0.372960 m/s,
      LOS rate: -6.705748 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 296.186544 deg,
      new cmd heading: 300.591612 deg.

2021-01-27T18:03:27.653Z,1611770607.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:28.406Z,1611770608.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:28.820Z,1611770608.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:29.705Z,1611770609.705 [Micromodem](INFO): Nmea in: $SNTTA,0.260477,,,,180329.82*4B

2021-01-27T18:03:30.062Z,1611770610.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 390.959991 m, bearing: 269.937545 deg, deltaT: 4.904150 s, approachRate: 0.501614 m/s, LOS rate: -18.804544 deg/s, posRepo size: 4
2021-01-27T18:03:30.063Z,1611770610.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.804544 deg/s. Setting heading cmd to target bearing of 269.937545deg and heading rate command to 0 deg/s.
2021-01-27T18:03:31.924Z,1611770611.924 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243431
2021-01-27T18:03:32.467Z,1611770612.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:33.254Z,1611770613.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:33.709Z,1611770613.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:34.500Z,1611770614.500 [Micromodem](INFO): Nmea in: $SNTTA,0.262733,,,,180334.67*4D

2021-01-27T18:03:34.954Z,1611770614.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 394.260010 m, bearing: 251.127969 deg, deltaT: 4.810243 s, approachRate: 0.686040 m/s, LOS rate: -3.910317 deg/s, posRepo size: 4
2021-01-27T18:03:34.960Z,1611770614.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.260010 m,
      bearing: 251.127969 deg,
      approachRate: 0.686040 m/s,
      LOS rate: -3.910317 deg/s,
      cmd update: -11.730951 deg/s,
      cmd heading: 269.937545 deg,
      new cmd heading: 269.937545 deg.

2021-01-27T18:03:37.324Z,1611770617.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:38.110Z,1611770618.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:38.512Z,1611770618.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:39.344Z,1611770619.344 [Micromodem](INFO): Nmea in: $SNTTA,0.265322,,,,180339.52*45

2021-01-27T18:03:39.820Z,1611770619.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 397.799988 m, bearing: 271.678397 deg, deltaT: 4.816641 s, approachRate: 0.734947 m/s, LOS rate: 4.266547 deg/s, posRepo size: 4
2021-01-27T18:03:39.823Z,1611770619.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.799988 m,
      bearing: 271.678397 deg,
      approachRate: 0.734947 m/s,
      LOS rate: 4.266547 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 213.553622 deg,
      new cmd heading: 208.208227 deg.

2021-01-27T18:03:42.186Z,1611770622.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:42.958Z,1611770622.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:43.379Z,1611770623.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:44.208Z,1611770624.208 [Micromodem](INFO): Nmea in: $SNTTA,0.267597,,,,180344.37*46

2021-01-27T18:03:44.516Z,1611770624.516 [Radio_Surface](INFO): Powering down
2021-01-27T18:03:44.661Z,1611770624.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 401.579987 m, bearing: 226.136485 deg, deltaT: 4.848735 s, approachRate: 0.779585 m/s, LOS rate: -9.392535 deg/s, posRepo size: 4
2021-01-27T18:03:44.663Z,1611770624.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 401.579987 m,
      bearing: 226.136485 deg,
      approachRate: 0.779585 m/s,
      LOS rate: -9.392535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.978455 deg,
      new cmd heading: 277.175343 deg.

2021-01-27T18:03:47.075Z,1611770627.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:47.819Z,1611770627.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:48.236Z,1611770628.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:49.068Z,1611770629.068 [Micromodem](INFO): Nmea in: $SNTTA,0.270077,,,,180349.23*43

2021-01-27T18:03:49.491Z,1611770629.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 405.299988 m, bearing: 196.992546 deg, deltaT: 4.861972 s, approachRate: 0.765122 m/s, LOS rate: -5.994263 deg/s, posRepo size: 4
2021-01-27T18:03:49.493Z,1611770629.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 405.299988 m,
      bearing: 196.992546 deg,
      approachRate: 0.765122 m/s,
      LOS rate: -5.994263 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 213.636866 deg,
      new cmd heading: 208.815542 deg.

2021-01-27T18:03:51.910Z,1611770631.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:52.736Z,1611770632.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:53.072Z,1611770633.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:54.295Z,1611770634.295 [Micromodem](INFO): Nmea in: $SNTTA,0.272765,,,,180354.15*4C

2021-01-27T18:03:54.317Z,1611770634.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 409.319977 m, bearing: 252.365791 deg, deltaT: 4.888393 s, approachRate: 0.822354 m/s, LOS rate: 11.327495 deg/s, posRepo size: 4
2021-01-27T18:03:54.320Z,1611770634.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 409.319977 m,
      bearing: 252.365791 deg,
      approachRate: 0.822354 m/s,
      LOS rate: 11.327495 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 155.077236 deg,
      new cmd heading: 150.926304 deg.

2021-01-27T18:03:56.837Z,1611770636.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:03:57.530Z,1611770637.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:03:57.952Z,1611770637.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:03:58.774Z,1611770638.774 [Micromodem](INFO): Nmea in: $SNTTA,0.275188,,,,180358.94*4B

2021-01-27T18:03:59.582Z,1611770639.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:01.185Z,1611770641.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:04:02.409Z,1611770642.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:03.214Z,1611770643.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:03.613Z,1611770643.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:04.440Z,1611770644.440 [Micromodem](INFO): Nmea in: $SNTTA,0.277207,,,,180404.63*4B

2021-01-27T18:04:04.874Z,1611770644.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 415.799988 m, bearing: 179.179822 deg, deltaT: 10.476522 s, approachRate: 0.618527 m/s, LOS rate: -6.985712 deg/s, posRepo size: 4
2021-01-27T18:04:04.892Z,1611770644.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 415.799988 m,
      bearing: 179.179822 deg,
      approachRate: 0.618527 m/s,
      LOS rate: -6.985712 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.899088 deg,
      new cmd heading: 285.932764 deg.

2021-01-27T18:04:07.274Z,1611770647.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:08.054Z,1611770648.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:08.070Z,1611770648.070 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T18:04:08.093Z,1611770648.093 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:04:08.471Z,1611770648.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:09.074Z,1611770649.074 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-01-27T18:04:09.306Z,1611770649.306 [Micromodem](INFO): Nmea in: $SNTTA,0.278828,,,,180409.47*48

2021-01-27T18:04:09.765Z,1611770649.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 418.380005 m, bearing: 168.504455 deg, deltaT: 4.877519 s, approachRate: 0.528961 m/s, LOS rate: -2.188688 deg/s, posRepo size: 4
2021-01-27T18:04:09.766Z,1611770649.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 418.380005 m,
      bearing: 168.504455 deg,
      approachRate: 0.528961 m/s,
      LOS rate: -2.188688 deg/s,
      cmd update: -6.566064 deg/s,
      cmd heading: 222.404534 deg,
      new cmd heading: 217.324214 deg.

2021-01-27T18:04:12.194Z,1611770652.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:12.972Z,1611770652.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:13.376Z,1611770653.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:14.220Z,1611770654.220 [Micromodem](INFO): Nmea in: $SNTTA,0.281058,,,,180414.38*45

2021-01-27T18:04:14.658Z,1611770654.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 421.679993 m, bearing: 180.697586 deg, deltaT: 4.931488 s, approachRate: 0.669167 m/s, LOS rate: 2.472505 deg/s, posRepo size: 4
2021-01-27T18:04:14.665Z,1611770654.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 421.679993 m,
      bearing: 180.697586 deg,
      approachRate: 0.669167 m/s,
      LOS rate: 2.472505 deg/s,
      cmd update: 7.417516 deg/s,
      cmd heading: 190.031022 deg,
      new cmd heading: 187.453914 deg.

2021-01-27T18:04:17.035Z,1611770657.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:17.818Z,1611770657.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:18.221Z,1611770658.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:19.061Z,1611770659.061 [Micromodem](INFO): Nmea in: $SNTTA,0.283427,,,,180419.23*4C

2021-01-27T18:04:19.451Z,1611770659.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 425.340027 m, bearing: 182.003491 deg, deltaT: 4.849768 s, approachRate: 0.754682 m/s, LOS rate: 0.269272 deg/s, posRepo size: 4
2021-01-27T18:04:19.453Z,1611770659.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 425.340027 m,
      bearing: 182.003491 deg,
      approachRate: 0.754682 m/s,
      LOS rate: 0.269272 deg/s,
      cmd update: 0.807815 deg/s,
      cmd heading: 225.884091 deg,
      new cmd heading: 228.541246 deg.

2021-01-27T18:04:21.893Z,1611770661.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:22.709Z,1611770662.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:23.072Z,1611770663.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:24.281Z,1611770664.281 [Micromodem](INFO): Nmea in: $SNTTA,0.285715,,,,180424.12*44

2021-01-27T18:04:24.305Z,1611770664.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 428.699982 m, bearing: 180.081394 deg, deltaT: 4.836577 s, approachRate: 0.694697 m/s, LOS rate: -0.397409 deg/s, posRepo size: 4
2021-01-27T18:04:24.329Z,1611770664.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.699982 m,
      bearing: 180.081394 deg,
      approachRate: 0.694697 m/s,
      LOS rate: -0.397409 deg/s,
      cmd update: -1.192226 deg/s,
      cmd heading: 229.801070 deg,
      new cmd heading: 230.093610 deg.

2021-01-27T18:04:26.755Z,1611770666.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:27.507Z,1611770667.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:27.916Z,1611770667.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:28.752Z,1611770668.752 [Micromodem](INFO): Nmea in: $SNTTA,0.288103,,,,180428.92*4C

2021-01-27T18:04:29.144Z,1611770669.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 432.419983 m, bearing: 203.454492 deg, deltaT: 4.876096 s, approachRate: 0.762906 m/s, LOS rate: 4.793404 deg/s, posRepo size: 4
2021-01-27T18:04:29.146Z,1611770669.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 432.419983 m,
      bearing: 203.454492 deg,
      approachRate: 0.762906 m/s,
      LOS rate: 4.793404 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 224.002010 deg,
      new cmd heading: 223.599095 deg.

2021-01-27T18:04:31.561Z,1611770671.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:32.379Z,1611770672.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:32.764Z,1611770672.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:33.589Z,1611770673.589 [Micromodem](INFO): Nmea in: $SNTTA,0.290886,,,,180433.79*4E

2021-01-27T18:04:34.038Z,1611770674.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 436.500000 m, bearing: 234.393460 deg, deltaT: 4.836492 s, approachRate: 0.843590 m/s, LOS rate: 6.396985 deg/s, posRepo size: 4
2021-01-27T18:04:34.044Z,1611770674.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.500000 m,
      bearing: 234.393460 deg,
      approachRate: 0.843590 m/s,
      LOS rate: 6.396985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 282.147387 deg,
      new cmd heading: 286.784656 deg.

2021-01-27T18:04:36.414Z,1611770676.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:37.202Z,1611770677.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:37.630Z,1611770677.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:38.456Z,1611770678.456 [Micromodem](INFO): Nmea in: $SNTTA,0.293594,,,,180438.61*41

2021-01-27T18:04:38.882Z,1611770678.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 440.459991 m, bearing: 268.906214 deg, deltaT: 4.808011 s, approachRate: 0.823624 m/s, LOS rate: 7.178177 deg/s, posRepo size: 4
2021-01-27T18:04:38.888Z,1611770678.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 440.459991 m,
      bearing: 268.906214 deg,
      approachRate: 0.823624 m/s,
      LOS rate: 7.178177 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 339.975882 deg,
      new cmd heading: 344.914230 deg.

2021-01-27T18:04:41.258Z,1611770681.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:42.050Z,1611770682.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:42.463Z,1611770682.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:43.295Z,1611770683.295 [Micromodem](INFO): Nmea in: $SNTTA,0.296192,,,,180443.46*4F

2021-01-27T18:04:43.771Z,1611770683.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 444.360016 m, bearing: 260.866617 deg, deltaT: 4.850082 s, approachRate: 0.804115 m/s, LOS rate: -1.657621 deg/s, posRepo size: 4
2021-01-27T18:04:43.777Z,1611770683.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 444.360016 m,
      bearing: 260.866617 deg,
      approachRate: 0.804115 m/s,
      LOS rate: -1.657621 deg/s,
      cmd update: -4.972863 deg/s,
      cmd heading: 38.152363 deg,
      new cmd heading: 43.585843 deg.

2021-01-27T18:04:46.106Z,1611770686.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:46.894Z,1611770686.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:47.300Z,1611770687.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:48.144Z,1611770688.144 [Micromodem](INFO): Nmea in: $SNTTA,0.298968,,,,180448.31*47

2021-01-27T18:04:48.554Z,1611770688.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 448.319977 m, bearing: 320.561787 deg, deltaT: 4.838334 s, approachRate: 0.818455 m/s, LOS rate: 12.337960 deg/s, posRepo size: 4
2021-01-27T18:04:48.555Z,1611770688.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.337960 deg/s. Setting heading cmd to target bearing of 320.561787deg and heading rate command to 0 deg/s.
2021-01-27T18:04:50.993Z,1611770690.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:51.765Z,1611770691.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:52.186Z,1611770692.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:52.982Z,1611770692.982 [Micromodem](INFO): Nmea in: $SNTTA,0.300479,,,,180453.18*4B

2021-01-27T18:04:53.413Z,1611770693.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 450.779999 m, bearing: 351.248188 deg, deltaT: 4.884925 s, approachRate: 0.503595 m/s, LOS rate: 6.281857 deg/s, posRepo size: 4
2021-01-27T18:04:53.415Z,1611770693.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 450.779999 m,
      bearing: 351.248188 deg,
      approachRate: 0.503595 m/s,
      LOS rate: 6.281857 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 320.561787 deg,
      new cmd heading: 320.561787 deg.

2021-01-27T18:04:55.825Z,1611770695.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:04:56.594Z,1611770696.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:04:56.996Z,1611770696.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:04:57.835Z,1611770697.835 [Micromodem](INFO): Nmea in: $SNTTA,0.301965,,,,180458.01*49

2021-01-27T18:04:58.237Z,1611770698.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 452.940002 m, bearing: 27.821314 deg, deltaT: 4.824623 s, approachRate: 0.447704 m/s, LOS rate: 7.580512 deg/s, posRepo size: 4
2021-01-27T18:04:58.256Z,1611770698.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 452.940002 m,
      bearing: 27.821314 deg,
      approachRate: 0.447704 m/s,
      LOS rate: 7.580512 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.699101 deg,
      new cmd heading: 23.125793 deg.

2021-01-27T18:05:00.719Z,1611770700.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:01.452Z,1611770701.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:01.860Z,1611770701.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:02.725Z,1611770702.725 [Micromodem](INFO): Nmea in: $SNTTA,0.303166,,,0.305678,180502.86*50

2021-01-27T18:05:03.080Z,1611770703.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 454.800018 m, bearing: 337.465877 deg, deltaT: 4.902637 s, approachRate: 0.379391 m/s, LOS rate: -10.271095 deg/s, posRepo size: 4
2021-01-27T18:05:03.082Z,1611770703.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 454.800018 m,
      bearing: 337.465877 deg,
      approachRate: 0.379391 m/s,
      LOS rate: -10.271095 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.530615 deg,
      new cmd heading: 81.240031 deg.

2021-01-27T18:05:05.522Z,1611770705.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:06.297Z,1611770706.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:06.722Z,1611770706.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:07.543Z,1611770707.543 [Micromodem](INFO): Nmea in: $SNTTA,0.303808,,,,180507.71*4D

2021-01-27T18:05:07.970Z,1611770707.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.699982 m, bearing: 324.980729 deg, deltaT: 4.786756 s, approachRate: 0.188011 m/s, LOS rate: -2.608269 deg/s, posRepo size: 4
2021-01-27T18:05:07.976Z,1611770707.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.699982 m,
      bearing: 324.980729 deg,
      approachRate: 0.188011 m/s,
      LOS rate: -2.608269 deg/s,
      cmd update: -7.824808 deg/s,
      cmd heading: 20.091413 deg,
      new cmd heading: 15.141544 deg.

2021-01-27T18:05:10.355Z,1611770710.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:11.138Z,1611770711.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:11.557Z,1611770711.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:12.380Z,1611770712.380 [Micromodem](INFO): Nmea in: $SNTTA,0.303798,,,,180512.55*49

2021-01-27T18:05:12.833Z,1611770712.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.639984 m, bearing: 42.975608 deg, deltaT: 4.864670 s, approachRate: -0.012333 m/s, LOS rate: 16.032923 deg/s, posRepo size: 4
2021-01-27T18:05:12.834Z,1611770712.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.032923 deg/s. Setting heading cmd to target bearing of 42.975608deg and heading rate command to 0 deg/s.
2021-01-27T18:05:15.190Z,1611770715.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:15.986Z,1611770715.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:16.392Z,1611770716.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:17.243Z,1611770717.243 [Micromodem](INFO): Nmea in: $SNTTA,0.303525,,,,180517.40*4C

2021-01-27T18:05:17.682Z,1611770717.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.220001 m, bearing: 43.084061 deg, deltaT: 4.839870 s, approachRate: -0.086776 m/s, LOS rate: 0.022408 deg/s, posRepo size: 4
2021-01-27T18:05:17.698Z,1611770717.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.220001 m,
      bearing: 43.084061 deg,
      approachRate: -0.086776 m/s,
      LOS rate: 0.022408 deg/s,
      cmd update: 0.067225 deg/s,
      cmd heading: 42.975608 deg,
      new cmd heading: 42.975608 deg.

2021-01-27T18:05:20.056Z,1611770720.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:20.834Z,1611770720.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:21.254Z,1611770721.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:22.085Z,1611770722.085 [Micromodem](INFO): Nmea in: $SNTTA,0.303630,,,,180522.25*4E

2021-01-27T18:05:22.483Z,1611770722.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.399963 m, bearing: 326.423948 deg, deltaT: 4.847473 s, approachRate: 0.037125 m/s, LOS rate: -15.814451 deg/s, posRepo size: 4
2021-01-27T18:05:22.484Z,1611770722.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.814451 deg/s. Setting heading cmd to target bearing of 326.423948deg and heading rate command to 0 deg/s.
2021-01-27T18:05:24.922Z,1611770724.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:25.693Z,1611770725.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:26.092Z,1611770726.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:26.916Z,1611770726.916 [Micromodem](INFO): Nmea in: $SNTTA,0.303535,,,,180527.10*4B

2021-01-27T18:05:27.776Z,1611770727.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:29.318Z,1611770729.318 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:05:30.559Z,1611770730.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:31.339Z,1611770731.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:31.764Z,1611770731.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:32.585Z,1611770732.585 [Micromodem](INFO): Nmea in: $SNTTA,0.302878,,,,180532.75*49

2021-01-27T18:05:33.003Z,1611770733.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 454.379974 m, bearing: 344.522310 deg, deltaT: 10.536569 s, approachRate: -0.096805 m/s, LOS rate: 1.717671 deg/s, posRepo size: 4
2021-01-27T18:05:33.005Z,1611770733.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 454.379974 m,
      bearing: 344.522310 deg,
      approachRate: -0.096805 m/s,
      LOS rate: 1.717671 deg/s,
      cmd update: 5.153014 deg/s,
      cmd heading: 326.423948 deg,
      new cmd heading: 326.423948 deg.

2021-01-27T18:05:35.421Z,1611770735.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:36.194Z,1611770736.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:36.621Z,1611770736.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:37.421Z,1611770737.421 [Micromodem](INFO): Nmea in: $SNTTA,0.303629,,,,180537.61*42

2021-01-27T18:05:37.866Z,1611770737.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.399963 m, bearing: 299.888990 deg, deltaT: 4.809727 s, approachRate: 0.212068 m/s, LOS rate: -9.279803 deg/s, posRepo size: 4
2021-01-27T18:05:37.868Z,1611770737.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.399963 m,
      bearing: 299.888990 deg,
      approachRate: 0.212068 m/s,
      LOS rate: -9.279803 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 351.387162 deg,
      new cmd heading: 353.498991 deg.

2021-01-27T18:05:40.242Z,1611770740.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:41.046Z,1611770741.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:41.444Z,1611770741.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:42.276Z,1611770742.276 [Micromodem](INFO): Nmea in: $SNTTA,0.304708,,,,180542.46*40

2021-01-27T18:05:42.742Z,1611770742.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 456.899994 m, bearing: 338.395193 deg, deltaT: 4.861654 s, approachRate: 0.308543 m/s, LOS rate: 7.920392 deg/s, posRepo size: 4
2021-01-27T18:05:42.748Z,1611770742.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.899994 m,
      bearing: 338.395193 deg,
      approachRate: 0.308543 m/s,
      LOS rate: 7.920392 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.074277 deg,
      new cmd heading: 287.954297 deg.

2021-01-27T18:05:45.104Z,1611770745.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:45.894Z,1611770745.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:46.292Z,1611770746.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:47.125Z,1611770747.125 [Micromodem](INFO): Nmea in: $SNTTA,0.305173,,,,180547.31*4E

2021-01-27T18:05:47.542Z,1611770747.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 457.979980 m, bearing: 43.996237 deg, deltaT: 4.822046 s, approachRate: 0.223969 m/s, LOS rate: 13.604398 deg/s, posRepo size: 4
2021-01-27T18:05:47.543Z,1611770747.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.604398 deg/s. Setting heading cmd to target bearing of 43.996237deg and heading rate command to 0 deg/s.
2021-01-27T18:05:49.968Z,1611770749.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:50.758Z,1611770750.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:51.142Z,1611770751.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:51.956Z,1611770751.956 [Micromodem](INFO): Nmea in: $SNTTA,0.306574,,,,180552.17*4E

2021-01-27T18:05:52.406Z,1611770752.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 457.979980 m, bearing: 13.361850 deg, deltaT: 4.898609 s, approachRate: 0.000000 m/s, LOS rate: -6.253691 deg/s, posRepo size: 4
2021-01-27T18:05:52.408Z,1611770752.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 457.979980 m,
      bearing: 13.361850 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.253691 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 43.996237 deg,
      new cmd heading: 43.996237 deg.

2021-01-27T18:05:54.825Z,1611770754.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:05:55.614Z,1611770755.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:05:55.989Z,1611770755.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:05:56.802Z,1611770756.802 [Micromodem](INFO): Nmea in: $SNTTA,0.308013,,,,180557.03*44

2021-01-27T18:05:57.733Z,1611770757.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.000000 m, bearing: 45.002006 deg, deltaT: 5.198411 s, approachRate: 0.773317 m/s, LOS rate: 6.086505 deg/s, posRepo size: 4
2021-01-27T18:05:57.735Z,1611770757.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 462.000000 m,
      bearing: 45.002006 deg,
      approachRate: 0.773317 m/s,
      LOS rate: 6.086505 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 341.597711 deg,
      new cmd heading: 335.658755 deg.

2021-01-27T18:05:59.747Z,1611770759.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:00.430Z,1611770760.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:00.850Z,1611770760.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:01.684Z,1611770761.684 [Micromodem](INFO): Nmea in: $SNTTA,0.308659,,,,180601.84*43

2021-01-27T18:06:02.089Z,1611770762.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 463.019989 m, bearing: 330.565774 deg, deltaT: 4.523487 s, approachRate: 0.225487 m/s, LOS rate: -16.455500 deg/s, posRepo size: 4
2021-01-27T18:06:02.090Z,1611770762.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.455500 deg/s. Setting heading cmd to target bearing of 330.565774deg and heading rate command to 0 deg/s.
2021-01-27T18:06:04.490Z,1611770764.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:05.282Z,1611770765.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:05.713Z,1611770765.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:06.521Z,1611770766.521 [Micromodem](INFO): Nmea in: $SNTTA,0.308807,,,,180606.69*42

2021-01-27T18:06:06.952Z,1611770766.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 463.139984 m, bearing: 62.654753 deg, deltaT: 4.775069 s, approachRate: 0.025130 m/s, LOS rate: 19.285370 deg/s, posRepo size: 4
2021-01-27T18:06:06.953Z,1611770766.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.285370 deg/s. Setting heading cmd to target bearing of 62.654753deg and heading rate command to 0 deg/s.
2021-01-27T18:06:09.358Z,1611770769.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:10.122Z,1611770770.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:10.537Z,1611770770.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:11.357Z,1611770771.357 [Micromodem](INFO): Nmea in: $SNTTA,0.308439,,,,180611.53*4C

2021-01-27T18:06:11.830Z,1611770771.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.660004 m, bearing: 43.523277 deg, deltaT: 4.876044 s, approachRate: -0.098436 m/s, LOS rate: -3.923565 deg/s, posRepo size: 4
2021-01-27T18:06:11.852Z,1611770771.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 462.660004 m,
      bearing: 43.523277 deg,
      approachRate: -0.098436 m/s,
      LOS rate: -3.923565 deg/s,
      cmd update: -11.770696 deg/s,
      cmd heading: 62.654753 deg,
      new cmd heading: 62.654753 deg.

2021-01-27T18:06:14.210Z,1611770774.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:14.982Z,1611770774.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:15.392Z,1611770775.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:16.220Z,1611770776.220 [Micromodem](INFO): Nmea in: $SNTTA,0.308488,,,,180616.39*4D

2021-01-27T18:06:16.677Z,1611770776.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.660004 m, bearing: 335.099626 deg, deltaT: 4.823319 s, approachRate: 0.000000 m/s, LOS rate: -14.186010 deg/s, posRepo size: 4
2021-01-27T18:06:16.678Z,1611770776.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.186010 deg/s. Setting heading cmd to target bearing of 335.099626deg and heading rate command to 0 deg/s.
2021-01-27T18:06:19.047Z,1611770779.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:19.846Z,1611770779.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:20.236Z,1611770780.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:21.065Z,1611770781.065 [Micromodem](INFO): Nmea in: $SNTTA,0.308268,,,,180621.26*4F

2021-01-27T18:06:21.491Z,1611770781.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.419983 m, bearing: 58.904508 deg, deltaT: 4.886542 s, approachRate: -0.049119 m/s, LOS rate: 17.150141 deg/s, posRepo size: 4
2021-01-27T18:06:21.492Z,1611770781.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.150141 deg/s. Setting heading cmd to target bearing of 58.904508deg and heading rate command to 0 deg/s.
2021-01-27T18:06:23.935Z,1611770783.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:24.714Z,1611770784.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:25.186Z,1611770785.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:25.988Z,1611770785.988 [Micromodem](INFO): Nmea in: $SNTTA,0.308011,,,,180626.13*42

2021-01-27T18:06:26.430Z,1611770786.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 461.940002 m, bearing: 42.403273 deg, deltaT: 4.917882 s, approachRate: -0.097599 m/s, LOS rate: -3.355354 deg/s, posRepo size: 4
2021-01-27T18:06:26.432Z,1611770786.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 461.940002 m,
      bearing: 42.403273 deg,
      approachRate: -0.097599 m/s,
      LOS rate: -3.355354 deg/s,
      cmd update: -10.066061 deg/s,
      cmd heading: 58.904508 deg,
      new cmd heading: 58.904508 deg.

2021-01-27T18:06:28.857Z,1611770788.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:29.637Z,1611770789.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:30.021Z,1611770790.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:30.838Z,1611770790.838 [Micromodem](INFO): Nmea in: $SNTTA,0.308093,,,,180631.05*49

2021-01-27T18:06:31.251Z,1611770791.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 461.940002 m, bearing: 330.493019 deg, deltaT: 4.873556 s, approachRate: 0.000000 m/s, LOS rate: -14.755189 deg/s, posRepo size: 4
2021-01-27T18:06:31.252Z,1611770791.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.755189 deg/s. Setting heading cmd to target bearing of 330.493019deg and heading rate command to 0 deg/s.
2021-01-27T18:06:33.742Z,1611770793.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:34.454Z,1611770794.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:34.872Z,1611770794.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:35.723Z,1611770795.723 [Micromodem](INFO): Nmea in: $SNTTA,0.308372,,,,180635.87*4B

2021-01-27T18:06:36.095Z,1611770796.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.059998 m, bearing: 59.139712 deg, deltaT: 4.879545 s, approachRate: 0.024591 m/s, LOS rate: 18.167000 deg/s, posRepo size: 4
2021-01-27T18:06:36.096Z,1611770796.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.167000 deg/s. Setting heading cmd to target bearing of 59.139712deg and heading rate command to 0 deg/s.
2021-01-27T18:06:38.509Z,1611770798.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:39.309Z,1611770799.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:39.730Z,1611770799.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:40.548Z,1611770800.548 [Micromodem](INFO): Nmea in: $SNTTA,0.308107,,,,180640.72*43

2021-01-27T18:06:40.998Z,1611770800.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.179962 m, bearing: 20.876881 deg, deltaT: 4.787733 s, approachRate: 0.025057 m/s, LOS rate: -7.991847 deg/s, posRepo size: 4
2021-01-27T18:06:41.004Z,1611770801.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 462.179962 m,
      bearing: 20.876881 deg,
      approachRate: 0.025057 m/s,
      LOS rate: -7.991847 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.139712 deg,
      new cmd heading: 59.139712 deg.

2021-01-27T18:06:43.374Z,1611770803.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:44.150Z,1611770804.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:44.563Z,1611770804.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:45.397Z,1611770805.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180645.56*53

2021-01-27T18:06:46.194Z,1611770806.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:47.785Z,1611770807.785 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:06:49.063Z,1611770809.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:49.810Z,1611770809.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:50.216Z,1611770810.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:51.052Z,1611770811.052 [Micromodem](INFO): Nmea in: $SNTTA,0.308848,,,,180651.22*44

2021-01-27T18:06:51.463Z,1611770811.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 463.199982 m, bearing: 52.399384 deg, deltaT: 10.546299 s, approachRate: 0.096718 m/s, LOS rate: 2.988964 deg/s, posRepo size: 4
2021-01-27T18:06:51.465Z,1611770811.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 463.199982 m,
      bearing: 52.399384 deg,
      approachRate: 0.096718 m/s,
      LOS rate: 2.988964 deg/s,
      cmd update: 8.966891 deg/s,
      cmd heading: 292.632216 deg,
      new cmd heading: 288.541308 deg.

2021-01-27T18:06:53.925Z,1611770813.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:54.717Z,1611770814.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:06:55.068Z,1611770815.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:06:56.281Z,1611770816.281 [Micromodem](INFO): Nmea in: $SNTTA,0.308968,,,,180656.13*42

2021-01-27T18:06:56.758Z,1611770816.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 463.439972 m, bearing: 14.805210 deg, deltaT: 5.169464 s, approachRate: 0.046425 m/s, LOS rate: -7.272354 deg/s, posRepo size: 4
2021-01-27T18:06:56.760Z,1611770816.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 463.439972 m,
      bearing: 14.805210 deg,
      approachRate: 0.046425 m/s,
      LOS rate: -7.272354 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 339.021915 deg,
      new cmd heading: 343.164305 deg.

2021-01-27T18:06:59.164Z,1611770819.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:06:59.927Z,1611770819.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:00.384Z,1611770820.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:01.184Z,1611770821.184 [Micromodem](INFO): Nmea in: $SNTTA,0.309899,,,,180701.34*4A

2021-01-27T18:07:01.651Z,1611770821.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 464.879974 m, bearing: 32.594295 deg, deltaT: 4.903077 s, approachRate: 0.293694 m/s, LOS rate: 3.628147 deg/s, posRepo size: 4
2021-01-27T18:07:01.653Z,1611770821.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 464.879974 m,
      bearing: 32.594295 deg,
      approachRate: 0.293694 m/s,
      LOS rate: 3.628147 deg/s,
      cmd update: 10.884441 deg/s,
      cmd heading: 280.184449 deg,
      new cmd heading: 274.757557 deg.

2021-01-27T18:07:04.045Z,1611770824.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:04.818Z,1611770824.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:05.232Z,1611770825.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:06.053Z,1611770826.053 [Micromodem](INFO): Nmea in: $SNTTA,0.311664,,,,180706.23*4E

2021-01-27T18:07:06.467Z,1611770826.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 467.459991 m, bearing: 0.673818 deg, deltaT: 4.902311 s, approachRate: 0.526286 m/s, LOS rate: -6.511312 deg/s, posRepo size: 4
2021-01-27T18:07:06.469Z,1611770826.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 467.459991 m,
      bearing: 0.673818 deg,
      approachRate: 0.526286 m/s,
      LOS rate: -6.511312 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 333.541503 deg,
      new cmd heading: 337.528212 deg.

2021-01-27T18:07:08.895Z,1611770828.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:09.711Z,1611770829.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:10.076Z,1611770830.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:11.279Z,1611770831.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180711.13*52

2021-01-27T18:07:11.754Z,1611770831.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 470.519989 m, bearing: 340.944957 deg, deltaT: 5.193609 s, approachRate: 0.589185 m/s, LOS rate: -3.798679 deg/s, posRepo size: 4
2021-01-27T18:07:11.755Z,1611770831.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 470.519989 m,
      bearing: 340.944957 deg,
      approachRate: 0.589185 m/s,
      LOS rate: -3.798679 deg/s,
      cmd update: -11.396037 deg/s,
      cmd heading: 271.216273 deg,
      new cmd heading: 265.709485 deg.

2021-01-27T18:07:11.945Z,1611770831.945 [CTD_Seabird](ERROR): Failed to parse device response: 6.55,,6368.26
2021-01-27T18:07:14.122Z,1611770834.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:14.923Z,1611770834.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:15.326Z,1611770835.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:16.153Z,1611770836.153 [Micromodem](INFO): Nmea in: $SNTTA,0.315916,,,,180716.33*40

2021-01-27T18:07:16.560Z,1611770836.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.820007 m, bearing: 353.060128 deg, deltaT: 4.904568 s, approachRate: 0.672846 m/s, LOS rate: 2.470181 deg/s, posRepo size: 4
2021-01-27T18:07:16.562Z,1611770836.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.820007 m,
      bearing: 353.060128 deg,
      approachRate: 0.672846 m/s,
      LOS rate: 2.470181 deg/s,
      cmd update: 7.410544 deg/s,
      cmd heading: 215.369752 deg,
      new cmd heading: 211.210540 deg.

2021-01-27T18:07:19.023Z,1611770839.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:19.770Z,1611770839.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:20.168Z,1611770840.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:21.018Z,1611770841.018 [Micromodem](INFO): Nmea in: $SNTTA,0.318208,,,,180721.18*44

2021-01-27T18:07:21.445Z,1611770841.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 477.480011 m, bearing: 292.312480 deg, deltaT: 4.882294 s, approachRate: 0.749648 m/s, LOS rate: -12.442439 deg/s, posRepo size: 4
2021-01-27T18:07:21.446Z,1611770841.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.442439 deg/s. Setting heading cmd to target bearing of 292.312480deg and heading rate command to 0 deg/s.
2021-01-27T18:07:23.860Z,1611770843.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:24.643Z,1611770844.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:25.021Z,1611770845.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:25.830Z,1611770845.830 [Micromodem](INFO): Nmea in: $SNTTA,0.320812,,,0.323313,180726.05*58

2021-01-27T18:07:26.745Z,1611770846.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:28.249Z,1611770848.249 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:07:29.496Z,1611770849.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:30.270Z,1611770850.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:30.698Z,1611770850.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:31.509Z,1611770851.509 [Micromodem](INFO): Nmea in: $SNTTA,0.324056,,,,180731.68*44

2021-01-27T18:07:32.354Z,1611770852.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:33.905Z,1611770853.905 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:07:35.155Z,1611770855.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:35.926Z,1611770855.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:36.339Z,1611770856.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:37.173Z,1611770857.173 [Micromodem](INFO): Nmea in: $SNTTA,0.327176,,,,180737.34*4B

2021-01-27T18:07:37.568Z,1611770857.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 490.919983 m, bearing: 298.345887 deg, deltaT: 16.112109 s, approachRate: 0.834153 m/s, LOS rate: 0.374464 deg/s, posRepo size: 4
2021-01-27T18:07:37.570Z,1611770857.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 490.919983 m,
      bearing: 298.345887 deg,
      approachRate: 0.834153 m/s,
      LOS rate: 0.374464 deg/s,
      cmd update: 1.123392 deg/s,
      cmd heading: 292.312480 deg,
      new cmd heading: 292.312480 deg.

2021-01-27T18:07:40.005Z,1611770860.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:40.774Z,1611770860.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:41.188Z,1611770861.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:42.015Z,1611770862.015 [Micromodem](INFO): Nmea in: $SNTTA,0.329533,,,,180742.19*4D

2021-01-27T18:07:42.438Z,1611770862.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 490.919983 m, bearing: 287.884960 deg, deltaT: 4.890414 s, approachRate: 0.000000 m/s, LOS rate: -2.139068 deg/s, posRepo size: 4
2021-01-27T18:07:42.440Z,1611770862.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 490.919983 m,
      bearing: 287.884960 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.139068 deg/s,
      cmd update: -6.417203 deg/s,
      cmd heading: 297.803319 deg,
      new cmd heading: 298.205839 deg.

2021-01-27T18:07:44.854Z,1611770864.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:45.630Z,1611770865.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:46.025Z,1611770866.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:46.851Z,1611770866.851 [Micromodem](INFO): Nmea in: $SNTTA,0.332018,,,,180747.04*42

2021-01-27T18:07:47.738Z,1611770867.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 498.179993 m, bearing: 296.958320 deg, deltaT: 5.173797 s, approachRate: 1.403227 m/s, LOS rate: 1.753714 deg/s, posRepo size: 4
2021-01-27T18:07:47.740Z,1611770867.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 498.179993 m,
      bearing: 296.958320 deg,
      approachRate: 1.403227 m/s,
      LOS rate: 1.753714 deg/s,
      cmd update: 5.261142 deg/s,
      cmd heading: 264.629733 deg,
      new cmd heading: 261.505325 deg.

2021-01-27T18:07:50.107Z,1611770870.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:50.886Z,1611770870.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:51.285Z,1611770871.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:52.103Z,1611770872.103 [Micromodem](INFO): Nmea in: $SNTTA,0.334928,,,,180752.30*4D

2021-01-27T18:07:52.933Z,1611770872.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:54.505Z,1611770874.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:07:55.793Z,1611770875.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:07:56.531Z,1611770876.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:07:56.940Z,1611770876.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:07:57.770Z,1611770877.770 [Micromodem](INFO): Nmea in: $SNTTA,0.337953,,,,180757.94*49

2021-01-27T18:07:58.607Z,1611770878.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:00.169Z,1611770880.169 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:08:01.411Z,1611770881.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:02.198Z,1611770882.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:02.613Z,1611770882.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:03.419Z,1611770883.419 [Micromodem](INFO): Nmea in: $SNTTA,0.341059,,,,180803.61*4F

2021-01-27T18:08:04.247Z,1611770884.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 511.739990 m, bearing: 354.859227 deg, deltaT: 16.611486 s, approachRate: 0.816302 m/s, LOS rate: 3.485595 deg/s, posRepo size: 4
2021-01-27T18:08:04.249Z,1611770884.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 511.739990 m,
      bearing: 354.859227 deg,
      approachRate: 0.816302 m/s,
      LOS rate: 3.485595 deg/s,
      cmd update: 10.456784 deg/s,
      cmd heading: 352.068528 deg,
      new cmd heading: 354.056956 deg.

2021-01-27T18:08:06.716Z,1611770886.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:07.434Z,1611770887.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:07.840Z,1611770887.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:08.685Z,1611770888.685 [Micromodem](INFO): Nmea in: $SNTTA,0.343198,,,,180808.85*40

2021-01-27T18:08:09.491Z,1611770889.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 514.919983 m, bearing: 1.625001 deg, deltaT: 5.252244 s, approachRate: 0.605454 m/s, LOS rate: 1.288170 deg/s, posRepo size: 4
2021-01-27T18:08:09.493Z,1611770889.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 514.919983 m,
      bearing: 1.625001 deg,
      approachRate: 0.605454 m/s,
      LOS rate: 1.288170 deg/s,
      cmd update: 3.864510 deg/s,
      cmd heading: 46.890268 deg,
      new cmd heading: 50.856651 deg.

2021-01-27T18:08:11.921Z,1611770891.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:12.697Z,1611770892.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:13.100Z,1611770893.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:13.922Z,1611770893.922 [Micromodem](INFO): Nmea in: $SNTTA,0.344714,,,,180814.11*45

2021-01-27T18:08:14.770Z,1611770894.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 517.140015 m, bearing: 354.955724 deg, deltaT: 5.235853 s, approachRate: 0.424006 m/s, LOS rate: -1.273773 deg/s, posRepo size: 4
2021-01-27T18:08:14.772Z,1611770894.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.140015 m,
      bearing: 354.955724 deg,
      approachRate: 0.424006 m/s,
      LOS rate: -1.273773 deg/s,
      cmd update: -3.821318 deg/s,
      cmd heading: 67.123051 deg,
      new cmd heading: 68.754844 deg.

2021-01-27T18:08:17.167Z,1611770897.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:17.943Z,1611770897.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:18.356Z,1611770898.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:19.174Z,1611770899.174 [Micromodem](INFO): Nmea in: $SNTTA,0.345516,,,,180819.35*4F

2021-01-27T18:08:20.000Z,1611770900.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 518.219971 m, bearing: 345.465641 deg, deltaT: 5.281476 s, approachRate: 0.204480 m/s, LOS rate: -1.796862 deg/s, posRepo size: 4
2021-01-27T18:08:20.002Z,1611770900.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 518.219971 m,
      bearing: 345.465641 deg,
      approachRate: 0.204480 m/s,
      LOS rate: -1.796862 deg/s,
      cmd update: -5.390586 deg/s,
      cmd heading: 46.903921 deg,
      new cmd heading: 45.523970 deg.

2021-01-27T18:08:22.409Z,1611770902.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:23.194Z,1611770903.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:23.620Z,1611770903.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:24.426Z,1611770904.426 [Micromodem](INFO): Nmea in: $SNTTA,0.345424,,,0.347974,180824.61*54

2021-01-27T18:08:25.258Z,1611770905.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 518.039978 m, bearing: 45.057085 deg, deltaT: 5.222878 s, approachRate: -0.034462 m/s, LOS rate: 11.409696 deg/s, posRepo size: 4
2021-01-27T18:08:25.260Z,1611770905.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 518.039978 m,
      bearing: 45.057085 deg,
      approachRate: -0.034462 m/s,
      LOS rate: 11.409696 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.833733 deg,
      new cmd heading: 16.612251 deg.

2021-01-27T18:08:27.733Z,1611770907.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:28.442Z,1611770908.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:28.852Z,1611770908.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:29.692Z,1611770909.692 [Micromodem](INFO): Nmea in: $SNTTA,0.344943,,,,180829.85*4A

2021-01-27T18:08:30.494Z,1611770910.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 517.320007 m, bearing: 57.545034 deg, deltaT: 5.253320 s, approachRate: -0.137051 m/s, LOS rate: 2.377154 deg/s, posRepo size: 4
2021-01-27T18:08:30.496Z,1611770910.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.320007 m,
      bearing: 57.545034 deg,
      approachRate: -0.137051 m/s,
      LOS rate: 2.377154 deg/s,
      cmd update: 7.131461 deg/s,
      cmd heading: 82.064519 deg,
      new cmd heading: 86.615495 deg.

2021-01-27T18:08:32.936Z,1611770912.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:33.719Z,1611770913.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:34.112Z,1611770914.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:34.925Z,1611770914.925 [Micromodem](INFO): Nmea in: $SNTTA,0.344632,,,,180835.13*41

2021-01-27T18:08:35.778Z,1611770915.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 517.440002 m, bearing: 83.295940 deg, deltaT: 5.246463 s, approachRate: 0.022872 m/s, LOS rate: 4.908241 deg/s, posRepo size: 4
2021-01-27T18:08:35.779Z,1611770915.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.440002 m,
      bearing: 83.295940 deg,
      approachRate: 0.022872 m/s,
      LOS rate: 4.908241 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 119.479886 deg,
      new cmd heading: 122.446089 deg.

2021-01-27T18:08:38.181Z,1611770918.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:38.946Z,1611770918.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:39.370Z,1611770919.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:40.182Z,1611770920.182 [Micromodem](INFO): Nmea in: $SNTTA,0.343716,,,,180840.36*44

2021-01-27T18:08:41.045Z,1611770921.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 515.400024 m, bearing: 94.659824 deg, deltaT: 5.234200 s, approachRate: -0.389740 m/s, LOS rate: 2.171083 deg/s, posRepo size: 4
2021-01-27T18:08:41.047Z,1611770921.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 515.400024 m,
      bearing: 94.659824 deg,
      approachRate: -0.389740 m/s,
      LOS rate: 2.171083 deg/s,
      cmd update: 6.513250 deg/s,
      cmd heading: 182.268064 deg,
      new cmd heading: 187.632196 deg.

2021-01-27T18:08:43.421Z,1611770923.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:44.202Z,1611770924.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:44.640Z,1611770924.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:45.446Z,1611770925.446 [Micromodem](INFO): Nmea in: $SNTTA,0.342368,,,,180845.61*4F

2021-01-27T18:08:46.263Z,1611770926.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 513.299988 m, bearing: 95.563116 deg, deltaT: 5.280194 s, approachRate: -0.397720 m/s, LOS rate: 0.171072 deg/s, posRepo size: 4
2021-01-27T18:08:46.287Z,1611770926.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 513.299988 m,
      bearing: 95.563116 deg,
      approachRate: -0.397720 m/s,
      LOS rate: 0.171072 deg/s,
      cmd update: 0.513216 deg/s,
      cmd heading: 216.671079 deg,
      new cmd heading: 219.193068 deg.

2021-01-27T18:08:48.739Z,1611770928.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:49.462Z,1611770929.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:49.860Z,1611770929.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:50.720Z,1611770930.720 [Micromodem](INFO): Nmea in: $SNTTA,0.340468,,,,180850.88*49

2021-01-27T18:08:51.513Z,1611770931.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 510.419983 m, bearing: 93.313375 deg, deltaT: 5.209568 s, approachRate: -0.552830 m/s, LOS rate: -0.431848 deg/s, posRepo size: 4
2021-01-27T18:08:51.515Z,1611770931.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 510.419983 m,
      bearing: 93.313375 deg,
      approachRate: -0.552830 m/s,
      LOS rate: -0.431848 deg/s,
      cmd update: -1.295544 deg/s,
      cmd heading: 219.344730 deg,
      new cmd heading: 219.563064 deg.

2021-01-27T18:08:53.955Z,1611770933.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:54.730Z,1611770934.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:08:55.120Z,1611770935.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:08:55.931Z,1611770935.931 [Micromodem](INFO): Nmea in: $SNTTA,0.338589,,,,180856.14*4B

2021-01-27T18:08:56.830Z,1611770936.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 507.720001 m, bearing: 91.373881 deg, deltaT: 5.277044 s, approachRate: -0.511647 m/s, LOS rate: -0.367534 deg/s, posRepo size: 4
2021-01-27T18:08:56.832Z,1611770936.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 507.720001 m,
      bearing: 91.373881 deg,
      approachRate: -0.511647 m/s,
      LOS rate: -0.367534 deg/s,
      cmd update: -1.102602 deg/s,
      cmd heading: 212.508119 deg,
      new cmd heading: 211.902585 deg.

2021-01-27T18:08:59.170Z,1611770939.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:08:59.956Z,1611770939.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:00.368Z,1611770940.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:01.195Z,1611770941.195 [Micromodem](INFO): Nmea in: $SNTTA,0.337136,,,,180901.37*46

2021-01-27T18:09:02.037Z,1611770942.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 505.499969 m, bearing: 87.663238 deg, deltaT: 5.263889 s, approachRate: -0.421747 m/s, LOS rate: -0.704924 deg/s, posRepo size: 4
2021-01-27T18:09:02.039Z,1611770942.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 505.499969 m,
      bearing: 87.663238 deg,
      approachRate: -0.421747 m/s,
      LOS rate: -0.704924 deg/s,
      cmd update: -2.114773 deg/s,
      cmd heading: 206.741113 deg,
      new cmd heading: 206.251162 deg.

2021-01-27T18:09:04.421Z,1611770944.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:05.214Z,1611770945.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:05.642Z,1611770945.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:06.446Z,1611770946.446 [Micromodem](INFO): Nmea in: $SNTTA,0.336030,,,,180906.63*46

2021-01-27T18:09:07.260Z,1611770947.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 503.880005 m, bearing: 86.823835 deg, deltaT: 5.259109 s, approachRate: -0.308030 m/s, LOS rate: -0.159609 deg/s, posRepo size: 4
2021-01-27T18:09:07.262Z,1611770947.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 503.880005 m,
      bearing: 86.823835 deg,
      approachRate: -0.308030 m/s,
      LOS rate: -0.159609 deg/s,
      cmd update: -0.478828 deg/s,
      cmd heading: 195.590477 deg,
      new cmd heading: 194.757191 deg.

2021-01-27T18:09:07.675Z,1611770947.675 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:09:09.755Z,1611770949.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:10.462Z,1611770950.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:10.872Z,1611770950.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:11.721Z,1611770951.721 [Micromodem](INFO): Nmea in: $SNTTA,0.335813,,,,180911.87*40

2021-01-27T18:09:12.111Z,1611770952.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 503.880005 m, bearing: 153.335998 deg, deltaT: 4.914394 s, approachRate: 0.000000 m/s, LOS rate: 13.534154 deg/s, posRepo size: 4
2021-01-27T18:09:12.111Z,1611770952.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.534154 deg/s. Setting heading cmd to target bearing of 153.335998deg and heading rate command to 0 deg/s.
2021-01-27T18:09:14.513Z,1611770954.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:15.325Z,1611770955.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:15.724Z,1611770955.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:16.542Z,1611770956.542 [Micromodem](INFO): Nmea in: $SNTTA,0.336221,,,,180916.74*43

2021-01-27T18:09:17.379Z,1611770957.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 504.299988 m, bearing: 118.495955 deg, deltaT: 5.208051 s, approachRate: 0.080641 m/s, LOS rate: -6.689651 deg/s, posRepo size: 4
2021-01-27T18:09:17.381Z,1611770957.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 504.299988 m,
      bearing: 118.495955 deg,
      approachRate: 0.080641 m/s,
      LOS rate: -6.689651 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.335998 deg,
      new cmd heading: 153.335998 deg.

2021-01-27T18:09:19.782Z,1611770959.782 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2021-01-27T18:09:19.783Z,1611770959.783 [Micromodem](INFO): Have incoming data
2021-01-27T18:09:19.786Z,1611770959.786 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2021-01-27T18:09:19.786Z,1611770959.786 [Micromodem](ERROR): Could not determine end of data in CARXD:$CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2021-01-27T18:09:19.862Z,1611770959.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:20.189Z,1611770960.189 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127180919.082980,06,8888,39,0298,0150,37,02,02,00,03,1,010,001,0,3,1,0,150,13.7,11.00,00,-8.00,-01,-0.32,36,14500,4000*42

2021-01-27T18:09:20.563Z,1611770960.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:20.983Z,1611770960.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:21.795Z,1611770961.795 [Micromodem](INFO): Nmea in: $SNTTA,0.336914,,,,180921.97*47

2021-01-27T18:09:22.666Z,1611770962.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 505.799988 m, bearing: 159.294696 deg, deltaT: 5.202845 s, approachRate: 0.288304 m/s, LOS rate: 7.841622 deg/s, posRepo size: 4
2021-01-27T18:09:22.669Z,1611770962.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 505.799988 m,
      bearing: 159.294696 deg,
      approachRate: 0.288304 m/s,
      LOS rate: 7.841622 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 90.888296 deg,
      new cmd heading: 85.412288 deg.

2021-01-27T18:09:25.053Z,1611770965.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:25.815Z,1611770965.815 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2021-01-27T18:09:25.815Z,1611770965.815 [Micromodem](INFO): Have incoming data
2021-01-27T18:09:25.816Z,1611770965.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:26.217Z,1611770966.217 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2021-01-27T18:09:26.217Z,1611770966.217 [Micromodem](ERROR): Response from modem unexpected: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2021-01-27T18:09:26.249Z,1611770966.249 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127180924.921738,06,4346,36,0283,0150,59,02,02,00,04,1,010,001,0,3,1,0,150,12.7,8.00,00,-5.00,-01,0.08,38,14500,4000*50

2021-01-27T18:09:26.249Z,1611770966.249 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127180924.921738,06,4346,36,0283,0150,59,02,02,00,04,1,010,001,0,3,1,0,150,12.7,8.00,00,-5.00,-01,0.08,38,14500,4000*50

2021-01-27T18:09:27.049Z,1611770967.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:27.874Z,1611770967.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 505.079987 m, bearing: 77.409799 deg, deltaT: 5.235310 s, approachRate: -0.137528 m/s, LOS rate: -15.640887 deg/s, posRepo size: 4
2021-01-27T18:09:27.875Z,1611770967.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.640887 deg/s. Setting heading cmd to target bearing of 77.409799deg and heading rate command to 0 deg/s.
2021-01-27T18:09:30.273Z,1611770970.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:31.067Z,1611770971.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:31.478Z,1611770971.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:32.299Z,1611770972.299 [Micromodem](INFO): Nmea in: $SNTTA,0.335768,,,,180932.48*41

2021-01-27T18:09:33.108Z,1611770973.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 503.459961 m, bearing: 83.568088 deg, deltaT: 5.310096 s, approachRate: -0.305084 m/s, LOS rate: 1.159732 deg/s, posRepo size: 4
2021-01-27T18:09:33.110Z,1611770973.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 503.459961 m,
      bearing: 83.568088 deg,
      approachRate: -0.305084 m/s,
      LOS rate: 1.159732 deg/s,
      cmd update: 3.479197 deg/s,
      cmd heading: 77.409799 deg,
      new cmd heading: 77.409799 deg.

2021-01-27T18:09:35.533Z,1611770975.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:36.319Z,1611770976.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:36.747Z,1611770976.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:37.550Z,1611770977.550 [Micromodem](INFO): Nmea in: $SNTTA,0.334171,,,,180937.75*45

2021-01-27T18:09:38.371Z,1611770978.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 501.000000 m, bearing: 86.733430 deg, deltaT: 5.241390 s, approachRate: -0.469334 m/s, LOS rate: 0.603913 deg/s, posRepo size: 4
2021-01-27T18:09:38.373Z,1611770978.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 501.000000 m,
      bearing: 86.733430 deg,
      approachRate: -0.469334 m/s,
      LOS rate: 0.603913 deg/s,
      cmd update: 1.811738 deg/s,
      cmd heading: 95.631946 deg,
      new cmd heading: 96.945141 deg.

2021-01-27T18:09:40.816Z,1611770980.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:41.566Z,1611770981.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:41.972Z,1611770981.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:42.809Z,1611770982.809 [Micromodem](INFO): Nmea in: $SNTTA,0.332367,,,,180942.98*47

2021-01-27T18:09:43.212Z,1611770983.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 501.000000 m, bearing: 90.419574 deg, deltaT: 4.896581 s, approachRate: 0.000000 m/s, LOS rate: 0.752799 deg/s, posRepo size: 4
2021-01-27T18:09:43.214Z,1611770983.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 501.000000 m,
      bearing: 90.419574 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.752799 deg/s,
      cmd update: 2.258398 deg/s,
      cmd heading: 104.502945 deg,
      new cmd heading: 105.085787 deg.

2021-01-27T18:09:45.673Z,1611770985.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:46.422Z,1611770986.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:46.820Z,1611770986.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:47.722Z,1611770987.722 [Micromodem](INFO): Nmea in: $SNTTA,0.330624,,,,180947.83*48

2021-01-27T18:09:48.071Z,1611770988.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 496.140015 m, bearing: 90.290340 deg, deltaT: 4.861935 s, approachRate: -0.999599 m/s, LOS rate: -0.026581 deg/s, posRepo size: 4
2021-01-27T18:09:48.089Z,1611770988.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 496.140015 m,
      bearing: 90.290340 deg,
      approachRate: -0.999599 m/s,
      LOS rate: -0.026581 deg/s,
      cmd update: -0.079742 deg/s,
      cmd heading: 115.491928 deg,
      new cmd heading: 116.203671 deg.

2021-01-27T18:09:50.505Z,1611770990.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:51.274Z,1611770991.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:51.720Z,1611770991.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:52.522Z,1611770992.522 [Micromodem](INFO): Nmea in: $SNTTA,0.328883,,,,180952.69*42

2021-01-27T18:09:52.939Z,1611770992.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 493.259979 m, bearing: 88.470020 deg, deltaT: 4.786532 s, approachRate: -0.601696 m/s, LOS rate: -0.380301 deg/s, posRepo size: 4
2021-01-27T18:09:52.943Z,1611770992.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 493.259979 m,
      bearing: 88.470020 deg,
      approachRate: -0.601696 m/s,
      LOS rate: -0.380301 deg/s,
      cmd update: -1.140902 deg/s,
      cmd heading: 115.110313 deg,
      new cmd heading: 115.078633 deg.

2021-01-27T18:09:55.364Z,1611770995.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:56.145Z,1611770996.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:09:56.528Z,1611770996.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:09:57.351Z,1611770997.351 [Micromodem](INFO): Nmea in: $SNTTA,0.327139,,,,180957.56*4C

2021-01-27T18:09:58.181Z,1611770998.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:09:59.761Z,1611770999.761 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:10:01.028Z,1611771001.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:01.774Z,1611771001.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:02.188Z,1611771002.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:03.017Z,1611771003.017 [Micromodem](INFO): Nmea in: $SNTTA,0.324731,,,,181003.18*42

2021-01-27T18:10:03.425Z,1611771003.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 486.839966 m, bearing: 86.703357 deg, deltaT: 10.533735 s, approachRate: -0.609472 m/s, LOS rate: -0.167715 deg/s, posRepo size: 4
2021-01-27T18:10:03.426Z,1611771003.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 486.839966 m,
      bearing: 86.703357 deg,
      approachRate: -0.609472 m/s,
      LOS rate: -0.167715 deg/s,
      cmd update: -0.503144 deg/s,
      cmd heading: 103.091011 deg,
      new cmd heading: 102.694235 deg.

2021-01-27T18:10:05.869Z,1611771005.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:06.650Z,1611771006.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:07.040Z,1611771007.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:07.865Z,1611771007.865 [Micromodem](INFO): Nmea in: $SNTTA,0.322831,,,,181008.06*4F

2021-01-27T18:10:08.281Z,1611771008.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 486.839966 m, bearing: 80.087984 deg, deltaT: 4.857912 s, approachRate: 0.000000 m/s, LOS rate: -1.361773 deg/s, posRepo size: 4
2021-01-27T18:10:08.283Z,1611771008.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 486.839966 m,
      bearing: 80.087984 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.361773 deg/s,
      cmd update: -4.085319 deg/s,
      cmd heading: 100.646802 deg,
      new cmd heading: 100.472524 deg.

2021-01-27T18:10:10.752Z,1611771010.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:11.486Z,1611771011.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:11.888Z,1611771011.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:12.733Z,1611771012.733 [Micromodem](INFO): Nmea in: $SNTTA,0.321084,,,,181012.90*4E

2021-01-27T18:10:13.134Z,1611771013.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 482.039978 m, bearing: 89.927398 deg, deltaT: 4.870582 s, approachRate: -0.985506 m/s, LOS rate: 2.020172 deg/s, posRepo size: 4
2021-01-27T18:10:13.137Z,1611771013.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 482.039978 m,
      bearing: 89.927398 deg,
      approachRate: -0.985506 m/s,
      LOS rate: 2.020172 deg/s,
      cmd update: 6.060516 deg/s,
      cmd heading: 80.781988 deg,
      new cmd heading: 79.411192 deg.

2021-01-27T18:10:15.544Z,1611771015.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:16.336Z,1611771016.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:16.772Z,1611771016.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:17.566Z,1611771017.566 [Micromodem](INFO): Nmea in: $SNTTA,0.319162,,,,181017.75*42

2021-01-27T18:10:18.002Z,1611771018.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 478.619995 m, bearing: 88.032901 deg, deltaT: 4.788566 s, approachRate: -0.714198 m/s, LOS rate: -0.395629 deg/s, posRepo size: 4
2021-01-27T18:10:18.004Z,1611771018.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 478.619995 m,
      bearing: 88.032901 deg,
      approachRate: -0.714198 m/s,
      LOS rate: -0.395629 deg/s,
      cmd update: -1.186888 deg/s,
      cmd heading: 109.833855 deg,
      new cmd heading: 112.326752 deg.

2021-01-27T18:10:20.393Z,1611771020.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:21.174Z,1611771021.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:21.594Z,1611771021.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:22.426Z,1611771022.426 [Micromodem](INFO): Nmea in: $SNTTA,0.317213,,,,181022.59*41

2021-01-27T18:10:22.842Z,1611771022.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 475.619995 m, bearing: 91.213707 deg, deltaT: 4.875642 s, approachRate: -0.615304 m/s, LOS rate: 0.652387 deg/s, posRepo size: 4
2021-01-27T18:10:22.844Z,1611771022.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 475.619995 m,
      bearing: 91.213707 deg,
      approachRate: -0.615304 m/s,
      LOS rate: 0.652387 deg/s,
      cmd update: 1.957161 deg/s,
      cmd heading: 104.053094 deg,
      new cmd heading: 103.600920 deg.

2021-01-27T18:10:25.245Z,1611771025.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:26.022Z,1611771026.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:26.433Z,1611771026.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:27.266Z,1611771027.266 [Micromodem](INFO): Nmea in: $SNTTA,0.315267,,,,181027.43*4E

2021-01-27T18:10:27.738Z,1611771027.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 472.679962 m, bearing: 87.622960 deg, deltaT: 4.811461 s, approachRate: -0.611048 m/s, LOS rate: -0.746290 deg/s, posRepo size: 4
2021-01-27T18:10:27.740Z,1611771027.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 472.679962 m,
      bearing: 87.622960 deg,
      approachRate: -0.611048 m/s,
      LOS rate: -0.746290 deg/s,
      cmd update: -2.238871 deg/s,
      cmd heading: 113.485890 deg,
      new cmd heading: 114.380561 deg.

2021-01-27T18:10:30.132Z,1611771030.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:30.882Z,1611771030.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:31.280Z,1611771031.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:32.115Z,1611771032.115 [Micromodem](INFO): Nmea in: $SNTTA,0.313469,,,,181032.29*48

2021-01-27T18:10:32.529Z,1611771032.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 469.979980 m, bearing: 86.008256 deg, deltaT: 4.851150 s, approachRate: -0.556565 m/s, LOS rate: -0.332850 deg/s, posRepo size: 4
2021-01-27T18:10:32.531Z,1611771032.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 469.979980 m,
      bearing: 86.008256 deg,
      approachRate: -0.556565 m/s,
      LOS rate: -0.332850 deg/s,
      cmd update: -0.998550 deg/s,
      cmd heading: 102.624805 deg,
      new cmd heading: 101.736027 deg.

2021-01-27T18:10:34.969Z,1611771034.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:35.746Z,1611771035.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:36.159Z,1611771036.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:36.981Z,1611771036.981 [Micromodem](INFO): Nmea in: $SNTTA,0.311686,,,,181037.16*40

2021-01-27T18:10:37.392Z,1611771037.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 467.339996 m, bearing: 87.309973 deg, deltaT: 4.900246 s, approachRate: -0.538745 m/s, LOS rate: 0.265643 deg/s, posRepo size: 4
2021-01-27T18:10:37.394Z,1611771037.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 467.339996 m,
      bearing: 87.309973 deg,
      approachRate: -0.538745 m/s,
      LOS rate: 0.265643 deg/s,
      cmd update: 0.796930 deg/s,
      cmd heading: 97.732056 deg,
      new cmd heading: 97.372600 deg.

2021-01-27T18:10:39.813Z,1611771039.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:40.582Z,1611771040.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:41.000Z,1611771041.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:41.816Z,1611771041.816 [Micromodem](INFO): Nmea in: $SNTTA,0.309727,,,,181041.99*45

2021-01-27T18:10:42.239Z,1611771042.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 464.399994 m, bearing: 88.467226 deg, deltaT: 4.860457 s, approachRate: -0.604882 m/s, LOS rate: 0.238095 deg/s, posRepo size: 4
2021-01-27T18:10:42.241Z,1611771042.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 464.399994 m,
      bearing: 88.467226 deg,
      approachRate: -0.604882 m/s,
      LOS rate: 0.238095 deg/s,
      cmd update: 0.714286 deg/s,
      cmd heading: 101.602621 deg,
      new cmd heading: 101.882109 deg.

2021-01-27T18:10:44.737Z,1611771044.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:45.434Z,1611771045.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:45.836Z,1611771045.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:46.689Z,1611771046.689 [Micromodem](INFO): Nmea in: $SNTTA,0.307747,,,,181046.85*47

2021-01-27T18:10:47.109Z,1611771047.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 461.459991 m, bearing: 86.333659 deg, deltaT: 4.865699 s, approachRate: -0.604230 m/s, LOS rate: -0.438491 deg/s, posRepo size: 4
2021-01-27T18:10:47.111Z,1611771047.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 461.459991 m,
      bearing: 86.333659 deg,
      approachRate: -0.604230 m/s,
      LOS rate: -0.438491 deg/s,
      cmd update: -1.315474 deg/s,
      cmd heading: 105.074928 deg,
      new cmd heading: 105.331434 deg.

2021-01-27T18:10:49.494Z,1611771049.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:50.294Z,1611771050.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:50.722Z,1611771050.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:51.513Z,1611771051.513 [Micromodem](INFO): Nmea in: $SNTTA,0.305698,,,,181051.70*4A

2021-01-27T18:10:51.974Z,1611771051.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 458.520020 m, bearing: 85.654629 deg, deltaT: 4.795248 s, approachRate: -0.613101 m/s, LOS rate: -0.141605 deg/s, posRepo size: 4
2021-01-27T18:10:51.981Z,1611771051.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 458.520020 m,
      bearing: 85.654629 deg,
      approachRate: -0.613101 m/s,
      LOS rate: -0.141605 deg/s,
      cmd update: -0.424814 deg/s,
      cmd heading: 98.760972 deg,
      new cmd heading: 98.202032 deg.

2021-01-27T18:10:54.354Z,1611771054.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:55.130Z,1611771055.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:10:55.546Z,1611771055.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:10:56.372Z,1611771056.372 [Micromodem](INFO): Nmea in: $SNTTA,0.304027,,,,181056.54*48

2021-01-27T18:10:56.815Z,1611771056.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 455.460022 m, bearing: 88.145818 deg, deltaT: 4.832978 s, approachRate: -0.633150 m/s, LOS rate: 0.515456 deg/s, posRepo size: 4
2021-01-27T18:10:56.817Z,1611771056.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.460022 m,
      bearing: 88.145818 deg,
      approachRate: -0.633150 m/s,
      LOS rate: 0.515456 deg/s,
      cmd update: 1.546369 deg/s,
      cmd heading: 96.706151 deg,
      new cmd heading: 96.524173 deg.

2021-01-27T18:10:59.186Z,1611771059.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:10:59.982Z,1611771059.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:00.393Z,1611771060.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:01.220Z,1611771061.220 [Micromodem](INFO): Nmea in: $SNTTA,0.301869,,,,181101.39*47

2021-01-27T18:11:01.655Z,1611771061.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 452.519989 m, bearing: 88.496193 deg, deltaT: 4.864370 s, approachRate: -0.604402 m/s, LOS rate: 0.072029 deg/s, posRepo size: 4
2021-01-27T18:11:01.657Z,1611771061.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 452.519989 m,
      bearing: 88.496193 deg,
      approachRate: -0.604402 m/s,
      LOS rate: 0.072029 deg/s,
      cmd update: 0.216087 deg/s,
      cmd heading: 104.222011 deg,
      new cmd heading: 104.852763 deg.

2021-01-27T18:11:04.054Z,1611771064.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:04.826Z,1611771064.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:05.232Z,1611771065.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:06.068Z,1611771066.068 [Micromodem](INFO): Nmea in: $SNTTA,0.299822,,,,181106.24*43

2021-01-27T18:11:06.479Z,1611771066.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 449.519989 m, bearing: 87.263112 deg, deltaT: 4.895438 s, approachRate: -0.612815 m/s, LOS rate: -0.251884 deg/s, posRepo size: 4
2021-01-27T18:11:06.481Z,1611771066.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 449.519989 m,
      bearing: 87.263112 deg,
      approachRate: -0.612815 m/s,
      LOS rate: -0.251884 deg/s,
      cmd update: -0.755651 deg/s,
      cmd heading: 105.278435 deg,
      new cmd heading: 105.352605 deg.

2021-01-27T18:11:08.916Z,1611771068.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:09.697Z,1611771069.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:10.080Z,1611771070.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:10.902Z,1611771070.902 [Micromodem](INFO): Nmea in: $SNTTA,0.297908,,,,181111.11*44

2021-01-27T18:11:11.348Z,1611771071.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 446.639984 m, bearing: 86.671856 deg, deltaT: 4.811381 s, approachRate: -0.598582 m/s, LOS rate: -0.122887 deg/s, posRepo size: 4
2021-01-27T18:11:11.350Z,1611771071.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 446.639984 m,
      bearing: 86.671856 deg,
      approachRate: -0.598582 m/s,
      LOS rate: -0.122887 deg/s,
      cmd update: -0.368660 deg/s,
      cmd heading: 101.634732 deg,
      new cmd heading: 101.352454 deg.

2021-01-27T18:11:13.779Z,1611771073.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:14.522Z,1611771074.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:14.936Z,1611771074.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:15.768Z,1611771075.768 [Micromodem](INFO): Nmea in: $SNTTA,0.296100,,,,181115.93*4B

2021-01-27T18:11:16.163Z,1611771076.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 443.939972 m, bearing: 87.135250 deg, deltaT: 4.876623 s, approachRate: -0.553664 m/s, LOS rate: 0.095024 deg/s, posRepo size: 4
2021-01-27T18:11:16.181Z,1611771076.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 443.939972 m,
      bearing: 87.135250 deg,
      approachRate: -0.553664 m/s,
      LOS rate: 0.095024 deg/s,
      cmd update: 0.285071 deg/s,
      cmd heading: 99.838381 deg,
      new cmd heading: 99.715647 deg.

2021-01-27T18:11:18.594Z,1611771078.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:19.374Z,1611771079.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:19.785Z,1611771079.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:20.638Z,1611771080.638 [Micromodem](INFO): Nmea in: $SNTTA,0.293970,,,,181120.79*43

2021-01-27T18:11:21.055Z,1611771081.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 440.699982 m, bearing: 87.304940 deg, deltaT: 4.870385 s, approachRate: -0.665243 m/s, LOS rate: 0.034841 deg/s, posRepo size: 4
2021-01-27T18:11:21.058Z,1611771081.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 440.699982 m,
      bearing: 87.304940 deg,
      approachRate: -0.665243 m/s,
      LOS rate: 0.034841 deg/s,
      cmd update: 0.104523 deg/s,
      cmd heading: 101.224751 deg,
      new cmd heading: 101.327932 deg.

2021-01-27T18:11:23.442Z,1611771083.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:24.214Z,1611771084.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:24.652Z,1611771084.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:25.464Z,1611771085.464 [Micromodem](INFO): Nmea in: $SNTTA,0.291995,,,,181125.62*45

2021-01-27T18:11:25.896Z,1611771085.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 437.759979 m, bearing: 87.137757 deg, deltaT: 4.773696 s, approachRate: -0.615875 m/s, LOS rate: -0.035022 deg/s, posRepo size: 4
2021-01-27T18:11:25.898Z,1611771085.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 437.759979 m,
      bearing: 87.137757 deg,
      approachRate: -0.615875 m/s,
      LOS rate: -0.035022 deg/s,
      cmd update: -0.105065 deg/s,
      cmd heading: 101.724876 deg,
      new cmd heading: 101.768538 deg.

2021-01-27T18:11:28.293Z,1611771088.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:28.720Z,1611771088.720 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:11:29.068Z,1611771089.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:29.480Z,1611771089.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:30.300Z,1611771090.300 [Micromodem](INFO): Nmea in: $SNTTA,0.290114,,,,181130.48*49

2021-01-27T18:11:30.760Z,1611771090.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 434.940002 m, bearing: 87.672219 deg, deltaT: 4.869298 s, approachRate: -0.579134 m/s, LOS rate: 0.109762 deg/s, posRepo size: 4
2021-01-27T18:11:30.762Z,1611771090.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 434.940002 m,
      bearing: 87.672219 deg,
      approachRate: -0.579134 m/s,
      LOS rate: 0.109762 deg/s,
      cmd update: 0.329285 deg/s,
      cmd heading: 101.213339 deg,
      new cmd heading: 101.169958 deg.

2021-01-27T18:11:33.146Z,1611771093.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:33.910Z,1611771093.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:34.335Z,1611771094.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:35.160Z,1611771095.160 [Micromodem](INFO): Nmea in: $SNTTA,0.288130,,,,181135.32*4E

2021-01-27T18:11:35.551Z,1611771095.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 431.999969 m, bearing: 87.934813 deg, deltaT: 4.826646 s, approachRate: -0.609125 m/s, LOS rate: 0.054405 deg/s, posRepo size: 4
2021-01-27T18:11:35.553Z,1611771095.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 431.999969 m,
      bearing: 87.934813 deg,
      approachRate: -0.609125 m/s,
      LOS rate: 0.054405 deg/s,
      cmd update: 0.163215 deg/s,
      cmd heading: 102.802849 deg,
      new cmd heading: 102.926969 deg.

2021-01-27T18:11:37.997Z,1611771097.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:38.766Z,1611771098.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:39.168Z,1611771099.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:39.000Z,1611771100.000 [Micromodem](INFO): Nmea in: $SNTTA,0.286235,,,,181140.18*4C

2021-01-27T18:11:40.417Z,1611771100.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 429.119995 m, bearing: 86.702906 deg, deltaT: 4.906943 s, approachRate: -0.586918 m/s, LOS rate: -0.251054 deg/s, posRepo size: 4
2021-01-27T18:11:40.419Z,1611771100.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 429.119995 m,
      bearing: 86.702906 deg,
      approachRate: -0.586918 m/s,
      LOS rate: -0.251054 deg/s,
      cmd update: -0.753161 deg/s,
      cmd heading: 103.602366 deg,
      new cmd heading: 103.658507 deg.

2021-01-27T18:11:42.837Z,1611771102.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:43.617Z,1611771103.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:44.028Z,1611771104.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:44.847Z,1611771104.847 [Micromodem](INFO): Nmea in: $SNTTA,0.284216,,,,181145.03*40

2021-01-27T18:11:45.271Z,1611771105.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 426.059998 m, bearing: 86.616901 deg, deltaT: 4.799058 s, approachRate: -0.637625 m/s, LOS rate: -0.017921 deg/s, posRepo size: 4
2021-01-27T18:11:45.278Z,1611771105.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 426.059998 m,
      bearing: 86.616901 deg,
      approachRate: -0.637625 m/s,
      LOS rate: -0.017921 deg/s,
      cmd update: -0.053764 deg/s,
      cmd heading: 99.981609 deg,
      new cmd heading: 99.687138 deg.

2021-01-27T18:11:47.753Z,1611771107.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:48.458Z,1611771108.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:48.873Z,1611771108.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:49.725Z,1611771109.725 [Micromodem](INFO): Nmea in: $SNTTA,0.282272,,,,181149.87*44

2021-01-27T18:11:50.099Z,1611771110.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 423.119995 m, bearing: 87.275713 deg, deltaT: 4.893424 s, approachRate: -0.600807 m/s, LOS rate: 0.134632 deg/s, posRepo size: 4
2021-01-27T18:11:50.101Z,1611771110.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 423.119995 m,
      bearing: 87.275713 deg,
      approachRate: -0.600807 m/s,
      LOS rate: 0.134632 deg/s,
      cmd update: 0.403897 deg/s,
      cmd heading: 99.718517 deg,
      new cmd heading: 99.701018 deg.

2021-01-27T18:11:52.532Z,1611771112.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:53.315Z,1611771113.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:53.730Z,1611771113.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:54.541Z,1611771114.541 [Micromodem](INFO): Nmea in: $SNTTA,0.280256,,,,181154.73*47

2021-01-27T18:11:54.990Z,1611771114.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 420.119995 m, bearing: 87.511150 deg, deltaT: 4.801839 s, approachRate: -0.624761 m/s, LOS rate: 0.049031 deg/s, posRepo size: 4
2021-01-27T18:11:54.996Z,1611771114.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 420.119995 m,
      bearing: 87.511150 deg,
      approachRate: -0.624761 m/s,
      LOS rate: 0.049031 deg/s,
      cmd update: 0.147092 deg/s,
      cmd heading: 101.657947 deg,
      new cmd heading: 101.825438 deg.

2021-01-27T18:11:57.375Z,1611771117.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:11:58.150Z,1611771118.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:11:58.565Z,1611771118.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:11:59.395Z,1611771119.395 [Micromodem](INFO): Nmea in: $SNTTA,0.278295,,,,181159.56*45

2021-01-27T18:11:59.830Z,1611771119.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 417.179962 m, bearing: 87.477962 deg, deltaT: 4.833657 s, approachRate: -0.608242 m/s, LOS rate: -0.006866 deg/s, posRepo size: 4
2021-01-27T18:11:59.832Z,1611771119.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 417.179962 m,
      bearing: 87.477962 deg,
      approachRate: -0.608242 m/s,
      LOS rate: -0.006866 deg/s,
      cmd update: -0.020598 deg/s,
      cmd heading: 102.368909 deg,
      new cmd heading: 102.430803 deg.

2021-01-27T18:12:02.206Z,1611771122.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:03.002Z,1611771123.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:03.420Z,1611771123.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:04.236Z,1611771124.236 [Micromodem](INFO): Nmea in: $SNTTA,0.276386,,,,181204.41*45

2021-01-27T18:12:04.684Z,1611771124.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 414.359985 m, bearing: 86.450176 deg, deltaT: 4.841048 s, approachRate: -0.582514 m/s, LOS rate: -0.212307 deg/s, posRepo size: 4
2021-01-27T18:12:04.690Z,1611771124.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 414.359985 m,
      bearing: 86.450176 deg,
      approachRate: -0.582514 m/s,
      LOS rate: -0.212307 deg/s,
      cmd update: -0.636920 deg/s,
      cmd heading: 102.269190 deg,
      new cmd heading: 102.260428 deg.

2021-01-27T18:12:07.067Z,1611771127.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:07.850Z,1611771127.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:08.268Z,1611771128.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:09.098Z,1611771129.098 [Micromodem](INFO): Nmea in: $SNTTA,0.274437,,,,181209.26*46

2021-01-27T18:12:09.495Z,1611771129.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 411.419983 m, bearing: 85.994165 deg, deltaT: 4.862083 s, approachRate: -0.604680 m/s, LOS rate: -0.093789 deg/s, posRepo size: 4
2021-01-27T18:12:09.497Z,1611771129.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 411.419983 m,
      bearing: 85.994165 deg,
      approachRate: -0.604680 m/s,
      LOS rate: -0.093789 deg/s,
      cmd update: -0.281368 deg/s,
      cmd heading: 99.172422 deg,
      new cmd heading: 98.928444 deg.

2021-01-27T18:12:11.943Z,1611771131.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:12.719Z,1611771132.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:13.100Z,1611771133.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:13.921Z,1611771133.921 [Micromodem](INFO): Nmea in: $SNTTA,0.272475,,,,181214.13*4C

2021-01-27T18:12:14.366Z,1611771134.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 408.480011 m, bearing: 87.230982 deg, deltaT: 4.888927 s, approachRate: -0.601353 m/s, LOS rate: 0.252983 deg/s, posRepo size: 4
2021-01-27T18:12:14.368Z,1611771134.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 408.480011 m,
      bearing: 87.230982 deg,
      approachRate: -0.601353 m/s,
      LOS rate: 0.252983 deg/s,
      cmd update: 0.758950 deg/s,
      cmd heading: 97.796972 deg,
      new cmd heading: 97.694116 deg.

2021-01-27T18:12:16.815Z,1611771136.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:17.558Z,1611771137.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:17.960Z,1611771137.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:18.791Z,1611771138.791 [Micromodem](INFO): Nmea in: $SNTTA,0.270698,,,,181218.97*4F

2021-01-27T18:12:19.191Z,1611771139.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 405.839996 m, bearing: 87.393998 deg, deltaT: 4.823262 s, approachRate: -0.547350 m/s, LOS rate: 0.033798 deg/s, posRepo size: 4
2021-01-27T18:12:19.193Z,1611771139.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 405.839996 m,
      bearing: 87.393998 deg,
      approachRate: -0.547350 m/s,
      LOS rate: 0.033798 deg/s,
      cmd update: 0.101394 deg/s,
      cmd heading: 101.457872 deg,
      new cmd heading: 101.736272 deg.

2021-01-27T18:12:19.998Z,1611771139.998 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T18:12:21.626Z,1611771141.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:22.394Z,1611771142.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:22.804Z,1611771142.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:23.648Z,1611771143.648 [Micromodem](INFO): Nmea in: $SNTTA,0.268566,,,,181223.80*4A

2021-01-27T18:12:24.062Z,1611771144.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 402.660004 m, bearing: 87.159259 deg, deltaT: 4.897953 s, approachRate: -0.649249 m/s, LOS rate: -0.047926 deg/s, posRepo size: 4
2021-01-27T18:12:24.064Z,1611771144.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 402.660004 m,
      bearing: 87.159259 deg,
      approachRate: -0.649249 m/s,
      LOS rate: -0.047926 deg/s,
      cmd update: -0.143778 deg/s,
      cmd heading: 101.952919 deg,
      new cmd heading: 101.988914 deg.

2021-01-27T18:12:26.474Z,1611771146.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:27.238Z,1611771147.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:27.675Z,1611771147.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:28.472Z,1611771148.472 [Micromodem](INFO): Nmea in: $SNTTA,0.266724,,,,181228.65*40

2021-01-27T18:12:28.932Z,1611771148.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 399.899963 m, bearing: 86.301831 deg, deltaT: 4.788677 s, approachRate: -0.576368 m/s, LOS rate: -0.179053 deg/s, posRepo size: 4
2021-01-27T18:12:28.934Z,1611771148.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.899963 m,
      bearing: 86.301831 deg,
      approachRate: -0.576368 m/s,
      LOS rate: -0.179053 deg/s,
      cmd update: -0.537159 deg/s,
      cmd heading: 101.265065 deg,
      new cmd heading: 101.201690 deg.

2021-01-27T18:12:31.301Z,1611771151.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:32.086Z,1611771152.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:32.496Z,1611771152.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:33.330Z,1611771153.330 [Micromodem](INFO): Nmea in: $SNTTA,0.264783,,,,181233.50*43

2021-01-27T18:12:33.779Z,1611771153.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 396.959991 m, bearing: 86.062357 deg, deltaT: 4.870662 s, approachRate: -0.603608 m/s, LOS rate: -0.049166 deg/s, posRepo size: 4
2021-01-27T18:12:33.781Z,1611771153.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 396.959991 m,
      bearing: 86.062357 deg,
      approachRate: -0.603608 m/s,
      LOS rate: -0.049166 deg/s,
      cmd update: -0.147499 deg/s,
      cmd heading: 98.640076 deg,
      new cmd heading: 98.424601 deg.

2021-01-27T18:12:36.142Z,1611771156.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:36.938Z,1611771156.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:37.355Z,1611771157.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:38.172Z,1611771158.172 [Micromodem](INFO): Nmea in: $SNTTA,0.262813,,,,181238.35*4B

2021-01-27T18:12:38.581Z,1611771158.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 394.019989 m, bearing: 86.540102 deg, deltaT: 4.804412 s, approachRate: -0.611938 m/s, LOS rate: 0.099439 deg/s, posRepo size: 4
2021-01-27T18:12:38.583Z,1611771158.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.019989 m,
      bearing: 86.540102 deg,
      approachRate: -0.611938 m/s,
      LOS rate: 0.099439 deg/s,
      cmd update: 0.298316 deg/s,
      cmd heading: 97.930824 deg,
      new cmd heading: 97.872639 deg.

2021-01-27T18:12:41.023Z,1611771161.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:41.790Z,1611771161.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:42.201Z,1611771162.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:43.016Z,1611771163.016 [Micromodem](INFO): Nmea in: $SNTTA,0.260881,,,,181243.20*4A

2021-01-27T18:12:43.443Z,1611771163.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 391.079987 m, bearing: 87.360257 deg, deltaT: 4.885090 s, approachRate: -0.601832 m/s, LOS rate: 0.167890 deg/s, posRepo size: 4
2021-01-27T18:12:43.445Z,1611771163.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 391.079987 m,
      bearing: 87.360257 deg,
      approachRate: -0.601832 m/s,
      LOS rate: 0.167890 deg/s,
      cmd update: 0.503669 deg/s,
      cmd heading: 99.388041 deg,
      new cmd heading: 99.499041 deg.

2021-01-27T18:12:45.893Z,1611771165.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:46.650Z,1611771166.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:47.036Z,1611771167.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:47.870Z,1611771167.870 [Micromodem](INFO): Nmea in: $SNTTA,0.258885,,,,181248.06*4A

2021-01-27T18:12:48.283Z,1611771168.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.079956 m, bearing: 86.886099 deg, deltaT: 4.877984 s, approachRate: -0.615014 m/s, LOS rate: -0.097204 deg/s, posRepo size: 4
2021-01-27T18:12:48.285Z,1611771168.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.079956 m,
      bearing: 86.886099 deg,
      approachRate: -0.615014 m/s,
      LOS rate: -0.097204 deg/s,
      cmd update: -0.291611 deg/s,
      cmd heading: 101.843031 deg,
      new cmd heading: 102.013088 deg.

2021-01-27T18:12:50.743Z,1611771170.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:51.486Z,1611771171.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:51.899Z,1611771171.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:52.737Z,1611771172.737 [Micromodem](INFO): Nmea in: $SNTTA,0.256858,,,,181252.90*40

2021-01-27T18:12:53.131Z,1611771173.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 385.080017 m, bearing: 86.005674 deg, deltaT: 4.821499 s, approachRate: -0.622200 m/s, LOS rate: -0.182604 deg/s, posRepo size: 4
2021-01-27T18:12:53.133Z,1611771173.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.080017 m,
      bearing: 86.005674 deg,
      approachRate: -0.622200 m/s,
      LOS rate: -0.182604 deg/s,
      cmd update: -0.547812 deg/s,
      cmd heading: 100.435905 deg,
      new cmd heading: 100.330755 deg.

2021-01-27T18:12:55.542Z,1611771175.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:12:56.348Z,1611771176.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:12:56.756Z,1611771176.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:12:57.573Z,1611771177.573 [Micromodem](INFO): Nmea in: $SNTTA,0.254894,,,,181257.76*4F

2021-01-27T18:12:58.005Z,1611771178.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 382.080017 m, bearing: 86.122538 deg, deltaT: 4.817059 s, approachRate: -0.622787 m/s, LOS rate: 0.024261 deg/s, posRepo size: 4
2021-01-27T18:12:58.007Z,1611771178.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.080017 m,
      bearing: 86.122538 deg,
      approachRate: -0.622787 m/s,
      LOS rate: 0.024261 deg/s,
      cmd update: 0.072782 deg/s,
      cmd heading: 97.797002 deg,
      new cmd heading: 97.568657 deg.

2021-01-27T18:13:00.394Z,1611771180.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:01.178Z,1611771181.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:01.580Z,1611771181.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:02.412Z,1611771182.412 [Micromodem](INFO): Nmea in: $SNTTA,0.252985,,,,181302.59*44

2021-01-27T18:13:02.867Z,1611771182.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 379.320007 m, bearing: 87.374246 deg, deltaT: 4.863252 s, approachRate: -0.567523 m/s, LOS rate: 0.257381 deg/s, posRepo size: 4
2021-01-27T18:13:02.873Z,1611771182.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 379.320007 m,
      bearing: 87.374246 deg,
      approachRate: -0.567523 m/s,
      LOS rate: 0.257381 deg/s,
      cmd update: 0.772142 deg/s,
      cmd heading: 98.149498 deg,
      new cmd heading: 98.181208 deg.

2021-01-27T18:13:05.241Z,1611771185.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:06.026Z,1611771186.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:06.440Z,1611771186.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:07.268Z,1611771187.268 [Micromodem](INFO): Nmea in: $SNTTA,0.251007,,,,181307.44*4D

2021-01-27T18:13:07.733Z,1611771187.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 376.320007 m, bearing: 87.697614 deg, deltaT: 4.831235 s, approachRate: -0.620959 m/s, LOS rate: 0.066933 deg/s, posRepo size: 4
2021-01-27T18:13:07.735Z,1611771187.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.320007 m,
      bearing: 87.697614 deg,
      approachRate: -0.620959 m/s,
      LOS rate: 0.066933 deg/s,
      cmd update: 0.200799 deg/s,
      cmd heading: 101.895439 deg,
      new cmd heading: 102.243280 deg.

2021-01-27T18:13:10.106Z,1611771190.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:10.870Z,1611771190.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:11.289Z,1611771191.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:12.121Z,1611771192.121 [Micromodem](INFO): Nmea in: $SNTTA,0.249146,,,,181312.28*4E

2021-01-27T18:13:12.515Z,1611771192.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 373.499969 m, bearing: 85.980293 deg, deltaT: 4.853119 s, approachRate: -0.581077 m/s, LOS rate: -0.353859 deg/s, posRepo size: 4
2021-01-27T18:13:12.517Z,1611771192.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.499969 m,
      bearing: 85.980293 deg,
      approachRate: -0.581077 m/s,
      LOS rate: -0.353859 deg/s,
      cmd update: -1.061578 deg/s,
      cmd heading: 102.869912 deg,
      new cmd heading: 102.946189 deg.

2021-01-27T18:13:14.949Z,1611771194.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:15.746Z,1611771195.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:16.128Z,1611771196.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:16.958Z,1611771196.958 [Micromodem](INFO): Nmea in: $SNTTA,0.247102,,,,181317.16*48

2021-01-27T18:13:17.378Z,1611771197.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 370.439972 m, bearing: 85.428325 deg, deltaT: 4.872767 s, approachRate: -0.627979 m/s, LOS rate: -0.113276 deg/s, posRepo size: 4
2021-01-27T18:13:17.381Z,1611771197.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 370.439972 m,
      bearing: 85.428325 deg,
      approachRate: -0.627979 m/s,
      LOS rate: -0.113276 deg/s,
      cmd update: -0.339828 deg/s,
      cmd heading: 97.696970 deg,
      new cmd heading: 97.303986 deg.

2021-01-27T18:13:19.817Z,1611771199.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:20.578Z,1611771200.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:20.976Z,1611771200.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:21.814Z,1611771201.814 [Micromodem](INFO): Nmea in: $SNTTA,0.245263,,,,181321.99*4C

2021-01-27T18:13:22.227Z,1611771202.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 367.679993 m, bearing: 86.673495 deg, deltaT: 4.880172 s, approachRate: -0.565550 m/s, LOS rate: 0.255149 deg/s, posRepo size: 4
2021-01-27T18:13:22.235Z,1611771202.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.679993 m,
      bearing: 86.673495 deg,
      approachRate: -0.565550 m/s,
      LOS rate: 0.255149 deg/s,
      cmd update: 0.765447 deg/s,
      cmd heading: 96.039948 deg,
      new cmd heading: 95.923403 deg.

2021-01-27T18:13:24.676Z,1611771204.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:25.423Z,1611771205.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:25.820Z,1611771205.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:26.709Z,1611771206.709 [Micromodem](INFO): Nmea in: $SNTTA,0.243260,,,,181326.83*45

2021-01-27T18:13:27.085Z,1611771207.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 364.739960 m, bearing: 87.437602 deg, deltaT: 4.887534 s, approachRate: -0.601537 m/s, LOS rate: 0.156338 deg/s, posRepo size: 4
2021-01-27T18:13:27.088Z,1611771207.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.739960 m,
      bearing: 87.437602 deg,
      approachRate: -0.601537 m/s,
      LOS rate: 0.156338 deg/s,
      cmd update: 0.469014 deg/s,
      cmd heading: 99.784200 deg,
      new cmd heading: 100.020094 deg.

2021-01-27T18:13:29.485Z,1611771209.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:30.268Z,1611771210.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:30.705Z,1611771210.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:31.513Z,1611771211.513 [Micromodem](INFO): Nmea in: $SNTTA,0.241382,,,,181331.68*49

2021-01-27T18:13:31.944Z,1611771211.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.859985 m, bearing: 85.738866 deg, deltaT: 4.755031 s, approachRate: -0.605669 m/s, LOS rate: -0.357250 deg/s, posRepo size: 4
2021-01-27T18:13:31.946Z,1611771211.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.859985 m,
      bearing: 85.738866 deg,
      approachRate: -0.605669 m/s,
      LOS rate: -0.357250 deg/s,
      cmd update: -1.071751 deg/s,
      cmd heading: 102.014334 deg,
      new cmd heading: 102.206275 deg.

2021-01-27T18:13:34.326Z,1611771214.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:35.110Z,1611771215.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:35.520Z,1611771215.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:36.344Z,1611771216.344 [Micromodem](INFO): Nmea in: $SNTTA,0.239345,,,,181336.52*43

2021-01-27T18:13:36.819Z,1611771216.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 358.799988 m, bearing: 86.159660 deg, deltaT: 4.832718 s, approachRate: -0.633184 m/s, LOS rate: 0.087072 deg/s, posRepo size: 4
2021-01-27T18:13:36.821Z,1611771216.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 358.799988 m,
      bearing: 86.159660 deg,
      approachRate: -0.633184 m/s,
      LOS rate: 0.087072 deg/s,
      cmd update: 0.261216 deg/s,
      cmd heading: 96.834804 deg,
      new cmd heading: 96.347076 deg.

2021-01-27T18:13:39.185Z,1611771219.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:39.954Z,1611771219.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:40.372Z,1611771220.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:41.213Z,1611771221.213 [Micromodem](INFO): Nmea in: $SNTTA,0.237388,,,,181341.37*4F

2021-01-27T18:13:41.661Z,1611771221.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.859985 m, bearing: 86.252544 deg, deltaT: 4.864382 s, approachRate: -0.604394 m/s, LOS rate: 0.019095 deg/s, posRepo size: 4
2021-01-27T18:13:41.665Z,1611771221.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.859985 m,
      bearing: 86.252544 deg,
      approachRate: -0.604394 m/s,
      LOS rate: 0.019095 deg/s,
      cmd update: 0.057284 deg/s,
      cmd heading: 98.105450 deg,
      new cmd heading: 98.217983 deg.

2021-01-27T18:13:44.073Z,1611771224.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:44.814Z,1611771224.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:45.223Z,1611771225.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:46.051Z,1611771226.051 [Micromodem](INFO): Nmea in: $SNTTA,0.235296,,,,181346.23*41

2021-01-27T18:13:46.451Z,1611771226.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.739990 m, bearing: 86.331399 deg, deltaT: 4.847307 s, approachRate: -0.643655 m/s, LOS rate: 0.016268 deg/s, posRepo size: 4
2021-01-27T18:13:46.453Z,1611771226.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.739990 m,
      bearing: 86.331399 deg,
      approachRate: -0.643655 m/s,
      LOS rate: 0.016268 deg/s,
      cmd update: 0.048803 deg/s,
      cmd heading: 98.383131 deg,
      new cmd heading: 98.404645 deg.

2021-01-27T18:13:48.896Z,1611771228.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:49.701Z,1611771229.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:50.072Z,1611771230.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:50.877Z,1611771230.877 [Micromodem](INFO): Nmea in: $SNTTA,0.233317,,,,181351.11*48

2021-01-27T18:13:51.304Z,1611771231.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.799988 m, bearing: 85.635846 deg, deltaT: 4.875545 s, approachRate: -0.603010 m/s, LOS rate: -0.142661 deg/s, posRepo size: 4
2021-01-27T18:13:51.307Z,1611771231.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.799988 m,
      bearing: 85.635846 deg,
      approachRate: -0.603010 m/s,
      LOS rate: -0.142661 deg/s,
      cmd update: -0.427984 deg/s,
      cmd heading: 98.620683 deg,
      new cmd heading: 98.638262 deg.

2021-01-27T18:13:53.773Z,1611771233.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:54.506Z,1611771234.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:54.920Z,1611771234.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:13:55.779Z,1611771235.779 [Micromodem](INFO): Nmea in: $SNTTA,0.231362,,,,181355.92*47

2021-01-27T18:13:56.162Z,1611771236.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.860016 m, bearing: 86.152837 deg, deltaT: 4.861908 s, approachRate: -0.604695 m/s, LOS rate: 0.106335 deg/s, posRepo size: 4
2021-01-27T18:13:56.164Z,1611771236.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.860016 m,
      bearing: 86.152837 deg,
      approachRate: -0.604695 m/s,
      LOS rate: 0.106335 deg/s,
      cmd update: 0.319005 deg/s,
      cmd heading: 96.536492 deg,
      new cmd heading: 96.386838 deg.

2021-01-27T18:13:58.566Z,1611771238.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:13:59.362Z,1611771239.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:13:59.764Z,1611771239.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:00.598Z,1611771240.598 [Micromodem](INFO): Nmea in: $SNTTA,0.229469,,,,181400.77*4E

2021-01-27T18:14:01.051Z,1611771241.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.039978 m, bearing: 86.047659 deg, deltaT: 4.851876 s, approachRate: -0.581226 m/s, LOS rate: -0.021678 deg/s, posRepo size: 4
2021-01-27T18:14:01.054Z,1611771241.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.039978 m,
      bearing: 86.047659 deg,
      approachRate: -0.581226 m/s,
      LOS rate: -0.021678 deg/s,
      cmd update: -0.065033 deg/s,
      cmd heading: 98.082564 deg,
      new cmd heading: 98.207028 deg.

2021-01-27T18:14:03.430Z,1611771243.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:04.208Z,1611771244.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:04.628Z,1611771244.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:05.440Z,1611771245.440 [Micromodem](INFO): Nmea in: $SNTTA,0.227570,,,,181405.62*48

2021-01-27T18:14:05.858Z,1611771245.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.160004 m, bearing: 86.074727 deg, deltaT: 4.808420 s, approachRate: -0.598944 m/s, LOS rate: 0.005629 deg/s, posRepo size: 4
2021-01-27T18:14:05.876Z,1611771245.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.160004 m,
      bearing: 86.074727 deg,
      approachRate: -0.598944 m/s,
      LOS rate: 0.005629 deg/s,
      cmd update: 0.016888 deg/s,
      cmd heading: 97.769516 deg,
      new cmd heading: 97.744468 deg.

2021-01-27T18:14:08.254Z,1611771248.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:09.050Z,1611771249.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:09.464Z,1611771249.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:10.288Z,1611771250.288 [Micromodem](INFO): Nmea in: $SNTTA,0.225641,,,,181410.46*49

2021-01-27T18:14:10.757Z,1611771250.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 338.279968 m, bearing: 86.077903 deg, deltaT: 4.865867 s, approachRate: -0.591885 m/s, LOS rate: 0.000653 deg/s, posRepo size: 4
2021-01-27T18:14:10.759Z,1611771250.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.279968 m,
      bearing: 86.077903 deg,
      approachRate: -0.591885 m/s,
      LOS rate: 0.000653 deg/s,
      cmd update: 0.001958 deg/s,
      cmd heading: 97.851187 deg,
      new cmd heading: 97.858752 deg.

2021-01-27T18:14:13.130Z,1611771253.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:13.898Z,1611771253.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:14.310Z,1611771254.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:15.144Z,1611771255.144 [Micromodem](INFO): Nmea in: $SNTTA,0.223605,,,,181415.31*4A

2021-01-27T18:14:15.558Z,1611771255.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 335.220001 m, bearing: 86.558700 deg, deltaT: 4.847527 s, approachRate: -0.631243 m/s, LOS rate: 0.099184 deg/s, posRepo size: 4
2021-01-27T18:14:15.560Z,1611771255.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 335.220001 m,
      bearing: 86.558700 deg,
      approachRate: -0.631243 m/s,
      LOS rate: 0.099184 deg/s,
      cmd update: 0.297552 deg/s,
      cmd heading: 97.860730 deg,
      new cmd heading: 97.861466 deg.

2021-01-27T18:14:17.993Z,1611771257.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:18.766Z,1611771258.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:18.877Z,1611771258.877 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:14:19.156Z,1611771259.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:19.973Z,1611771259.973 [Micromodem](INFO): Nmea in: $SNTTA,0.221605,,,,181420.18*45

2021-01-27T18:14:20.399Z,1611771260.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 332.279999 m, bearing: 86.030863 deg, deltaT: 4.848827 s, approachRate: -0.606333 m/s, LOS rate: -0.108859 deg/s, posRepo size: 4
2021-01-27T18:14:20.401Z,1611771260.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.279999 m,
      bearing: 86.030863 deg,
      approachRate: -0.606333 m/s,
      LOS rate: -0.108859 deg/s,
      cmd update: -0.326576 deg/s,
      cmd heading: 99.303506 deg,
      new cmd heading: 99.412962 deg.

2021-01-27T18:14:22.838Z,1611771262.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:23.601Z,1611771263.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:24.004Z,1611771264.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:24.840Z,1611771264.840 [Micromodem](INFO): Nmea in: $SNTTA,0.219722,,,,181425.01*47

2021-01-27T18:14:25.251Z,1611771265.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 329.399994 m, bearing: 85.671971 deg, deltaT: 4.859543 s, approachRate: -0.592649 m/s, LOS rate: -0.073853 deg/s, posRepo size: 4
2021-01-27T18:14:25.254Z,1611771265.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 329.399994 m,
      bearing: 85.671971 deg,
      approachRate: -0.592649 m/s,
      LOS rate: -0.073853 deg/s,
      cmd update: -0.221559 deg/s,
      cmd heading: 97.715200 deg,
      new cmd heading: 97.598751 deg.

2021-01-27T18:14:27.756Z,1611771267.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:28.442Z,1611771268.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:28.868Z,1611771268.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:29.706Z,1611771269.706 [Micromodem](INFO): Nmea in: $SNTTA,0.217815,,,,181429.85*42

2021-01-27T18:14:30.096Z,1611771270.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.519989 m, bearing: 85.496941 deg, deltaT: 4.885692 s, approachRate: -0.589477 m/s, LOS rate: -0.035825 deg/s, posRepo size: 4
2021-01-27T18:14:30.098Z,1611771270.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.519989 m,
      bearing: 85.496941 deg,
      approachRate: -0.589477 m/s,
      LOS rate: -0.035825 deg/s,
      cmd update: -0.107475 deg/s,
      cmd heading: 96.636277 deg,
      new cmd heading: 96.562782 deg.

2021-01-27T18:14:32.498Z,1611771272.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:33.294Z,1611771273.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:33.728Z,1611771273.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:34.528Z,1611771274.528 [Micromodem](INFO): Nmea in: $SNTTA,0.215936,,,,181434.70*46

2021-01-27T18:14:34.988Z,1611771274.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.699982 m, bearing: 86.150767 deg, deltaT: 4.788229 s, approachRate: -0.588946 m/s, LOS rate: 0.136549 deg/s, posRepo size: 4
2021-01-27T18:14:34.990Z,1611771274.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.699982 m,
      bearing: 86.150767 deg,
      approachRate: -0.588946 m/s,
      LOS rate: 0.136549 deg/s,
      cmd update: 0.409646 deg/s,
      cmd heading: 96.119938 deg,
      new cmd heading: 96.074911 deg.

2021-01-27T18:14:37.355Z,1611771277.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:37.789Z,1611771277.789 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 52
2021-01-27T18:14:38.157Z,1611771278.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:38.556Z,1611771278.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:39.380Z,1611771279.380 [Micromodem](INFO): Nmea in: $SNTTA,0.213926,,,,181439.57*49

2021-01-27T18:14:39.830Z,1611771279.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.700012 m, bearing: 86.450804 deg, deltaT: 4.845735 s, approachRate: -0.619095 m/s, LOS rate: 0.061918 deg/s, posRepo size: 4
2021-01-27T18:14:39.836Z,1611771279.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.700012 m,
      bearing: 86.450804 deg,
      approachRate: -0.619095 m/s,
      LOS rate: 0.061918 deg/s,
      cmd update: 0.185753 deg/s,
      cmd heading: 98.096776 deg,
      new cmd heading: 98.275069 deg.

2021-01-27T18:14:42.214Z,1611771282.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:42.998Z,1611771282.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:43.082Z,1611771283.082 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:14:43.396Z,1611771283.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:44.246Z,1611771284.246 [Micromodem](INFO): Nmea in: $SNTTA,0.211874,,,,181444.41*40

2021-01-27T18:14:44.675Z,1611771284.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 317.579987 m, bearing: 85.562360 deg, deltaT: 4.845790 s, approachRate: -0.643863 m/s, LOS rate: -0.183343 deg/s, posRepo size: 4
2021-01-27T18:14:44.682Z,1611771284.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.579987 m,
      bearing: 85.562360 deg,
      approachRate: -0.643863 m/s,
      LOS rate: -0.183343 deg/s,
      cmd update: -0.550030 deg/s,
      cmd heading: 99.000607 deg,
      new cmd heading: 99.077722 deg.

2021-01-27T18:14:47.057Z,1611771287.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:47.838Z,1611771287.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:47.944Z,1611771287.944 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:14:48.244Z,1611771288.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:49.080Z,1611771289.080 [Micromodem](INFO): Nmea in: $SNTTA,0.209898,,,,181449.25*44

2021-01-27T18:14:49.502Z,1611771289.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 314.699982 m, bearing: 85.293176 deg, deltaT: 4.844194 s, approachRate: -0.594527 m/s, LOS rate: -0.055568 deg/s, posRepo size: 4
2021-01-27T18:14:49.504Z,1611771289.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.699982 m,
      bearing: 85.293176 deg,
      approachRate: -0.594527 m/s,
      LOS rate: -0.055568 deg/s,
      cmd update: -0.166705 deg/s,
      cmd heading: 96.336144 deg,
      new cmd heading: 96.117321 deg.

2021-01-27T18:14:51.977Z,1611771291.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:52.722Z,1611771292.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:52.815Z,1611771292.815 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:14:53.088Z,1611771293.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:53.933Z,1611771293.933 [Micromodem](INFO): Nmea in: $SNTTA,0.207944,,,,181454.13*43

2021-01-27T18:14:54.343Z,1611771294.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 311.759979 m, bearing: 85.787599 deg, deltaT: 4.891552 s, approachRate: -0.601037 m/s, LOS rate: 0.101077 deg/s, posRepo size: 4
2021-01-27T18:14:54.346Z,1611771294.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 311.759979 m,
      bearing: 85.787599 deg,
      approachRate: -0.601037 m/s,
      LOS rate: 0.101077 deg/s,
      cmd update: 0.303231 deg/s,
      cmd heading: 95.521361 deg,
      new cmd heading: 95.462771 deg.

2021-01-27T18:14:56.852Z,1611771296.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:14:57.534Z,1611771297.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:14:57.948Z,1611771297.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:14:58.780Z,1611771298.780 [Micromodem](INFO): Nmea in: $SNTTA,0.205949,,,,181458.94*4F

2021-01-27T18:14:59.190Z,1611771299.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.759979 m, bearing: 85.969706 deg, deltaT: 4.846375 s, approachRate: -0.619019 m/s, LOS rate: 0.037576 deg/s, posRepo size: 4
2021-01-27T18:14:59.193Z,1611771299.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.759979 m,
      bearing: 85.969706 deg,
      approachRate: -0.619019 m/s,
      LOS rate: 0.037576 deg/s,
      cmd update: 0.112727 deg/s,
      cmd heading: 96.992121 deg,
      new cmd heading: 97.097666 deg.

2021-01-27T18:15:01.594Z,1611771301.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:02.386Z,1611771302.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:02.796Z,1611771302.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:02.843Z,1611771302.843 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T18:15:03.648Z,1611771303.648 [Micromodem](INFO): Nmea in: $SNTTA,0.204026,,,,181503.80*44

2021-01-27T18:15:04.049Z,1611771304.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.820007 m, bearing: 85.451677 deg, deltaT: 4.889619 s, approachRate: -0.601268 m/s, LOS rate: -0.105945 deg/s, posRepo size: 4
2021-01-27T18:15:04.050Z,1611771304.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.820007 m,
      bearing: 85.451677 deg,
      approachRate: -0.601268 m/s,
      LOS rate: -0.105945 deg/s,
      cmd update: -0.317834 deg/s,
      cmd heading: 97.542869 deg,
      new cmd heading: 97.578976 deg.

2021-01-27T18:15:06.442Z,1611771306.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:07.230Z,1611771307.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:07.675Z,1611771307.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:07.743Z,1611771307.743 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:15:08.464Z,1611771308.464 [Micromodem](INFO): Nmea in: $SNTTA,0.202088,,,,181508.64*47

2021-01-27T18:15:08.929Z,1611771308.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.940002 m, bearing: 85.268375 deg, deltaT: 4.766448 s, approachRate: -0.604225 m/s, LOS rate: -0.038457 deg/s, posRepo size: 4
2021-01-27T18:15:08.931Z,1611771308.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.940002 m,
      bearing: 85.268375 deg,
      approachRate: -0.604225 m/s,
      LOS rate: -0.038457 deg/s,
      cmd update: -0.115370 deg/s,
      cmd heading: 96.033006 deg,
      new cmd heading: 95.889964 deg.

2021-01-27T18:15:11.286Z,1611771311.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:12.094Z,1611771312.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:12.484Z,1611771312.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:13.307Z,1611771313.307 [Micromodem](INFO): Nmea in: $SNTTA,0.199968,,,,181513.50*4C

2021-01-27T18:15:13.786Z,1611771313.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.819977 m, bearing: 85.680400 deg, deltaT: 4.832884 s, approachRate: -0.645583 m/s, LOS rate: 0.085254 deg/s, posRepo size: 4
2021-01-27T18:15:13.787Z,1611771313.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.819977 m,
      bearing: 85.680400 deg,
      approachRate: -0.645583 m/s,
      LOS rate: 0.085254 deg/s,
      cmd update: 0.255763 deg/s,
      cmd heading: 95.473456 deg,
      new cmd heading: 95.420722 deg.

2021-01-27T18:15:16.149Z,1611771316.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:16.916Z,1611771316.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:17.346Z,1611771317.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:18.163Z,1611771318.163 [Micromodem](INFO): Nmea in: $SNTTA,0.197953,,,,181518.33*44

2021-01-27T18:15:18.595Z,1611771318.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.699982 m, bearing: 85.812195 deg, deltaT: 4.850897 s, approachRate: -0.643179 m/s, LOS rate: 0.027169 deg/s, posRepo size: 4
2021-01-27T18:15:18.597Z,1611771318.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.699982 m,
      bearing: 85.812195 deg,
      approachRate: -0.643179 m/s,
      LOS rate: 0.027169 deg/s,
      cmd update: 0.081508 deg/s,
      cmd heading: 96.714849 deg,
      new cmd heading: 96.820317 deg.

2021-01-27T18:15:21.012Z,1611771321.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:21.774Z,1611771321.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:22.184Z,1611771322.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:23.016Z,1611771323.016 [Micromodem](INFO): Nmea in: $SNTTA,0.196030,,,,181523.18*48

2021-01-27T18:15:23.439Z,1611771323.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.699982 m, bearing: 84.799913 deg, deltaT: 4.895296 s, approachRate: -0.612833 m/s, LOS rate: -0.206787 deg/s, posRepo size: 4
2021-01-27T18:15:23.441Z,1611771323.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.699982 m,
      bearing: 84.799913 deg,
      approachRate: -0.612833 m/s,
      LOS rate: -0.206787 deg/s,
      cmd update: -0.620360 deg/s,
      cmd heading: 97.113529 deg,
      new cmd heading: 97.143329 deg.

2021-01-27T18:15:25.899Z,1611771325.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:26.633Z,1611771326.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:27.028Z,1611771327.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:27.852Z,1611771327.852 [Micromodem](INFO): Nmea in: $SNTTA,0.194082,,,,181528.04*45

2021-01-27T18:15:28.260Z,1611771328.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.880005 m, bearing: 85.210701 deg, deltaT: 4.840424 s, approachRate: -0.582589 m/s, LOS rate: 0.084866 deg/s, posRepo size: 4
2021-01-27T18:15:28.262Z,1611771328.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.880005 m,
      bearing: 85.210701 deg,
      approachRate: -0.582589 m/s,
      LOS rate: 0.084866 deg/s,
      cmd update: 0.254598 deg/s,
      cmd heading: 94.110687 deg,
      new cmd heading: 93.895955 deg.

2021-01-27T18:15:30.772Z,1611771330.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:31.470Z,1611771331.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:31.872Z,1611771331.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:32.764Z,1611771332.764 [Micromodem](INFO): Nmea in: $SNTTA,0.192162,,,,181532.88*43

2021-01-27T18:15:33.117Z,1611771333.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.999969 m, bearing: 85.621291 deg, deltaT: 4.904730 s, approachRate: -0.587196 m/s, LOS rate: 0.083713 deg/s, posRepo size: 4
2021-01-27T18:15:33.119Z,1611771333.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.999969 m,
      bearing: 85.621291 deg,
      approachRate: -0.587196 m/s,
      LOS rate: 0.083713 deg/s,
      cmd update: 0.251139 deg/s,
      cmd heading: 95.360405 deg,
      new cmd heading: 95.435257 deg.

2021-01-27T18:15:35.526Z,1611771335.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:36.328Z,1611771336.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:36.748Z,1611771336.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:37.556Z,1611771337.556 [Micromodem](INFO): Nmea in: $SNTTA,0.190246,,,,181537.74*42

2021-01-27T18:15:37.977Z,1611771337.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.179993 m, bearing: 84.588765 deg, deltaT: 4.772555 s, approachRate: -0.590874 m/s, LOS rate: -0.216347 deg/s, posRepo size: 4
2021-01-27T18:15:37.979Z,1611771337.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.179993 m,
      bearing: 84.588765 deg,
      approachRate: -0.590874 m/s,
      LOS rate: -0.216347 deg/s,
      cmd update: -0.649040 deg/s,
      cmd heading: 96.558994 deg,
      new cmd heading: 96.654695 deg.

2021-01-27T18:15:38.778Z,1611771338.778 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:15:40.378Z,1611771340.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:41.170Z,1611771341.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:41.572Z,1611771341.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:42.406Z,1611771342.406 [Micromodem](INFO): Nmea in: $SNTTA,0.188252,,,,181542.58*42

2021-01-27T18:15:42.843Z,1611771342.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.119995 m, bearing: 85.179965 deg, deltaT: 4.826236 s, approachRate: -0.634034 m/s, LOS rate: 0.122497 deg/s, posRepo size: 4
2021-01-27T18:15:42.846Z,1611771342.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.119995 m,
      bearing: 85.179965 deg,
      approachRate: -0.634034 m/s,
      LOS rate: 0.122497 deg/s,
      cmd update: 0.367492 deg/s,
      cmd heading: 93.426604 deg,
      new cmd heading: 93.152637 deg.

2021-01-27T18:15:45.230Z,1611771345.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:46.026Z,1611771346.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:46.424Z,1611771346.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:47.244Z,1611771347.244 [Micromodem](INFO): Nmea in: $SNTTA,0.186302,,,,181547.44*40

2021-01-27T18:15:47.740Z,1611771347.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 279.179993 m, bearing: 85.250248 deg, deltaT: 4.858254 s, approachRate: -0.605156 m/s, LOS rate: 0.014467 deg/s, posRepo size: 4
2021-01-27T18:15:47.742Z,1611771347.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.179993 m,
      bearing: 85.250248 deg,
      approachRate: -0.605156 m/s,
      LOS rate: 0.014467 deg/s,
      cmd update: 0.043400 deg/s,
      cmd heading: 95.211994 deg,
      new cmd heading: 95.381077 deg.

2021-01-27T18:15:50.099Z,1611771350.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:50.866Z,1611771350.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:51.270Z,1611771351.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:52.104Z,1611771352.104 [Micromodem](INFO): Nmea in: $SNTTA,0.184385,,,,181552.28*43

2021-01-27T18:15:52.520Z,1611771352.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.359985 m, bearing: 85.765586 deg, deltaT: 4.873657 s, approachRate: -0.578622 m/s, LOS rate: 0.105739 deg/s, posRepo size: 4
2021-01-27T18:15:52.522Z,1611771352.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.359985 m,
      bearing: 85.765586 deg,
      approachRate: -0.578622 m/s,
      LOS rate: 0.105739 deg/s,
      cmd update: 0.317218 deg/s,
      cmd heading: 95.423516 deg,
      new cmd heading: 95.439427 deg.

2021-01-27T18:15:54.962Z,1611771354.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:15:55.726Z,1611771355.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:15:56.116Z,1611771356.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:15:56.940Z,1611771356.940 [Micromodem](INFO): Nmea in: $SNTTA,0.182489,,,,181557.14*44

2021-01-27T18:15:57.367Z,1611771357.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.480011 m, bearing: 85.360931 deg, deltaT: 4.855956 s, approachRate: -0.593081 m/s, LOS rate: -0.083332 deg/s, posRepo size: 4
2021-01-27T18:15:57.370Z,1611771357.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.480011 m,
      bearing: 85.360931 deg,
      approachRate: -0.593081 m/s,
      LOS rate: -0.083332 deg/s,
      cmd update: -0.249995 deg/s,
      cmd heading: 96.962640 deg,
      new cmd heading: 97.077433 deg.

2021-01-27T18:15:59.821Z,1611771359.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:00.554Z,1611771360.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:00.960Z,1611771360.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:01.792Z,1611771361.792 [Micromodem](INFO): Nmea in: $SNTTA,0.180454,,,,181601.97*4D

2021-01-27T18:16:02.215Z,1611771362.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.839996 m, bearing: 84.931456 deg, deltaT: 4.857376 s, approachRate: -0.543506 m/s, LOS rate: -0.088417 deg/s, posRepo size: 4
2021-01-27T18:16:02.221Z,1611771362.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.839996 m,
      bearing: 84.931456 deg,
      approachRate: -0.543506 m/s,
      LOS rate: -0.088417 deg/s,
      cmd update: -0.265252 deg/s,
      cmd heading: 95.750016 deg,
      new cmd heading: 95.660212 deg.

2021-01-27T18:16:03.010Z,1611771363.010 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:16:04.655Z,1611771364.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:05.414Z,1611771365.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:05.812Z,1611771365.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:06.661Z,1611771366.661 [Micromodem](INFO): Nmea in: $SNTTA,0.178558,,,,181606.83*45

2021-01-27T18:16:07.061Z,1611771367.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.720001 m, bearing: 85.648742 deg, deltaT: 4.864043 s, approachRate: -0.641441 m/s, LOS rate: 0.147467 deg/s, posRepo size: 4
2021-01-27T18:16:07.063Z,1611771367.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.720001 m,
      bearing: 85.648742 deg,
      approachRate: -0.641441 m/s,
      LOS rate: 0.147467 deg/s,
      cmd update: 0.442401 deg/s,
      cmd heading: 94.459127 deg,
      new cmd heading: 94.369414 deg.

2021-01-27T18:16:07.854Z,1611771367.854 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T18:16:09.462Z,1611771369.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:10.258Z,1611771370.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:10.713Z,1611771370.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:11.488Z,1611771371.488 [Micromodem](INFO): Nmea in: $SNTTA,0.176605,,,,181611.67*4C

2021-01-27T18:16:11.923Z,1611771371.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.839996 m, bearing: 86.491232 deg, deltaT: 4.771431 s, approachRate: -0.603594 m/s, LOS rate: 0.176570 deg/s, posRepo size: 4
2021-01-27T18:16:11.926Z,1611771371.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.839996 m,
      bearing: 86.491232 deg,
      approachRate: -0.603594 m/s,
      LOS rate: 0.176570 deg/s,
      cmd update: 0.529709 deg/s,
      cmd heading: 96.573627 deg,
      new cmd heading: 96.759967 deg.

2021-01-27T18:16:14.336Z,1611771374.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:15.102Z,1611771375.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:15.517Z,1611771375.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:16.352Z,1611771376.352 [Micromodem](INFO): Nmea in: $SNTTA,0.174629,,,,181616.51*42

2021-01-27T18:16:16.790Z,1611771376.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.839996 m, bearing: 84.813710 deg, deltaT: 4.864542 s, approachRate: -0.616708 m/s, LOS rate: -0.344847 deg/s, posRepo size: 4
2021-01-27T18:16:16.792Z,1611771376.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.839996 m,
      bearing: 84.813710 deg,
      approachRate: -0.616708 m/s,
      LOS rate: -0.344847 deg/s,
      cmd update: -1.034540 deg/s,
      cmd heading: 99.150407 deg,
      new cmd heading: 99.374660 deg.

2021-01-27T18:16:19.158Z,1611771379.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:19.958Z,1611771379.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:20.371Z,1611771380.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:21.184Z,1611771381.184 [Micromodem](INFO): Nmea in: $SNTTA,0.172611,,,,181621.37*4B

2021-01-27T18:16:21.631Z,1611771381.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.660004 m, bearing: 84.170607 deg, deltaT: 4.852206 s, approachRate: -0.655370 m/s, LOS rate: -0.132538 deg/s, posRepo size: 4
2021-01-27T18:16:21.646Z,1611771381.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.660004 m,
      bearing: 84.170607 deg,
      approachRate: -0.655370 m/s,
      LOS rate: -0.132538 deg/s,
      cmd update: -0.397615 deg/s,
      cmd heading: 94.151738 deg,
      new cmd heading: 93.724703 deg.

2021-01-27T18:16:22.799Z,1611771382.799 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-01-27T18:16:24.060Z,1611771384.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:24.794Z,1611771384.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:25.214Z,1611771385.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:26.036Z,1611771386.036 [Micromodem](INFO): Nmea in: $SNTTA,0.170498,,,,181626.20*4B

2021-01-27T18:16:26.443Z,1611771386.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.539993 m, bearing: 84.935629 deg, deltaT: 4.890148 s, approachRate: -0.638020 m/s, LOS rate: 0.156442 deg/s, posRepo size: 4
2021-01-27T18:16:26.450Z,1611771386.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.539993 m,
      bearing: 84.935629 deg,
      approachRate: -0.638020 m/s,
      LOS rate: 0.156442 deg/s,
      cmd update: 0.469325 deg/s,
      cmd heading: 92.205651 deg,
      new cmd heading: 92.066362 deg.

2021-01-27T18:16:28.889Z,1611771388.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:29.670Z,1611771389.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:30.056Z,1611771390.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:30.858Z,1611771390.858 [Micromodem](INFO): Nmea in: $SNTTA,0.168555,,,,181631.08*4E

2021-01-27T18:16:31.744Z,1611771391.744 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:16:31.757Z,1611771391.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 519.000000 m, bearing: 85.605773 deg, deltaT: 5.172512 s, approachRate: 50.934639 m/s, LOS rate: 0.129559 deg/s, posRepo size: 4
2021-01-27T18:16:31.759Z,1611771391.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 519.000000 m,
      bearing: 85.605773 deg,
      approachRate: 50.934639 m/s,
      LOS rate: 0.129559 deg/s,
      cmd update: 0.388676 deg/s,
      cmd heading: 94.640754 deg,
      new cmd heading: 94.863762 deg.

2021-01-27T18:16:33.744Z,1611771393.744 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T18:16:33.789Z,1611771393.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:34.502Z,1611771394.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:34.900Z,1611771394.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:35.756Z,1611771395.756 [Micromodem](INFO): Nmea in: $SNTTA,0.166669,,,,181635.91*48

2021-01-27T18:16:36.151Z,1611771396.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.899979 m, bearing: 85.419186 deg, deltaT: 4.549569 s, approachRate: -59.148468 m/s, LOS rate: -0.041012 deg/s, posRepo size: 4
2021-01-27T18:16:36.153Z,1611771396.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.899979 m,
      bearing: 85.419186 deg,
      approachRate: -59.148468 m/s,
      LOS rate: -0.041012 deg/s,
      cmd update: -0.123036 deg/s,
      cmd heading: 96.404922 deg,
      new cmd heading: 96.533489 deg.

2021-01-27T18:16:38.554Z,1611771398.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:39.354Z,1611771399.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:39.764Z,1611771399.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:40.572Z,1611771400.572 [Micromodem](INFO): Nmea in: $SNTTA,0.164751,,,,181640.76*4B

2021-01-27T18:16:41.011Z,1611771401.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.899994 m, bearing: 85.086037 deg, deltaT: 4.759414 s, approachRate: -0.630327 m/s, LOS rate: -0.069998 deg/s, posRepo size: 4
2021-01-27T18:16:41.014Z,1611771401.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.899994 m,
      bearing: 85.086037 deg,
      approachRate: -0.630327 m/s,
      LOS rate: -0.069998 deg/s,
      cmd update: -0.209994 deg/s,
      cmd heading: 95.818548 deg,
      new cmd heading: 95.766231 deg.

2021-01-27T18:16:43.414Z,1611771403.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:44.191Z,1611771404.191 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2021-01-27T18:16:44.191Z,1611771404.191 [Micromodem](INFO): Have incoming data
2021-01-27T18:16:44.192Z,1611771404.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:44.594Z,1611771404.594 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2021-01-27T18:16:44.594Z,1611771404.594 [Micromodem](ERROR): Response from modem unexpected: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2021-01-27T18:16:44.603Z,1611771404.603 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127181643.311450,06,1035,30,0167,0150,29,01,01,00,04,1,010,001,0,3,1,0,150,12.6,5.00,00,-2.00,-01,1.47,29,14500,4000*50

2021-01-27T18:16:44.604Z,1611771404.604 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127181643.311450,06,1035,30,0167,0150,29,01,01,00,04,1,010,001,0,3,1,0,150,12.6,5.00,00,-2.00,-01,1.47,29,14500,4000*50

2021-01-27T18:16:45.445Z,1611771405.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:46.245Z,1611771406.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:47.829Z,1611771407.829 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:16:49.059Z,1611771409.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:49.854Z,1611771409.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:50.252Z,1611771410.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:51.080Z,1611771411.080 [Micromodem](INFO): Nmea in: $SNTTA,0.160380,,,0.162868,181651.26*5F

2021-01-27T18:16:51.503Z,1611771411.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.419983 m, bearing: 85.631632 deg, deltaT: 10.524076 s, approachRate: -0.615732 m/s, LOS rate: 0.051843 deg/s, posRepo size: 4
2021-01-27T18:16:51.505Z,1611771411.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.419983 m,
      bearing: 85.631632 deg,
      approachRate: -0.615732 m/s,
      LOS rate: 0.051843 deg/s,
      cmd update: 0.155528 deg/s,
      cmd heading: 93.611840 deg,
      new cmd heading: 93.526123 deg.

2021-01-27T18:16:53.938Z,1611771413.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:54.721Z,1611771414.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:55.096Z,1611771415.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:16:55.927Z,1611771415.927 [Micromodem](INFO): Nmea in: $SNTTA,0.158497,,,,181656.13*49

2021-01-27T18:16:56.347Z,1611771416.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.539978 m, bearing: 85.951825 deg, deltaT: 4.901218 s, approachRate: -0.587610 m/s, LOS rate: 0.065329 deg/s, posRepo size: 4
2021-01-27T18:16:56.349Z,1611771416.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.539978 m,
      bearing: 85.951825 deg,
      approachRate: -0.587610 m/s,
      LOS rate: 0.065329 deg/s,
      cmd update: 0.195987 deg/s,
      cmd heading: 94.376046 deg,
      new cmd heading: 94.428684 deg.

2021-01-27T18:16:58.807Z,1611771418.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:16:59.535Z,1611771419.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:16:59.956Z,1611771419.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:00.787Z,1611771420.787 [Micromodem](INFO): Nmea in: $SNTTA,0.156445,,,,181700.95*44

2021-01-27T18:17:01.198Z,1611771421.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.479980 m, bearing: 85.381271 deg, deltaT: 4.822784 s, approachRate: -0.634488 m/s, LOS rate: -0.118304 deg/s, posRepo size: 4
2021-01-27T18:17:01.201Z,1611771421.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.479980 m,
      bearing: 85.381271 deg,
      approachRate: -0.634488 m/s,
      LOS rate: -0.118304 deg/s,
      cmd update: -0.354911 deg/s,
      cmd heading: 95.322740 deg,
      new cmd heading: 95.393245 deg.

2021-01-27T18:17:03.657Z,1611771423.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:04.438Z,1611771424.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:04.832Z,1611771424.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:06.045Z,1611771426.045 [Micromodem](INFO): Nmea in: $SNTTA,0.154506,,,,181705.96*46

2021-01-27T18:17:06.087Z,1611771426.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.599991 m, bearing: 85.022762 deg, deltaT: 4.897679 s, approachRate: -0.588032 m/s, LOS rate: -0.073200 deg/s, posRepo size: 4
2021-01-27T18:17:06.089Z,1611771426.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.599991 m,
      bearing: 85.022762 deg,
      approachRate: -0.588032 m/s,
      LOS rate: -0.073200 deg/s,
      cmd update: -0.219600 deg/s,
      cmd heading: 93.589498 deg,
      new cmd heading: 93.460171 deg.

2021-01-27T18:17:08.484Z,1611771428.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:09.266Z,1611771429.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:09.695Z,1611771429.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:10.508Z,1611771430.508 [Micromodem](INFO): Nmea in: $SNTTA,0.152588,,,,181710.68*43

2021-01-27T18:17:10.931Z,1611771430.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.659988 m, bearing: 85.250050 deg, deltaT: 4.785967 s, approachRate: -0.614296 m/s, LOS rate: 0.047491 deg/s, posRepo size: 4
2021-01-27T18:17:10.933Z,1611771430.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.659988 m,
      bearing: 85.250050 deg,
      approachRate: -0.614296 m/s,
      LOS rate: 0.047491 deg/s,
      cmd update: 0.142472 deg/s,
      cmd heading: 92.535410 deg,
      new cmd heading: 92.445639 deg.

2021-01-27T18:17:13.350Z,1611771433.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:14.110Z,1611771434.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:14.531Z,1611771434.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:15.348Z,1611771435.348 [Micromodem](INFO): Nmea in: $SNTTA,0.150605,,,,181715.52*4B

2021-01-27T18:17:15.806Z,1611771435.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.779999 m, bearing: 84.792482 deg, deltaT: 4.868839 s, approachRate: -0.591515 m/s, LOS rate: -0.093979 deg/s, posRepo size: 4
2021-01-27T18:17:15.808Z,1611771435.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.779999 m,
      bearing: 84.792482 deg,
      approachRate: -0.591515 m/s,
      LOS rate: -0.093979 deg/s,
      cmd update: -0.281937 deg/s,
      cmd heading: 93.228510 deg,
      new cmd heading: 93.288155 deg.

2021-01-27T18:17:18.166Z,1611771438.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:18.958Z,1611771438.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:19.372Z,1611771439.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:20.192Z,1611771440.192 [Micromodem](INFO): Nmea in: $SNTTA,0.148628,,,,181720.37*48

2021-01-27T18:17:20.607Z,1611771440.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.720001 m, bearing: 85.935569 deg, deltaT: 4.815600 s, approachRate: -0.635434 m/s, LOS rate: 0.237372 deg/s, posRepo size: 4
2021-01-27T18:17:20.615Z,1611771440.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.720001 m,
      bearing: 85.935569 deg,
      approachRate: -0.635434 m/s,
      LOS rate: 0.237372 deg/s,
      cmd update: 0.712115 deg/s,
      cmd heading: 91.869681 deg,
      new cmd heading: 91.757047 deg.

2021-01-27T18:17:22.714Z,1611771442.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:23.411Z,1611771443.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:23.812Z,1611771443.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:24.685Z,1611771444.685 [Micromodem](INFO): Nmea in: $SNTTA,0.146838,,,,181724.82*43

2021-01-27T18:17:25.060Z,1611771445.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.079987 m, bearing: 84.877928 deg, deltaT: 4.540955 s, approachRate: -0.581379 m/s, LOS rate: -0.232912 deg/s, posRepo size: 4
2021-01-27T18:17:25.062Z,1611771445.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.079987 m,
      bearing: 84.877928 deg,
      approachRate: -0.581379 m/s,
      LOS rate: -0.232912 deg/s,
      cmd update: -0.698735 deg/s,
      cmd heading: 95.103244 deg,
      new cmd heading: 95.325502 deg.

2021-01-27T18:17:27.473Z,1611771447.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:28.254Z,1611771448.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:28.689Z,1611771448.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:29.505Z,1611771449.505 [Micromodem](INFO): Nmea in: $SNTTA,0.144852,,,,181729.66*4A

2021-01-27T18:17:29.937Z,1611771449.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.079987 m, bearing: 84.294322 deg, deltaT: 4.771828 s, approachRate: -0.628690 m/s, LOS rate: -0.122302 deg/s, posRepo size: 4
2021-01-27T18:17:29.938Z,1611771449.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.079987 m,
      bearing: 84.294322 deg,
      approachRate: -0.628690 m/s,
      LOS rate: -0.122302 deg/s,
      cmd update: -0.366907 deg/s,
      cmd heading: 91.768906 deg,
      new cmd heading: 91.480985 deg.

2021-01-27T18:17:32.335Z,1611771452.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:33.111Z,1611771453.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:33.520Z,1611771453.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:34.342Z,1611771454.342 [Micromodem](INFO): Nmea in: $SNTTA,0.142902,,,,181734.52*43

2021-01-27T18:17:34.789Z,1611771454.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.199982 m, bearing: 85.600377 deg, deltaT: 4.856903 s, approachRate: -0.592971 m/s, LOS rate: 0.268907 deg/s, posRepo size: 4
2021-01-27T18:17:34.790Z,1611771454.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.199982 m,
      bearing: 85.600377 deg,
      approachRate: -0.592971 m/s,
      LOS rate: 0.268907 deg/s,
      cmd update: 0.806721 deg/s,
      cmd heading: 89.986866 deg,
      new cmd heading: 89.835770 deg.

2021-01-27T18:17:37.177Z,1611771457.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:37.950Z,1611771457.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:38.374Z,1611771458.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:39.201Z,1611771459.201 [Micromodem](INFO): Nmea in: $SNTTA,0.140908,,,,181739.36*44

2021-01-27T18:17:39.603Z,1611771459.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.139984 m, bearing: 86.095552 deg, deltaT: 4.839484 s, approachRate: -0.632298 m/s, LOS rate: 0.102320 deg/s, posRepo size: 4
2021-01-27T18:17:39.631Z,1611771459.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.139984 m,
      bearing: 86.095552 deg,
      approachRate: -0.632298 m/s,
      LOS rate: 0.102320 deg/s,
      cmd update: 0.306959 deg/s,
      cmd heading: 93.890689 deg,
      new cmd heading: 94.200971 deg.

2021-01-27T18:17:42.049Z,1611771462.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:42.822Z,1611771462.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:43.200Z,1611771463.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:44.036Z,1611771464.036 [Micromodem](INFO): Nmea in: $SNTTA,0.138856,,0.141632,,181744.23*52

2021-01-27T18:17:44.454Z,1611771464.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.019989 m, bearing: 84.870899 deg, deltaT: 4.864673 s, approachRate: -0.641358 m/s, LOS rate: -0.251744 deg/s, posRepo size: 4
2021-01-27T18:17:44.456Z,1611771464.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.019989 m,
      bearing: 84.870899 deg,
      approachRate: -0.641358 m/s,
      LOS rate: -0.251744 deg/s,
      cmd update: -0.755232 deg/s,
      cmd heading: 95.384026 deg,
      new cmd heading: 95.498776 deg.

2021-01-27T18:17:46.902Z,1611771466.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:47.693Z,1611771467.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:47.829Z,1611771467.829 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T18:17:47.829Z,1611771467.829 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T18:17:47.829Z,1611771467.829 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T18:17:47.829Z,1611771467.829 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T18:17:47.829Z,1611771467.829 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T18:17:48.160Z,1611771468.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:17:48.183Z,1611771468.183 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T18:17:48.707Z,1611771468.707 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A81160040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-01-27T18:17:48.709Z,1611771468.709 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C
2021-01-27T18:17:48.711Z,1611771468.711 [Micromodem](INFO): Outgoing frame #3, 58 bytes: 91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F34EE6423AB8D6972A115B4BC9111403F8D0DDCB0AC0755B9A4B755B6811B7993B243C000
2021-01-27T18:17:48.712Z,1611771468.712 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-27T18:17:49.077Z,1611771469.077 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-27T18:17:49.138Z,1611771469.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.259995 m, bearing: 83.969833 deg, deltaT: 4.734587 s, approachRate: -0.582943 m/s, LOS rate: -0.190316 deg/s, posRepo size: 4
2021-01-27T18:17:49.141Z,1611771469.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.259995 m,
      bearing: 83.969833 deg,
      approachRate: -0.582943 m/s,
      LOS rate: -0.190316 deg/s,
      cmd update: -0.570947 deg/s,
      cmd heading: 91.811290 deg,
      new cmd heading: 91.564082 deg.

2021-01-27T18:17:49.477Z,1611771469.477 [Micromodem](INFO): Nmea in: $CADRQ,181750,1,10,0,64,1*7C

2021-01-27T18:17:49.478Z,1611771469.478 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A81160040000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*45

2021-01-27T18:17:49.885Z,1611771469.885 [Micromodem](INFO): Nmea in: $SNTTA,0.137072,,,,181749.10*43

2021-01-27T18:17:49.885Z,1611771469.885 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.137072,,,,181749.10*43

2021-01-27T18:17:51.091Z,1611771471.091 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:17:51.482Z,1611771471.482 [Micromodem](INFO): Nmea in: $CADRQ,181750,1,10,0,64,2*7F

2021-01-27T18:17:51.482Z,1611771471.482 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F539F3710BBE7FB6CD7CBA16D2CF465CB87327950A7E4E51A654D58497BB4ADA4D070F699C2EC1C*46

2021-01-27T18:17:51.602Z,1611771471.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:51.901Z,1611771471.901 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:17:52.286Z,1611771472.286 [Micromodem](INFO): Nmea in: $CADRQ,181752,1,10,0,64,3*7C

2021-01-27T18:17:52.287Z,1611771472.287 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,91CA7DCF49E3E747344986DCDE5C1D3F674600D0C92F34EE6423AB8D6972A115B4BC9111403F8D0DDCB0AC0755B9A4B755B6811B7993B243C000*34

2021-01-27T18:17:52.721Z,1611771472.721 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,58*46

2021-01-27T18:17:52.722Z,1611771472.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:17:53.103Z,1611771473.103 [Micromodem](INFO): Nmea in: $CATXP,186*4D

2021-01-27T18:17:53.103Z,1611771473.103 [Micromodem](ERROR): Response from modem unexpected: $CATXP,186*4D

2021-01-27T18:17:54.447Z,1611771474.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:17:54.734Z,1611771474.734 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:17:56.766Z,1611771476.766 [Micromodem](INFO): Nmea in: $CATXF,186*5B

2021-01-27T18:17:56.766Z,1611771476.766 [Micromodem](ERROR): Response from modem unexpected: $CATXF,186*5B

2021-01-27T18:17:57.135Z,1611771477.135 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,181753.738331,3,0,200,4000,14500,1,1,10,1,3,3,3,186*7D

2021-01-27T18:17:57.135Z,1611771477.135 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,181753.738331,3,0,200,4000,14500,1,1,10,1,3,3,3,186*7D

2021-01-27T18:17:57.151Z,1611771477.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:00.012Z,1611771480.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:00.379Z,1611771480.379 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T18:18:00.774Z,1611771480.774 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T18:18:01.187Z,1611771481.187 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-01-27T18:18:01.188Z,1611771481.188 [Micromodem](INFO): Sent 178 bytes from file Logs/20210127T175400/Courier0004.lzma.parts
2021-01-27T18:18:01.188Z,1611771481.188 [Micromodem](INFO): Packets left to send: 0
2021-01-27T18:18:01.585Z,1611771481.585 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127181800.481976,06,4859,36,0303,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,15.5,7.00,16,-4.00,-01,1.22,35,14500,4000*56

2021-01-27T18:18:01.585Z,1611771481.585 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127181800.481976,06,4859,36,0303,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,15.5,7.00,16,-4.00,-01,1.22,35,14500,4000*56

2021-01-27T18:18:01.763Z,1611771481.763 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B8A81160070000005D00000400260000000000000000151D80030C5669C010EAB2D679469582A7CF7045B37A5C421BF08D8EB20476553ABE7A534700
2021-01-27T18:18:02.926Z,1611771482.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:04.005Z,1611771484.005 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:04.412Z,1611771484.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:04.424Z,1611771484.424 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:18:04.810Z,1611771484.810 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T18:18:05.244Z,1611771485.244 [Micromodem](INFO): Nmea in: $CADRQ,181805,1,10,0,64,1*73

2021-01-27T18:18:05.244Z,1611771485.244 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A81160070000005D00000400260000000000000000151D80030C5669C010EAB2D679469582A7CF7045B37A5C421BF08D8EB20476553ABE7A534700*34

2021-01-27T18:18:05.644Z,1611771485.644 [Micromodem](INFO): Nmea in: $SNTTA,0.130066,,,,181805.42*41

2021-01-27T18:18:05.644Z,1611771485.644 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.130066,,,,181805.42*41

2021-01-27T18:18:05.732Z,1611771485.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.000000 m, bearing: 85.874896 deg, deltaT: 16.531381 s, approachRate: -0.620637 m/s, LOS rate: 0.115239 deg/s, posRepo size: 4
2021-01-27T18:18:05.734Z,1611771485.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.000000 m,
      bearing: 85.874896 deg,
      approachRate: -0.620637 m/s,
      LOS rate: 0.115239 deg/s,
      cmd update: 0.345718 deg/s,
      cmd heading: 82.372791 deg,
      new cmd heading: 82.152734 deg.

2021-01-27T18:18:06.841Z,1611771486.841 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-01-27T18:18:07.261Z,1611771487.261 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-01-27T18:18:07.669Z,1611771487.669 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-01-27T18:18:08.053Z,1611771488.053 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,181806.674368,3,0,200,4000,14500,1,1,10,1,1,1,3,60*4E

2021-01-27T18:18:08.111Z,1611771488.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:08.854Z,1611771488.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:09.268Z,1611771489.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:10.086Z,1611771490.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181810.26*5B

2021-01-27T18:18:10.922Z,1611771490.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:12.489Z,1611771492.489 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:18:13.839Z,1611771493.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:14.510Z,1611771494.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:14.916Z,1611771494.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:15.756Z,1611771495.756 [Micromodem](INFO): Nmea in: $SNTTA,0.125695,,,,181815.92*43

2021-01-27T18:18:16.149Z,1611771496.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.339996 m, bearing: 86.491649 deg, deltaT: 10.550132 s, approachRate: -0.631272 m/s, LOS rate: 0.058459 deg/s, posRepo size: 4
2021-01-27T18:18:16.150Z,1611771496.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.339996 m,
      bearing: 86.491649 deg,
      approachRate: -0.631272 m/s,
      LOS rate: 0.058459 deg/s,
      cmd update: 0.175378 deg/s,
      cmd heading: 86.021577 deg,
      new cmd heading: 86.108550 deg.

2021-01-27T18:18:18.562Z,1611771498.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:19.362Z,1611771499.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:19.764Z,1611771499.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:20.637Z,1611771500.637 [Micromodem](INFO): Nmea in: $SNTTA,0.123682,,,,181820.77*4E

2021-01-27T18:18:21.017Z,1611771501.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 87.270106 deg, deltaT: 4.839002 s, approachRate: -0.607564 m/s, LOS rate: 0.160871 deg/s, posRepo size: 4
2021-01-27T18:18:21.019Z,1611771501.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 87.270106 deg,
      approachRate: -0.607564 m/s,
      LOS rate: 0.160871 deg/s,
      cmd update: 0.482614 deg/s,
      cmd heading: 86.869164 deg,
      new cmd heading: 86.919642 deg.

2021-01-27T18:18:23.451Z,1611771503.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:24.210Z,1611771504.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:24.645Z,1611771504.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:25.461Z,1611771505.461 [Micromodem](INFO): Nmea in: $SNTTA,0.121818,,,,181825.62*40

2021-01-27T18:18:25.485Z,1611771505.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 86.485501 deg, deltaT: 4.357250 s, approachRate: 0.000000 m/s, LOS rate: -0.180069 deg/s, posRepo size: 4
2021-01-27T18:18:25.487Z,1611771505.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 86.485501 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.180069 deg/s,
      cmd update: -0.540206 deg/s,
      cmd heading: 88.964093 deg,
      new cmd heading: 89.164151 deg.

2021-01-27T18:18:27.962Z,1611771507.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:28.706Z,1611771508.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:29.080Z,1611771509.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:29.908Z,1611771509.908 [Micromodem](INFO): Nmea in: $SNTTA,0.120006,,,,181830.12*45

2021-01-27T18:18:30.347Z,1611771510.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 86.693665 deg, deltaT: 4.879320 s, approachRate: -1.143602 m/s, LOS rate: 0.042662 deg/s, posRepo size: 4
2021-01-27T18:18:30.349Z,1611771510.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.819992 m,
      bearing: 86.693665 deg,
      approachRate: -1.143602 m/s,
      LOS rate: 0.042662 deg/s,
      cmd update: 0.127987 deg/s,
      cmd heading: 86.316084 deg,
      new cmd heading: 86.113906 deg.

2021-01-27T18:18:33.002Z,1611771513.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:33.631Z,1611771513.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:34.008Z,1611771514.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:34.837Z,1611771514.837 [Micromodem](INFO): Nmea in: $SNTTA,0.117957,,,,181835.04*4E

2021-01-27T18:18:35.326Z,1611771515.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.759995 m, bearing: 86.889022 deg, deltaT: 4.940695 s, approachRate: -0.619346 m/s, LOS rate: 0.039540 deg/s, posRepo size: 4
2021-01-27T18:18:35.329Z,1611771515.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.759995 m,
      bearing: 86.889022 deg,
      approachRate: -0.619346 m/s,
      LOS rate: 0.039540 deg/s,
      cmd update: 0.118621 deg/s,
      cmd heading: 86.948412 deg,
      new cmd heading: 87.001141 deg.

2021-01-27T18:18:37.768Z,1611771517.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:38.450Z,1611771518.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:38.872Z,1611771518.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:38.900Z,1611771518.900 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:18:39.733Z,1611771519.733 [Micromodem](INFO): Nmea in: $SNTTA,0.115838,,,,181839.86*42

2021-01-27T18:18:39.893Z,1611771519.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.759995 m, bearing: 86.395479 deg, deltaT: 4.403543 s, approachRate: 0.000000 m/s, LOS rate: -0.112079 deg/s, posRepo size: 4
2021-01-27T18:18:39.895Z,1611771519.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.759995 m,
      bearing: 86.395479 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.112079 deg/s,
      cmd update: -0.336236 deg/s,
      cmd heading: 87.470521 deg,
      new cmd heading: 87.539215 deg.

2021-01-27T18:18:41.867Z,1611771521.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:42.530Z,1611771522.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:42.936Z,1611771522.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:43.791Z,1611771523.791 [Micromodem](INFO): Nmea in: $SNTTA,0.114060,,,,181843.94*48

2021-01-27T18:18:43.829Z,1611771523.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.879990 m, bearing: 86.793932 deg, deltaT: 4.072452 s, approachRate: -1.443849 m/s, LOS rate: 0.097841 deg/s, posRepo size: 4
2021-01-27T18:18:43.831Z,1611771523.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 86.793932 deg,
      approachRate: -1.443849 m/s,
      LOS rate: 0.097841 deg/s,
      cmd update: 0.293523 deg/s,
      cmd heading: 86.100802 deg,
      new cmd heading: 85.952570 deg.

2021-01-27T18:18:46.295Z,1611771526.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:46.974Z,1611771526.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:47.388Z,1611771527.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:48.225Z,1611771528.225 [Micromodem](INFO): Nmea in: $SNTTA,0.112300,,,,181848.38*46

2021-01-27T18:18:48.337Z,1611771528.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.879990 m, bearing: 87.138467 deg, deltaT: 4.517742 s, approachRate: 0.000000 m/s, LOS rate: 0.076263 deg/s, posRepo size: 4
2021-01-27T18:18:48.341Z,1611771528.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 87.138467 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.076263 deg/s,
      cmd update: 0.228788 deg/s,
      cmd heading: 87.425946 deg,
      new cmd heading: 87.553061 deg.

2021-01-27T18:18:50.672Z,1611771530.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:51.422Z,1611771531.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:51.832Z,1611771531.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:52.719Z,1611771532.719 [Micromodem](INFO): Nmea in: $SNTTA,0.110451,,,,181852.83*4C

2021-01-27T18:18:52.865Z,1611771532.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 87.618254 deg, deltaT: 4.391827 s, approachRate: -1.229555 m/s, LOS rate: 0.109245 deg/s, posRepo size: 4
2021-01-27T18:18:52.867Z,1611771532.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 87.618254 deg,
      approachRate: -1.229555 m/s,
      LOS rate: 0.109245 deg/s,
      cmd update: 0.327736 deg/s,
      cmd heading: 88.429113 deg,
      new cmd heading: 88.561364 deg.

2021-01-27T18:18:54.843Z,1611771534.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:55.511Z,1611771535.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:18:55.925Z,1611771535.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:18:56.769Z,1611771536.769 [Micromodem](INFO): Nmea in: $SNTTA,0.108862,,,,181856.92*4D

2021-01-27T18:18:56.840Z,1611771536.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 87.285364 deg, deltaT: 4.059544 s, approachRate: -0.591198 m/s, LOS rate: -0.082002 deg/s, posRepo size: 4
2021-01-27T18:18:56.842Z,1611771536.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.080002 m,
      bearing: 87.285364 deg,
      approachRate: -0.591198 m/s,
      LOS rate: -0.082002 deg/s,
      cmd update: -0.246005 deg/s,
      cmd heading: 89.763257 deg,
      new cmd heading: 89.921070 deg.

2021-01-27T18:18:59.241Z,1611771539.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:18:59.972Z,1611771539.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:00.372Z,1611771540.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:01.186Z,1611771541.186 [Micromodem](INFO): Nmea in: $SNTTA,0.107147,,,,181901.41*41

2021-01-27T18:19:01.603Z,1611771541.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 86.733342 deg, deltaT: 4.956505 s, approachRate: -0.508424 m/s, LOS rate: -0.111373 deg/s, posRepo size: 4
2021-01-27T18:19:01.627Z,1611771541.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.559998 m,
      bearing: 86.733342 deg,
      approachRate: -0.508424 m/s,
      LOS rate: -0.111373 deg/s,
      cmd update: -0.334120 deg/s,
      cmd heading: 88.544644 deg,
      new cmd heading: 88.473554 deg.

2021-01-27T18:19:04.045Z,1611771544.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:04.803Z,1611771544.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:05.212Z,1611771545.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:06.057Z,1611771546.057 [Micromodem](INFO): Nmea in: $SNTTA,0.105104,,,,181906.21*45

2021-01-27T18:19:06.082Z,1611771546.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.500000 m, bearing: 86.974925 deg, deltaT: 4.480343 s, approachRate: -0.682983 m/s, LOS rate: 0.053921 deg/s, posRepo size: 4
2021-01-27T18:19:06.104Z,1611771546.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.500000 m,
      bearing: 86.974925 deg,
      approachRate: -0.682983 m/s,
      LOS rate: 0.053921 deg/s,
      cmd update: 0.161762 deg/s,
      cmd heading: 87.046707 deg,
      new cmd heading: 86.950784 deg.

2021-01-27T18:19:06.833Z,1611771546.833 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T18:19:07.291Z,1611771547.291 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B8A81160070000005D00000400260000000000000000151D80030C5669C010EAB2D679469582A7CF7045B37A5C421BF08D8EB20476553ABE7A534700
2021-01-27T18:19:07.292Z,1611771547.292 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:19:07.665Z,1611771547.665 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T18:19:08.041Z,1611771548.041 [Micromodem](INFO): Nmea in: $CADRQ,181908,1,10,0,64,1*7F

2021-01-27T18:19:08.041Z,1611771548.041 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A81160070000005D00000400260000000000000000151D80030C5669C010EAB2D679469582A7CF7045B37A5C421BF08D8EB20476553ABE7A534700*34

2021-01-27T18:19:08.451Z,1611771548.451 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-01-27T18:19:08.477Z,1611771548.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:08.846Z,1611771548.846 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-01-27T18:19:09.246Z,1611771549.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:10.094Z,1611771550.094 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-01-27T18:19:10.094Z,1611771550.094 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-01-27T18:19:10.459Z,1611771550.459 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,181909.470682,3,0,200,4000,14500,1,1,10,1,1,1,3,60*47

2021-01-27T18:19:10.459Z,1611771550.459 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,181909.470682,3,0,200,4000,14500,1,1,10,1,1,1,3,60*47

2021-01-27T18:19:11.286Z,1611771551.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:12.114Z,1611771552.114 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T18:19:12.115Z,1611771552.115 [Micromodem](INFO): Sent 52 bytes from file Logs/20210127T175400/Courier0007.lzma.parts
2021-01-27T18:19:12.117Z,1611771552.117 [Micromodem](INFO): Packets left to send: 0
2021-01-27T18:19:12.481Z,1611771552.481 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127181912.446103,06,2733,34,0233,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,13.1,6.00,13,-3.00,-01,1.11,32,14500,4000*56

2021-01-27T18:19:12.481Z,1611771552.481 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127181912.446103,06,2733,34,0233,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,13.1,6.00,13,-3.00,-01,1.11,32,14500,4000*56

2021-01-27T18:19:12.574Z,1611771552.574 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T18:19:12.575Z,1611771552.575 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T18:19:12.575Z,1611771552.575 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T18:19:12.575Z,1611771552.575 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T18:19:12.575Z,1611771552.575 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T18:19:14.119Z,1611771554.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:16.986Z,1611771556.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:19.804Z,1611771559.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:20.557Z,1611771560.557 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:20.964Z,1611771560.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:21.809Z,1611771561.809 [Micromodem](INFO): Nmea in: $SNTTA,0.098351,,,,181921.97*4A

2021-01-27T18:19:21.843Z,1611771561.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.300003 m, bearing: 88.448388 deg, deltaT: 15.615439 s, approachRate: -0.653199 m/s, LOS rate: 0.094359 deg/s, posRepo size: 4
2021-01-27T18:19:21.845Z,1611771561.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.300003 m,
      bearing: 88.448388 deg,
      approachRate: -0.653199 m/s,
      LOS rate: 0.094359 deg/s,
      cmd update: 0.283078 deg/s,
      cmd heading: 89.572697 deg,
      new cmd heading: 89.642710 deg.

2021-01-27T18:19:23.019Z,1611771563.019 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 47
2021-01-27T18:19:24.239Z,1611771564.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:24.998Z,1611771564.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:25.410Z,1611771565.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:26.253Z,1611771566.253 [Micromodem](INFO): Nmea in: $SNTTA,0.096573,,,,181926.41*4E

2021-01-27T18:19:26.275Z,1611771566.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.660004 m, bearing: 87.156882 deg, deltaT: 4.457494 s, approachRate: -0.592261 m/s, LOS rate: -0.289738 deg/s, posRepo size: 4
2021-01-27T18:19:26.277Z,1611771566.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.660004 m,
      bearing: 87.156882 deg,
      approachRate: -0.592261 m/s,
      LOS rate: -0.289738 deg/s,
      cmd update: -0.869215 deg/s,
      cmd heading: 90.833379 deg,
      new cmd heading: 90.949815 deg.

2021-01-27T18:19:28.740Z,1611771568.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:29.438Z,1611771569.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:29.856Z,1611771569.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:30.721Z,1611771570.721 [Micromodem](INFO): Nmea in: $SNTTA,0.094807,,,,181930.85*4D

2021-01-27T18:19:30.784Z,1611771570.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 87.570183 deg, deltaT: 4.400891 s, approachRate: -0.599878 m/s, LOS rate: 0.093913 deg/s, posRepo size: 4
2021-01-27T18:19:30.786Z,1611771570.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 87.570183 deg,
      approachRate: -0.599878 m/s,
      LOS rate: 0.093913 deg/s,
      cmd update: 0.281739 deg/s,
      cmd heading: 87.004544 deg,
      new cmd heading: 86.560012 deg.

2021-01-27T18:19:33.097Z,1611771573.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:33.900Z,1611771573.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:34.305Z,1611771574.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:35.133Z,1611771575.133 [Micromodem](INFO): Nmea in: $SNTTA,0.092954,,,,181935.31*46

2021-01-27T18:19:35.168Z,1611771575.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.320007 m, bearing: 88.077967 deg, deltaT: 4.493119 s, approachRate: -0.600918 m/s, LOS rate: 0.113014 deg/s, posRepo size: 4
2021-01-27T18:19:35.170Z,1611771575.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.320007 m,
      bearing: 88.077967 deg,
      approachRate: -0.600918 m/s,
      LOS rate: 0.113014 deg/s,
      cmd update: 0.339041 deg/s,
      cmd heading: 88.270426 deg,
      new cmd heading: 88.384785 deg.

2021-01-27T18:19:37.556Z,1611771577.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:38.343Z,1611771578.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:38.764Z,1611771578.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:39.573Z,1611771579.573 [Micromodem](INFO): Nmea in: $SNTTA,0.091056,,,,181939.75*42

2021-01-27T18:19:39.592Z,1611771579.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.319992 m, bearing: 87.579944 deg, deltaT: 4.418709 s, approachRate: -0.678935 m/s, LOS rate: -0.112708 deg/s, posRepo size: 4
2021-01-27T18:19:39.594Z,1611771579.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.319992 m,
      bearing: 87.579944 deg,
      approachRate: -0.678935 m/s,
      LOS rate: -0.112708 deg/s,
      cmd update: -0.338124 deg/s,
      cmd heading: 89.767750 deg,
      new cmd heading: 89.907812 deg.

2021-01-27T18:19:42.013Z,1611771582.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:42.782Z,1611771582.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:43.184Z,1611771583.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:43.600Z,1611771583.600 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T18:19:44.029Z,1611771584.029 [Micromodem](INFO): Nmea in: $SNTTA,0.089269,,0.107300,,181944.19*5E

2021-01-27T18:19:44.088Z,1611771584.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.860001 m, bearing: 88.877454 deg, deltaT: 4.489498 s, approachRate: -0.547944 m/s, LOS rate: 0.289010 deg/s, posRepo size: 4
2021-01-27T18:19:44.095Z,1611771584.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.860001 m,
      bearing: 88.877454 deg,
      approachRate: -0.547944 m/s,
      LOS rate: 0.289010 deg/s,
      cmd update: 0.867031 deg/s,
      cmd heading: 88.250307 deg,
      new cmd heading: 88.109010 deg.

2021-01-27T18:19:46.429Z,1611771586.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:47.223Z,1611771587.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:47.664Z,1611771587.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:48.574Z,1611771588.574 [Micromodem](INFO): Nmea in: $SNTTA,0.087464,,,,181948.63*41

2021-01-27T18:19:48.594Z,1611771588.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 88.925272 deg, deltaT: 4.660226 s, approachRate: -0.592245 m/s, LOS rate: 0.010261 deg/s, posRepo size: 4
2021-01-27T18:19:48.596Z,1611771588.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.100006 m,
      bearing: 88.925272 deg,
      approachRate: -0.592245 m/s,
      LOS rate: 0.010261 deg/s,
      cmd update: 0.030783 deg/s,
      cmd heading: 92.291907 deg,
      new cmd heading: 92.522753 deg.

2021-01-27T18:19:51.050Z,1611771591.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:51.806Z,1611771591.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:52.208Z,1611771592.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:53.045Z,1611771593.045 [Micromodem](INFO): Nmea in: $SNTTA,0.085635,,0.421832,,181953.21*59

2021-01-27T18:19:53.091Z,1611771593.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.279999 m, bearing: 88.086545 deg, deltaT: 4.350812 s, approachRate: -0.648157 m/s, LOS rate: -0.192775 deg/s, posRepo size: 4
2021-01-27T18:19:53.093Z,1611771593.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.279999 m,
      bearing: 88.086545 deg,
      approachRate: -0.648157 m/s,
      LOS rate: -0.192775 deg/s,
      cmd update: -0.578324 deg/s,
      cmd heading: 92.425583 deg,
      new cmd heading: 92.438530 deg.

2021-01-27T18:19:55.454Z,1611771595.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:19:56.238Z,1611771596.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:19:56.677Z,1611771596.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:19:57.489Z,1611771597.489 [Micromodem](INFO): Nmea in: $SNTTA,0.083914,,,,181957.65*47

2021-01-27T18:19:57.511Z,1611771597.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.639999 m, bearing: 87.886359 deg, deltaT: 4.410912 s, approachRate: -0.598516 m/s, LOS rate: -0.045384 deg/s, posRepo size: 4
2021-01-27T18:19:57.513Z,1611771597.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.639999 m,
      bearing: 87.886359 deg,
      approachRate: -0.598516 m/s,
      LOS rate: -0.045384 deg/s,
      cmd update: -0.136153 deg/s,
      cmd heading: 89.870588 deg,
      new cmd heading: 89.625867 deg.

2021-01-27T18:19:59.919Z,1611771599.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:00.706Z,1611771600.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:01.093Z,1611771601.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:01.912Z,1611771601.912 [Micromodem](INFO): Nmea in: $SNTTA,0.082181,,,,182002.12*48

2021-01-27T18:20:02.793Z,1611771602.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 530.880005 m, bearing: 88.146344 deg, deltaT: 5.240658 s, approachRate: 77.326164 m/s, LOS rate: 0.049609 deg/s, posRepo size: 4
2021-01-27T18:20:02.795Z,1611771602.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 530.880005 m,
      bearing: 88.146344 deg,
      approachRate: 77.326164 m/s,
      LOS rate: 0.049609 deg/s,
      cmd update: 0.148827 deg/s,
      cmd heading: 89.156787 deg,
      new cmd heading: 89.093815 deg.

2021-01-27T18:20:05.145Z,1611771605.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:05.938Z,1611771605.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:06.352Z,1611771606.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:07.181Z,1611771607.181 [Micromodem](INFO): Nmea in: $SNTTA,0.079940,,,,182007.35*49

2021-01-27T18:20:07.199Z,1611771607.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.700005 m, bearing: 88.562541 deg, deltaT: 4.521335 s, approachRate: -90.942162 m/s, LOS rate: 0.092052 deg/s, posRepo size: 4
2021-01-27T18:20:07.201Z,1611771607.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 88.562541 deg,
      approachRate: -90.942162 m/s,
      LOS rate: 0.092052 deg/s,
      cmd update: 0.276156 deg/s,
      cmd heading: 89.827724 deg,
      new cmd heading: 89.881374 deg.

2021-01-27T18:20:09.585Z,1611771609.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:10.386Z,1611771610.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:10.792Z,1611771610.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:11.653Z,1611771611.653 [Micromodem](INFO): Nmea in: $SNTTA,0.078132,,,,182011.80*4C

2021-01-27T18:20:11.737Z,1611771611.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.000000 m, bearing: 88.148099 deg, deltaT: 4.377694 s, approachRate: -0.616764 m/s, LOS rate: -0.094671 deg/s, posRepo size: 4
2021-01-27T18:20:11.739Z,1611771611.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.000000 m,
      bearing: 88.148099 deg,
      approachRate: -0.616764 m/s,
      LOS rate: -0.094671 deg/s,
      cmd update: -0.284014 deg/s,
      cmd heading: 91.040860 deg,
      new cmd heading: 91.174383 deg.

2021-01-27T18:20:14.052Z,1611771614.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:14.830Z,1611771614.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:15.245Z,1611771615.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:16.069Z,1611771616.069 [Micromodem](INFO): Nmea in: $SNTTA,0.076393,,,,182016.24*42

2021-01-27T18:20:16.105Z,1611771616.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 88.591071 deg, deltaT: 4.491806 s, approachRate: -0.654526 m/s, LOS rate: 0.098618 deg/s, posRepo size: 4
2021-01-27T18:20:16.107Z,1611771616.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.059998 m,
      bearing: 88.591071 deg,
      approachRate: -0.654526 m/s,
      LOS rate: 0.098618 deg/s,
      cmd update: 0.295853 deg/s,
      cmd heading: 89.771174 deg,
      new cmd heading: 89.656904 deg.

2021-01-27T18:20:18.501Z,1611771618.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:19.286Z,1611771619.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:19.723Z,1611771619.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:20.505Z,1611771620.505 [Micromodem](INFO): Nmea in: $SNTTA,0.074255,,,,182020.69*47

2021-01-27T18:20:20.553Z,1611771620.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.300003 m, bearing: 89.042205 deg, deltaT: 4.373243 s, approachRate: -0.631109 m/s, LOS rate: 0.103158 deg/s, posRepo size: 4
2021-01-27T18:20:20.556Z,1611771620.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.300003 m,
      bearing: 89.042205 deg,
      approachRate: -0.631109 m/s,
      LOS rate: 0.103158 deg/s,
      cmd update: 0.309473 deg/s,
      cmd heading: 91.071318 deg,
      new cmd heading: 91.205951 deg.

2021-01-27T18:20:22.998Z,1611771622.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:23.721Z,1611771623.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:24.124Z,1611771624.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:24.965Z,1611771624.965 [Micromodem](INFO): Nmea in: $SNTTA,0.072366,,,,182025.13*48

2021-01-27T18:20:25.023Z,1611771625.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 88.262662 deg, deltaT: 4.468476 s, approachRate: -0.671370 m/s, LOS rate: -0.174454 deg/s, posRepo size: 4
2021-01-27T18:20:25.029Z,1611771625.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.300003 m,
      bearing: 88.262662 deg,
      approachRate: -0.671370 m/s,
      LOS rate: -0.174454 deg/s,
      cmd update: -0.523362 deg/s,
      cmd heading: 92.451573 deg,
      new cmd heading: 92.595769 deg.

2021-01-27T18:20:27.374Z,1611771627.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:28.167Z,1611771628.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:28.564Z,1611771628.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:29.405Z,1611771629.405 [Micromodem](INFO): Nmea in: $SNTTA,0.070522,,,,182029.58*4F

2021-01-27T18:20:29.435Z,1611771629.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.660004 m, bearing: 89.138292 deg, deltaT: 4.484339 s, approachRate: -0.588715 m/s, LOS rate: 0.195264 deg/s, posRepo size: 4
2021-01-27T18:20:29.437Z,1611771629.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.660004 m,
      bearing: 89.138292 deg,
      approachRate: -0.588715 m/s,
      LOS rate: 0.195264 deg/s,
      cmd update: 0.585792 deg/s,
      cmd heading: 90.106426 deg,
      new cmd heading: 89.898421 deg.

2021-01-27T18:20:31.839Z,1611771631.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:32.606Z,1611771632.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:33.012Z,1611771633.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:33.841Z,1611771633.841 [Micromodem](INFO): Nmea in: $SNTTA,0.068604,,,0.076693,182034.02*51

2021-01-27T18:20:33.886Z,1611771633.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 88.200965 deg, deltaT: 4.375621 s, approachRate: -0.671905 m/s, LOS rate: -0.214216 deg/s, posRepo size: 4
2021-01-27T18:20:33.888Z,1611771633.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 88.200965 deg,
      approachRate: -0.671905 m/s,
      LOS rate: -0.214216 deg/s,
      cmd update: -0.642648 deg/s,
      cmd heading: 92.676337 deg,
      new cmd heading: 92.946453 deg.

2021-01-27T18:20:36.270Z,1611771636.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:37.047Z,1611771637.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:37.451Z,1611771637.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,2XP,400*46

2021-01-27T18:20:37.451Z,1611771637.451 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,2XP,400*46
 expected 48
2021-01-27T18:20:37.451Z,1611771637.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:37.463Z,1611771637.463 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-01-27T18:20:37.469Z,1611771637.469 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-01-27T18:20:37.857Z,1611771637.857 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,182038.462882,3,0,40,4000,14500,1,0,0,0,1,0,3,0*72

2021-01-27T18:20:37.857Z,1611771637.857 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,182038.462882,3,0,40,4000,14500,1,0,0,0,1,0,3,0*72

2021-01-27T18:20:37.859Z,1611771637.859 [Micromodem](INFO): Nmea in: $CAERR,182038,NI  ,29,Busy completing a previous request*7B

2021-01-27T18:20:37.859Z,1611771637.859 [Micromodem](ERROR): Got error from modem: $CAERR,182038,NI  ,29,Busy completing a previous request*7B

2021-01-27T18:20:38.297Z,1611771638.297 [Micromodem](INFO): Nmea in: $SNTTA,0.066853,,,,182038.46*4C

2021-01-27T18:20:38.297Z,1611771638.297 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.066853,,,,182038.46*4C

2021-01-27T18:20:38.355Z,1611771638.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.080002 m, bearing: 89.300994 deg, deltaT: 4.541594 s, approachRate: -0.581294 m/s, LOS rate: 0.242212 deg/s, posRepo size: 4
2021-01-27T18:20:38.361Z,1611771638.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.080002 m,
      bearing: 89.300994 deg,
      approachRate: -0.581294 m/s,
      LOS rate: 0.242212 deg/s,
      cmd update: 0.726637 deg/s,
      cmd heading: 89.760120 deg,
      new cmd heading: 89.508229 deg.

2021-01-27T18:20:40.763Z,1611771640.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:43.525Z,1611771643.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:46.396Z,1611771646.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:48.770Z,1611771648.770 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:49.191Z,1611771649.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:49.226Z,1611771649.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:49.995Z,1611771649.995 [Micromodem](INFO): Nmea in: $SNTTA,0.062113,,0.075918,,182050.18*5C

2021-01-27T18:20:49.995Z,1611771649.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:50.786Z,1611771650.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:51.209Z,1611771651.209 [Micromodem](INFO): Nmea in: $SNTTA,0.061609,,,,182051.41*42

2021-01-27T18:20:51.241Z,1611771651.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 87.449740 deg, deltaT: 12.895789 s, approachRate: -0.609501 m/s, LOS rate: -0.143555 deg/s, posRepo size: 4
2021-01-27T18:20:51.242Z,1611771651.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.220001 m,
      bearing: 87.449740 deg,
      approachRate: -0.609501 m/s,
      LOS rate: -0.143555 deg/s,
      cmd update: -0.430665 deg/s,
      cmd heading: 99.127821 deg,
      new cmd heading: 99.408113 deg.

2021-01-27T18:20:53.687Z,1611771653.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:54.431Z,1611771654.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:54.833Z,1611771654.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:55.665Z,1611771655.665 [Micromodem](INFO): Nmea in: $SNTTA,0.059731,,,,182055.84*4E

2021-01-27T18:20:55.732Z,1611771655.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.640007 m, bearing: 86.834264 deg, deltaT: 4.398534 s, approachRate: -0.586558 m/s, LOS rate: -0.139927 deg/s, posRepo size: 4
2021-01-27T18:20:55.734Z,1611771655.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.640007 m,
      bearing: 86.834264 deg,
      approachRate: -0.586558 m/s,
      LOS rate: -0.139927 deg/s,
      cmd update: -0.419782 deg/s,
      cmd heading: 97.238745 deg,
      new cmd heading: 97.027235 deg.

2021-01-27T18:20:57.838Z,1611771657.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:20:58.458Z,1611771658.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:20:58.863Z,1611771658.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:20:59.729Z,1611771659.729 [Micromodem](INFO): Nmea in: $SNTTA,0.058047,,,,182059.87*46

2021-01-27T18:20:59.808Z,1611771659.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 86.542807 deg, deltaT: 4.035015 s, approachRate: -0.684013 m/s, LOS rate: -0.072232 deg/s, posRepo size: 4
2021-01-27T18:20:59.810Z,1611771659.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.880005 m,
      bearing: 86.542807 deg,
      approachRate: -0.684013 m/s,
      LOS rate: -0.072232 deg/s,
      cmd update: -0.216696 deg/s,
      cmd heading: 95.536497 deg,
      new cmd heading: 95.321489 deg.

2021-01-27T18:21:02.130Z,1611771662.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:02.899Z,1611771662.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:03.323Z,1611771663.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:04.145Z,1611771664.145 [Micromodem](INFO): Nmea in: $SNTTA,0.056125,,,,182104.31*49

2021-01-27T18:21:04.160Z,1611771664.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 86.652930 deg, deltaT: 4.470099 s, approachRate: -0.644282 m/s, LOS rate: 0.024636 deg/s, posRepo size: 4
2021-01-27T18:21:04.162Z,1611771664.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.000000 m,
      bearing: 86.652930 deg,
      approachRate: -0.644282 m/s,
      LOS rate: 0.024636 deg/s,
      cmd update: 0.073907 deg/s,
      cmd heading: 94.567804 deg,
      new cmd heading: 94.482548 deg.

2021-01-27T18:21:06.559Z,1611771666.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:07.346Z,1611771667.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:07.771Z,1611771667.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:08.585Z,1611771668.585 [Micromodem](INFO): Nmea in: $SNTTA,0.054192,,,0.072753,182108.75*51

2021-01-27T18:21:08.662Z,1611771668.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.059998 m, bearing: 86.141997 deg, deltaT: 4.402991 s, approachRate: -0.667728 m/s, LOS rate: -0.116042 deg/s, posRepo size: 4
2021-01-27T18:21:08.665Z,1611771668.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 86.141997 deg,
      approachRate: -0.667728 m/s,
      LOS rate: -0.116042 deg/s,
      cmd update: -0.348126 deg/s,
      cmd heading: 94.893190 deg,
      new cmd heading: 94.928110 deg.

2021-01-27T18:21:11.026Z,1611771671.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:11.794Z,1611771671.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:12.196Z,1611771672.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:13.069Z,1611771673.069 [Micromodem](INFO): Nmea in: $SNTTA,0.052320,,,,182113.20*4C

2021-01-27T18:21:13.114Z,1611771673.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 85.229293 deg, deltaT: 4.505790 s, approachRate: -0.612544 m/s, LOS rate: -0.202563 deg/s, posRepo size: 4
2021-01-27T18:21:13.115Z,1611771673.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 85.229293 deg,
      approachRate: -0.612544 m/s,
      LOS rate: -0.202563 deg/s,
      cmd update: -0.607688 deg/s,
      cmd heading: 93.328142 deg,
      new cmd heading: 93.171841 deg.

2021-01-27T18:21:15.438Z,1611771675.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:16.234Z,1611771676.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:16.664Z,1611771676.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:17.481Z,1611771677.481 [Micromodem](INFO): Nmea in: $SNTTA,0.050462,,,,182117.64*4B

2021-01-27T18:21:17.510Z,1611771677.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.720001 m, bearing: 88.242608 deg, deltaT: 4.421944 s, approachRate: -0.583454 m/s, LOS rate: 0.681446 deg/s, posRepo size: 4
2021-01-27T18:21:17.512Z,1611771677.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.720001 m,
      bearing: 88.242608 deg,
      approachRate: -0.583454 m/s,
      LOS rate: 0.681446 deg/s,
      cmd update: 2.044338 deg/s,
      cmd heading: 90.639556 deg,
      new cmd heading: 90.383473 deg.

2021-01-27T18:21:19.958Z,1611771679.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:20.701Z,1611771680.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:21.084Z,1611771681.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:21.910Z,1611771681.910 [Micromodem](INFO): Nmea in: $SNTTA,0.048551,,,,182122.11*47

2021-01-27T18:21:21.960Z,1611771681.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.660004 m, bearing: 85.962370 deg, deltaT: 4.404121 s, approachRate: -0.694803 m/s, LOS rate: -0.517751 deg/s, posRepo size: 4
2021-01-27T18:21:21.962Z,1611771681.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.660004 m,
      bearing: 85.962370 deg,
      approachRate: -0.694803 m/s,
      LOS rate: -0.517751 deg/s,
      cmd update: -1.553253 deg/s,
      cmd heading: 99.659246 deg,
      new cmd heading: 100.597298 deg.

2021-01-27T18:21:24.361Z,1611771684.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:25.134Z,1611771685.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:25.548Z,1611771685.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:26.373Z,1611771686.373 [Micromodem](INFO): Nmea in: $SNTTA,0.046639,,,,182126.54*41

2021-01-27T18:21:26.389Z,1611771686.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 84.208630 deg, deltaT: 4.480695 s, approachRate: -0.656149 m/s, LOS rate: -0.391399 deg/s, posRepo size: 4
2021-01-27T18:21:26.390Z,1611771686.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 84.208630 deg,
      approachRate: -0.656149 m/s,
      LOS rate: -0.391399 deg/s,
      cmd update: -1.174197 deg/s,
      cmd heading: 92.699404 deg,
      new cmd heading: 92.067712 deg.

2021-01-27T18:21:28.821Z,1611771688.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:29.566Z,1611771689.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:29.976Z,1611771689.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:30.813Z,1611771690.813 [Micromodem](INFO): Nmea in: $SNTTA,0.044777,,,,182130.98*4F

2021-01-27T18:21:30.847Z,1611771690.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.960007 m, bearing: 84.857410 deg, deltaT: 4.426920 s, approachRate: -0.623457 m/s, LOS rate: 0.146553 deg/s, posRepo size: 4
2021-01-27T18:21:30.849Z,1611771690.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.960007 m,
      bearing: 84.857410 deg,
      approachRate: -0.623457 m/s,
      LOS rate: 0.146553 deg/s,
      cmd update: 0.439659 deg/s,
      cmd heading: 87.501354 deg,
      new cmd heading: 86.986837 deg.

2021-01-27T18:21:33.225Z,1611771693.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:34.010Z,1611771694.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:34.412Z,1611771694.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:35.249Z,1611771695.249 [Micromodem](INFO): Nmea in: $SNTTA,0.042852,,,,182135.42*43

2021-01-27T18:21:35.271Z,1611771695.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 85.929770 deg, deltaT: 4.463409 s, approachRate: -0.645246 m/s, LOS rate: 0.240256 deg/s, posRepo size: 4
2021-01-27T18:21:35.294Z,1611771695.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 85.929770 deg,
      approachRate: -0.645246 m/s,
      LOS rate: 0.240256 deg/s,
      cmd update: 0.720768 deg/s,
      cmd heading: 89.456754 deg,
      new cmd heading: 89.639286 deg.

2021-01-27T18:21:37.735Z,1611771697.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:38.454Z,1611771698.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:38.870Z,1611771698.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:39.729Z,1611771699.729 [Micromodem](INFO): Nmea in: $SNTTA,0.040860,,,,182139.86*44

2021-01-27T18:21:39.787Z,1611771699.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 86.026895 deg, deltaT: 4.424461 s, approachRate: -0.664489 m/s, LOS rate: 0.021952 deg/s, posRepo size: 4
2021-01-27T18:21:39.789Z,1611771699.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.140003 m,
      bearing: 86.026895 deg,
      approachRate: -0.664489 m/s,
      LOS rate: 0.021952 deg/s,
      cmd update: 0.065856 deg/s,
      cmd heading: 92.657286 deg,
      new cmd heading: 93.010590 deg.

2021-01-27T18:21:42.113Z,1611771702.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:42.910Z,1611771702.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:43.304Z,1611771703.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:44.137Z,1611771704.137 [Micromodem](INFO): Nmea in: $SNTTA,0.039131,,,,182144.32*42

2021-01-27T18:21:44.159Z,1611771704.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 82.869415 deg, deltaT: 4.474063 s, approachRate: -0.496193 m/s, LOS rate: -0.705730 deg/s, posRepo size: 4
2021-01-27T18:21:44.161Z,1611771704.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 82.869415 deg,
      approachRate: -0.496193 m/s,
      LOS rate: -0.705730 deg/s,
      cmd update: -2.117190 deg/s,
      cmd heading: 92.951929 deg,
      new cmd heading: 92.977512 deg.

2021-01-27T18:21:46.554Z,1611771706.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:47.354Z,1611771707.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:47.767Z,1611771707.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:48.585Z,1611771708.585 [Micromodem](INFO): Nmea in: $SNTTA,0.037038,,,,182148.76*48

2021-01-27T18:21:48.672Z,1611771708.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 84.784668 deg, deltaT: 4.396527 s, approachRate: -0.818829 m/s, LOS rate: 0.435629 deg/s, posRepo size: 4
2021-01-27T18:21:48.674Z,1611771708.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 84.784668 deg,
      approachRate: -0.818829 m/s,
      LOS rate: 0.435629 deg/s,
      cmd update: 1.306886 deg/s,
      cmd heading: 83.643726 deg,
      new cmd heading: 82.578468 deg.

2021-01-27T18:21:51.035Z,1611771711.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:51.795Z,1611771711.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:52.192Z,1611771712.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:53.040Z,1611771713.040 [Micromodem](INFO): Nmea in: $SNTTA,0.035223,,,,182153.20*4B

2021-01-27T18:21:53.079Z,1611771713.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.680004 m, bearing: 86.146840 deg, deltaT: 4.487225 s, approachRate: -0.588337 m/s, LOS rate: 0.303567 deg/s, posRepo size: 4
2021-01-27T18:21:53.081Z,1611771713.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.680004 m,
      bearing: 86.146840 deg,
      approachRate: -0.588337 m/s,
      LOS rate: 0.303567 deg/s,
      cmd update: 0.910700 deg/s,
      cmd heading: 89.502807 deg,
      new cmd heading: 90.062381 deg.

2021-01-27T18:21:55.441Z,1611771715.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:21:56.230Z,1611771716.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:21:56.650Z,1611771716.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:21:57.477Z,1611771717.477 [Micromodem](INFO): Nmea in: $SNTTA,0.033399,,,,182157.64*49

2021-01-27T18:21:57.499Z,1611771717.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 85.151477 deg, deltaT: 4.422185 s, approachRate: -0.610558 m/s, LOS rate: -0.225084 deg/s, posRepo size: 4
2021-01-27T18:21:57.501Z,1611771717.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 85.151477 deg,
      approachRate: -0.610558 m/s,
      LOS rate: -0.225084 deg/s,
      cmd update: -0.675252 deg/s,
      cmd heading: 93.533769 deg,
      new cmd heading: 93.918701 deg.

2021-01-27T18:21:59.905Z,1611771719.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:00.721Z,1611771720.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:01.088Z,1611771721.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:01.919Z,1611771721.919 [Micromodem](INFO): Nmea in: $SNTTA,0.031195,,,,182202.13*46

2021-01-27T18:22:01.971Z,1611771721.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 85.512117 deg, deltaT: 4.429255 s, approachRate: -0.772139 m/s, LOS rate: 0.081422 deg/s, posRepo size: 4
2021-01-27T18:22:01.973Z,1611771721.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.560001 m,
      bearing: 85.512117 deg,
      approachRate: -0.772139 m/s,
      LOS rate: 0.081422 deg/s,
      cmd update: 0.244267 deg/s,
      cmd heading: 90.542903 deg,
      new cmd heading: 90.229087 deg.

2021-01-27T18:22:04.343Z,1611771724.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:05.115Z,1611771725.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:05.532Z,1611771725.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:06.365Z,1611771726.365 [Micromodem](INFO): Nmea in: $SNTTA,0.029335,,,,182206.52*46

2021-01-27T18:22:06.387Z,1611771726.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 84.790426 deg, deltaT: 4.468444 s, approachRate: -0.617665 m/s, LOS rate: -0.161508 deg/s, posRepo size: 4
2021-01-27T18:22:06.389Z,1611771726.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.799999 m,
      bearing: 84.790426 deg,
      approachRate: -0.617665 m/s,
      LOS rate: -0.161508 deg/s,
      cmd update: -0.484525 deg/s,
      cmd heading: 91.634391 deg,
      new cmd heading: 91.735243 deg.

2021-01-27T18:22:08.816Z,1611771728.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:09.568Z,1611771729.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:09.968Z,1611771729.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:10.809Z,1611771730.809 [Micromodem](INFO): Nmea in: $SNTTA,0.027913,,,,182210.98*47

2021-01-27T18:22:10.865Z,1611771730.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 85.381791 deg, deltaT: 4.418880 s, approachRate: -0.488811 m/s, LOS rate: 0.133827 deg/s, posRepo size: 4
2021-01-27T18:22:10.866Z,1611771730.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.640003 m,
      bearing: 85.381791 deg,
      approachRate: -0.488811 m/s,
      LOS rate: 0.133827 deg/s,
      cmd update: 0.401480 deg/s,
      cmd heading: 89.493450 deg,
      new cmd heading: 89.265044 deg.

2021-01-27T18:22:13.213Z,1611771733.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:14.018Z,1611771734.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:14.408Z,1611771734.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:15.289Z,1611771735.289 [Micromodem](INFO): Nmea in: $SNTTA,0.025485,0.427055,,,182215.43*5B

2021-01-27T18:22:15.379Z,1611771735.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 85.830172 deg, deltaT: 4.479320 s, approachRate: -0.803694 m/s, LOS rate: 0.100100 deg/s, posRepo size: 4
2021-01-27T18:22:15.381Z,1611771735.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m.
2021-01-27T18:22:15.384Z,1611771735.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.040001 m,
      bearing: 85.830172 deg,
      approachRate: -0.803694 m/s,
      LOS rate: 0.100100 deg/s,
      cmd update: 0.300301 deg/s,
      cmd heading: 91.290304 deg,
      new cmd heading: 91.495322 deg.

2021-01-27T18:22:15.734Z,1611771735.734 [PowerOnly](INFO): Powering up loadControl
2021-01-27T18:22:17.761Z,1611771737.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:18.519Z,1611771738.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:18.936Z,1611771738.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:19.757Z,1611771739.757 [Micromodem](INFO): Nmea in: $SNTTA,0.024132,,,,182219.93*4D

2021-01-27T18:22:19.829Z,1611771739.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 85.188510 deg, deltaT: 4.492962 s, approachRate: -0.333856 m/s, LOS rate: -0.142815 deg/s, posRepo size: 4
2021-01-27T18:22:19.829Z,1611771739.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.54 m.
2021-01-27T18:22:19.831Z,1611771739.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.539997 m,
      bearing: 85.188510 deg,
      approachRate: -0.333856 m/s,
      LOS rate: -0.142815 deg/s,
      cmd update: -0.428445 deg/s,
      cmd heading: 92.640711 deg,
      new cmd heading: 92.774173 deg.

2021-01-27T18:22:22.145Z,1611771742.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:22.946Z,1611771742.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:23.064Z,1611771743.064 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:22:23.348Z,1611771743.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:24.185Z,1611771744.185 [Micromodem](INFO): Nmea in: $SNTTA,0.022064,,,,182224.35*4B

2021-01-27T18:22:24.225Z,1611771744.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.820000 m, bearing: 80.745772 deg, deltaT: 4.461533 s, approachRate: -0.833794 m/s, LOS rate: -0.995787 deg/s, posRepo size: 4
2021-01-27T18:22:24.225Z,1611771744.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.82 m.
2021-01-27T18:22:24.227Z,1611771744.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 80.745772 deg,
      approachRate: -0.833794 m/s,
      LOS rate: -0.995787 deg/s,
      cmd update: -2.987362 deg/s,
      cmd heading: 90.730947 deg,
      new cmd heading: 90.558866 deg.

2021-01-27T18:22:26.605Z,1611771746.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:27.383Z,1611771747.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:27.804Z,1611771747.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:28.653Z,1611771748.653 [Micromodem](INFO): Nmea in: $SNTTA,0.020791,,,,182228.79*40

2021-01-27T18:22:28.735Z,1611771748.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.959999 m, bearing: 80.198476 deg, deltaT: 4.392340 s, approachRate: -0.423465 m/s, LOS rate: -0.124602 deg/s, posRepo size: 4
2021-01-27T18:22:28.735Z,1611771748.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.96 m.
2021-01-27T18:22:28.742Z,1611771748.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.959999 m,
      bearing: 80.198476 deg,
      approachRate: -0.423465 m/s,
      LOS rate: -0.124602 deg/s,
      cmd update: -0.373807 deg/s,
      cmd heading: 77.597278 deg,
      new cmd heading: 76.056426 deg.

2021-01-27T18:22:30.746Z,1611771750.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:31.422Z,1611771751.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:31.841Z,1611771751.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:32.689Z,1611771752.689 [Micromodem](INFO): Nmea in: $SNTTA,0.020205,,,,182232.83*46

2021-01-27T18:22:32.744Z,1611771752.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 81.148234 deg, deltaT: 4.043505 s, approachRate: -0.207741 m/s, LOS rate: 0.234885 deg/s, posRepo size: 4
2021-01-27T18:22:32.745Z,1611771752.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.12 m.
2021-01-27T18:22:32.745Z,1611771752.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.12 m.
2021-01-27T18:22:32.745Z,1611771752.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T18:22:32.747Z,1611771752.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.119997 m,
      bearing: 81.148234 deg,
      approachRate: -0.207741 m/s,
      LOS rate: 0.234885 deg/s,
      cmd update: 0.704655 deg/s,
      cmd heading: 76.085739 deg,
      new cmd heading: 75.905935 deg.

2021-01-27T18:22:35.094Z,1611771755.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:35.878Z,1611771755.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:36.284Z,1611771756.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:37.117Z,1611771757.117 [Micromodem](INFO): Nmea in: $SNTTA,0.018347,,,,182237.29*4F

2021-01-27T18:22:37.139Z,1611771757.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 83.858221 deg, deltaT: 4.504923 s, approachRate: -0.639300 m/s, LOS rate: 0.601561 deg/s, posRepo size: 4
2021-01-27T18:22:37.141Z,1611771757.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 83.858221 deg,
      approachRate: -0.639300 m/s,
      LOS rate: 0.601561 deg/s,
      cmd update: 1.804683 deg/s,
      cmd heading: 79.260156 deg,
      new cmd heading: 79.521857 deg.

2021-01-27T18:22:39.530Z,1611771759.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:40.319Z,1611771760.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:40.732Z,1611771760.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:41.563Z,1611771761.563 [Micromodem](INFO): Nmea in: $SNTTA,0.016975,,,,182241.73*44

2021-01-27T18:22:41.579Z,1611771761.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 86.578836 deg, deltaT: 4.397466 s, approachRate: -0.463903 m/s, LOS rate: 0.618678 deg/s, posRepo size: 4
2021-01-27T18:22:41.581Z,1611771761.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.199999 m,
      bearing: 86.578836 deg,
      approachRate: -0.463903 m/s,
      LOS rate: 0.618678 deg/s,
      cmd update: 1.856033 deg/s,
      cmd heading: 87.181170 deg,
      new cmd heading: 87.942757 deg.

2021-01-27T18:22:44.012Z,1611771764.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:44.777Z,1611771764.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:45.164Z,1611771765.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:45.997Z,1611771765.997 [Micromodem](INFO): Nmea in: $SNTTA,0.016401,,,,182246.19*41

2021-01-27T18:22:46.054Z,1611771766.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 86.391689 deg, deltaT: 4.412233 s, approachRate: -0.190380 m/s, LOS rate: -0.042416 deg/s, posRepo size: 4
2021-01-27T18:22:46.056Z,1611771766.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.359999 m,
      bearing: 86.391689 deg,
      approachRate: -0.190380 m/s,
      LOS rate: -0.042416 deg/s,
      cmd update: -0.127247 deg/s,
      cmd heading: 95.385927 deg,
      new cmd heading: 96.269689 deg.

2021-01-27T18:22:48.090Z,1611771768.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:48.798Z,1611771768.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:49.207Z,1611771769.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:50.046Z,1611771770.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182250.21*51

2021-01-27T18:22:50.857Z,1611771770.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:52.433Z,1611771772.433 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:22:53.741Z,1611771773.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:54.450Z,1611771774.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:22:54.860Z,1611771774.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:22:55.719Z,1611771775.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182255.86*59

2021-01-27T18:22:56.506Z,1611771776.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:22:58.117Z,1611771778.117 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:22:59.337Z,1611771779.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:00.110Z,1611771780.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:00.516Z,1611771780.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:01.365Z,1611771781.365 [Micromodem](INFO): Nmea in: $SNTTA,0.010936,,,,182301.52*43

2021-01-27T18:23:01.387Z,1611771781.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 85.820671 deg, deltaT: 15.420691 s, approachRate: -0.533050 m/s, LOS rate: -0.037029 deg/s, posRepo size: 4
2021-01-27T18:23:01.409Z,1611771781.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.139999 m,
      bearing: 85.820671 deg,
      approachRate: -0.533050 m/s,
      LOS rate: -0.037029 deg/s,
      cmd update: -0.111088 deg/s,
      cmd heading: 93.424210 deg,
      new cmd heading: 93.374205 deg.

2021-01-27T18:23:03.842Z,1611771783.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:04.554Z,1611771784.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:04.960Z,1611771784.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:05.809Z,1611771785.809 [Micromodem](INFO): Nmea in: $SNTTA,0.009563,,,,182305.96*4B

2021-01-27T18:23:05.844Z,1611771785.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 85.339901 deg, deltaT: 4.415307 s, approachRate: -0.462029 m/s, LOS rate: -0.108887 deg/s, posRepo size: 4
2021-01-27T18:23:05.846Z,1611771785.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 85.339901 deg,
      approachRate: -0.462029 m/s,
      LOS rate: -0.108887 deg/s,
      cmd update: -0.326661 deg/s,
      cmd heading: 92.934221 deg,
      new cmd heading: 92.885457 deg.

2021-01-27T18:23:08.206Z,1611771788.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:09.010Z,1611771789.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:09.404Z,1611771789.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:10.237Z,1611771790.237 [Micromodem](INFO): Nmea in: $SNTTA,0.008186,,,,182310.42*48

2021-01-27T18:23:10.274Z,1611771790.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 85.827918 deg, deltaT: 4.442698 s, approachRate: -0.459181 m/s, LOS rate: 0.109847 deg/s, posRepo size: 4
2021-01-27T18:23:10.276Z,1611771790.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 85.827918 deg,
      approachRate: -0.459181 m/s,
      LOS rate: 0.109847 deg/s,
      cmd update: 0.329541 deg/s,
      cmd heading: 91.480222 deg,
      new cmd heading: 91.343574 deg.

2021-01-27T18:23:12.759Z,1611771792.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:13.446Z,1611771793.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:13.848Z,1611771793.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:14.708Z,1611771794.708 [Micromodem](INFO): Nmea in: $SNTTA,0.006915,,,,182314.86*48

2021-01-27T18:23:14.761Z,1611771794.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 85.359210 deg, deltaT: 4.423344 s, approachRate: -0.434060 m/s, LOS rate: -0.105962 deg/s, posRepo size: 4
2021-01-27T18:23:14.763Z,1611771794.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 85.359210 deg,
      approachRate: -0.434060 m/s,
      LOS rate: -0.105962 deg/s,
      cmd update: -0.317887 deg/s,
      cmd heading: 92.937923 deg,
      new cmd heading: 93.096477 deg.

2021-01-27T18:23:17.110Z,1611771797.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:17.886Z,1611771797.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:18.302Z,1611771798.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:19.133Z,1611771799.133 [Micromodem](INFO): Nmea in: $SNTTA,0.005701,,,,182319.29*48

2021-01-27T18:23:19.155Z,1611771799.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 84.770352 deg, deltaT: 4.494392 s, approachRate: -0.400499 m/s, LOS rate: -0.131021 deg/s, posRepo size: 4
2021-01-27T18:23:19.157Z,1611771799.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 84.770352 deg,
      approachRate: -0.400499 m/s,
      LOS rate: -0.131021 deg/s,
      cmd update: -0.393062 deg/s,
      cmd heading: 91.514279 deg,
      new cmd heading: 91.387966 deg.

2021-01-27T18:23:21.553Z,1611771801.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:22.328Z,1611771802.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:22.764Z,1611771802.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:23.573Z,1611771803.573 [Micromodem](INFO): Nmea in: $SNTTA,0.004373,,,,182323.74*49

2021-01-27T18:23:23.588Z,1611771803.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 83.062504 deg, deltaT: 4.403540 s, approachRate: -0.476889 m/s, LOS rate: -0.387835 deg/s, posRepo size: 4
2021-01-27T18:23:23.590Z,1611771803.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 83.062504 deg,
      approachRate: -0.476889 m/s,
      LOS rate: -0.387835 deg/s,
      cmd update: -1.163506 deg/s,
      cmd heading: 89.778696 deg,
      new cmd heading: 89.615666 deg.

2021-01-27T18:23:26.029Z,1611771806.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:26.775Z,1611771806.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:27.184Z,1611771807.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:28.025Z,1611771808.025 [Micromodem](INFO): Nmea in: $SNTTA,0.003202,,,,182328.18*48

2021-01-27T18:23:28.112Z,1611771808.112 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T18:23:28.112Z,1611771808.112 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T18:23:28.112Z,1611771808.112 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T18:23:28.113Z,1611771808.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T18:23:28.113Z,1611771808.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T18:23:28.113Z,1611771808.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2021-01-27T18:23:28.113Z,1611771808.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T18:23:28.113Z,1611771808.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T18:23:28.113Z,1611771808.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T18:23:28.116Z,1611771808.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 83.636869 deg, deltaT: 4.424522 s, approachRate: -0.393263 m/s, LOS rate: 0.129814 deg/s, posRepo size: 4
2021-01-27T18:23:28.118Z,1611771808.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 83.636869 deg,
      approachRate: -0.393263 m/s,
      LOS rate: 0.129814 deg/s,
      cmd update: 0.389442 deg/s,
      cmd heading: 84.626132 deg,
      new cmd heading: 84.028399 deg.

2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T182328: (41.551998, -70.709610)
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T18:23:28.430Z,1611771808.430 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T18:23:28.845Z,1611771808.845 [UniversalFixResidualReporter](INFO): Fix residual: 3.6 %DT, over the last 896.0 m. Residual distance 32.2 m at bearing 58.0 degrees. Fix at (41.5513, -70.7140) with 370.2 m made good.
2021-01-27T18:23:30.430Z,1611771810.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:31.219Z,1611771811.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:31.634Z,1611771811.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:32.469Z,1611771812.469 [Micromodem](INFO): Nmea in: $SNTTA,0.002311,,0.043673,,182332.63*56

2021-01-27T18:23:32.510Z,1611771812.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.360000 m, bearing: 98.840801 deg, deltaT: 4.482285 s, approachRate: -0.254335 m/s, LOS rate: 3.392005 deg/s, posRepo size: 4
2021-01-27T18:23:32.512Z,1611771812.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 98.840801 deg,
      approachRate: -0.254335 m/s,
      LOS rate: 3.392005 deg/s,
      cmd update: 10.176015 deg/s,
      cmd heading: 86.369508 deg,
      new cmd heading: 86.537613 deg.

2021-01-27T18:23:34.905Z,1611771814.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:35.697Z,1611771815.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:36.075Z,1611771816.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:36.903Z,1611771816.903 [Micromodem](INFO): Nmea in: $SNTTA,0.002613,,,,182337.11*4A

2021-01-27T18:23:36.950Z,1611771816.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 93.275153 deg, deltaT: 4.409340 s, approachRate: 0.122467 m/s, LOS rate: -1.262241 deg/s, posRepo size: 4
2021-01-27T18:23:36.951Z,1611771816.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 93.275153 deg,
      approachRate: 0.122467 m/s,
      LOS rate: -1.262241 deg/s,
      cmd update: -3.786722 deg/s,
      cmd heading: 131.296755 deg,
      new cmd heading: 135.936895 deg.

2021-01-27T18:23:39.313Z,1611771819.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:40.123Z,1611771820.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:40.516Z,1611771820.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:41.342Z,1611771821.342 [Micromodem](INFO): Nmea in: $SNTTA,0.003259,,,,182341.53*46

2021-01-27T18:23:41.375Z,1611771821.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 115.446289 deg, deltaT: 4.482912 s, approachRate: 0.227531 m/s, LOS rate: 4.945699 deg/s, posRepo size: 4
2021-01-27T18:23:41.377Z,1611771821.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 115.446289 deg,
      approachRate: 0.227531 m/s,
      LOS rate: 4.945699 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 114.321328 deg,
      new cmd heading: 112.811528 deg.

2021-01-27T18:23:43.821Z,1611771823.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:44.546Z,1611771824.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:44.962Z,1611771824.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:45.797Z,1611771825.797 [Micromodem](INFO): Nmea in: $SNTTA,0.003744,,,,182345.95*41

2021-01-27T18:23:45.831Z,1611771825.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 75.013270 deg, deltaT: 4.420963 s, approachRate: 0.067859 m/s, LOS rate: -9.145750 deg/s, posRepo size: 4
2021-01-27T18:23:45.833Z,1611771825.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 75.013270 deg,
      approachRate: 0.067859 m/s,
      LOS rate: -9.145750 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 167.370113 deg,
      new cmd heading: 172.579625 deg.

2021-01-27T18:23:48.202Z,1611771828.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:48.994Z,1611771828.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:49.410Z,1611771829.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:50.237Z,1611771830.237 [Micromodem](INFO): Nmea in: $SNTTA,0.004153,,,,182350.40*4A

2021-01-27T18:23:50.239Z,1611771830.239 [PowerOnly](INFO): Powering down loadControl
2021-01-27T18:23:50.278Z,1611771830.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 63.493439 deg, deltaT: 4.450550 s, approachRate: 0.175259 m/s, LOS rate: -2.588406 deg/s, posRepo size: 4
2021-01-27T18:23:50.280Z,1611771830.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 63.493439 deg,
      approachRate: 0.175259 m/s,
      LOS rate: -2.588406 deg/s,
      cmd update: -7.765219 deg/s,
      cmd heading: 114.152728 deg,
      new cmd heading: 108.802036 deg.

2021-01-27T18:23:52.756Z,1611771832.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:53.051Z,1611771833.051 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:23:53.438Z,1611771833.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:53.854Z,1611771833.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:54.716Z,1611771834.716 [Micromodem](INFO): Nmea in: $SNTTA,0.005148,,,,182354.85*4C

2021-01-27T18:23:54.759Z,1611771834.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.559999 m, bearing: 75.460688 deg, deltaT: 4.428811 s, approachRate: 0.352239 m/s, LOS rate: 2.702136 deg/s, posRepo size: 4
2021-01-27T18:23:54.762Z,1611771834.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.559999 m,
      bearing: 75.460688 deg,
      approachRate: 0.352239 m/s,
      LOS rate: 2.702136 deg/s,
      cmd update: 8.106408 deg/s,
      cmd heading: 79.761870 deg,
      new cmd heading: 75.889480 deg.

2021-01-27T18:23:57.085Z,1611771837.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:23:57.891Z,1611771837.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:23:58.288Z,1611771838.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:23:59.125Z,1611771839.125 [Micromodem](INFO): Nmea in: $SNTTA,0.007871,,,,182359.30*4E

2021-01-27T18:23:59.141Z,1611771839.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.520001 m, bearing: 99.622776 deg, deltaT: 4.493280 s, approachRate: 0.881317 m/s, LOS rate: 5.377383 deg/s, posRepo size: 4
2021-01-27T18:23:59.142Z,1611771839.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 99.622776 deg,
      approachRate: 0.881317 m/s,
      LOS rate: 5.377383 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.315773 deg,
      new cmd heading: 119.317179 deg.

2021-01-27T18:24:01.550Z,1611771841.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:02.328Z,1611771842.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:02.760Z,1611771842.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:03.569Z,1611771843.569 [Micromodem](INFO): Nmea in: $SNTTA,0.007320,,,,182403.74*49

2021-01-27T18:24:03.583Z,1611771843.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.980000 m, bearing: 116.492906 deg, deltaT: 4.431177 s, approachRate: -0.121864 m/s, LOS rate: 3.807144 deg/s, posRepo size: 4
2021-01-27T18:24:03.585Z,1611771843.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 116.492906 deg,
      approachRate: -0.121864 m/s,
      LOS rate: 3.807144 deg/s,
      cmd update: 11.421434 deg/s,
      cmd heading: 169.389423 deg,
      new cmd heading: 174.075123 deg.

2021-01-27T18:24:06.011Z,1611771846.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:06.770Z,1611771846.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:07.176Z,1611771847.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:08.022Z,1611771848.022 [Micromodem](INFO): Nmea in: $SNTTA,0.008768,,0.020450,,182408.18*52

2021-01-27T18:24:08.056Z,1611771848.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 107.703798 deg, deltaT: 4.465177 s, approachRate: 0.456869 m/s, LOS rate: -1.968367 deg/s, posRepo size: 4
2021-01-27T18:24:08.058Z,1611771848.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 107.703798 deg,
      approachRate: 0.456869 m/s,
      LOS rate: -1.968367 deg/s,
      cmd update: -5.905102 deg/s,
      cmd heading: 220.368605 deg,
      new cmd heading: 224.931319 deg.

2021-01-27T18:24:10.446Z,1611771850.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:11.227Z,1611771851.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:11.654Z,1611771851.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:12.453Z,1611771852.453 [Micromodem](INFO): Nmea in: $SNTTA,0.009456,,0.035219,,182412.63*55

2021-01-27T18:24:12.495Z,1611771852.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 139.219746 deg, deltaT: 4.404200 s, approachRate: 0.286091 m/s, LOS rate: 7.155885 deg/s, posRepo size: 4
2021-01-27T18:24:12.501Z,1611771852.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 139.219746 deg,
      approachRate: 0.286091 m/s,
      LOS rate: 7.155885 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 194.395920 deg,
      new cmd heading: 191.796683 deg.

2021-01-27T18:24:14.907Z,1611771854.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:15.693Z,1611771855.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:16.068Z,1611771856.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:16.898Z,1611771856.898 [Micromodem](INFO): Nmea in: $SNTTA,0.011404,,,,182417.10*48

2021-01-27T18:24:16.959Z,1611771856.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.479998 m, bearing: 143.136368 deg, deltaT: 4.413972 s, approachRate: 0.271864 m/s, LOS rate: 0.887324 deg/s, posRepo size: 4
2021-01-27T18:24:16.962Z,1611771856.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.479998 m,
      bearing: 143.136368 deg,
      approachRate: 0.271864 m/s,
      LOS rate: 0.887324 deg/s,
      cmd update: 2.661971 deg/s,
      cmd heading: 247.554697 deg,
      new cmd heading: 253.223197 deg.

2021-01-27T18:24:19.313Z,1611771859.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:20.116Z,1611771860.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:20.504Z,1611771860.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:21.338Z,1611771861.338 [Micromodem](INFO): Nmea in: $SNTTA,0.011460,,,,182421.53*48

2021-01-27T18:24:21.359Z,1611771861.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 138.485869 deg, deltaT: 4.455432 s, approachRate: 0.336669 m/s, LOS rate: -1.043782 deg/s, posRepo size: 4
2021-01-27T18:24:21.384Z,1611771861.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.98 m. Rolling out.
2021-01-27T18:24:21.384Z,1611771861.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-27T18:24:23.802Z,1611771863.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:24.554Z,1611771864.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:24.948Z,1611771864.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:25.789Z,1611771865.789 [Micromodem](INFO): Nmea in: $SNTTA,0.011808,,,,182425.96*47

2021-01-27T18:24:25.841Z,1611771865.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 146.252054 deg, deltaT: 4.432348 s, approachRate: 0.189516 m/s, LOS rate: 1.752160 deg/s, posRepo size: 4
2021-01-27T18:24:28.226Z,1611771868.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:28.990Z,1611771868.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:29.407Z,1611771869.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:30.237Z,1611771870.237 [Micromodem](INFO): Nmea in: $SNTTA,0.012422,,,,182430.40*4F

2021-01-27T18:24:30.315Z,1611771870.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.659996 m, bearing: 209.108031 deg, deltaT: 4.478232 s, approachRate: 0.187573 m/s, LOS rate: 14.035891 deg/s, posRepo size: 4
2021-01-27T18:24:32.726Z,1611771872.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:33.434Z,1611771873.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:33.836Z,1611771873.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:34.704Z,1611771874.704 [Micromodem](INFO): Nmea in: $SNTTA,0.012587,,,,182434.84*4D

2021-01-27T18:24:34.753Z,1611771874.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 137.331144 deg, deltaT: 4.417254 s, approachRate: 0.067917 m/s, LOS rate: -16.249210 deg/s, posRepo size: 4
2021-01-27T18:24:36.776Z,1611771876.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:37.474Z,1611771877.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:37.889Z,1611771877.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:38.741Z,1611771878.741 [Micromodem](INFO): Nmea in: $SNTTA,0.012677,,,,182438.88*41

2021-01-27T18:24:38.804Z,1611771878.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.020000 m, bearing: 205.869128 deg, deltaT: 4.064465 s, approachRate: 0.014762 m/s, LOS rate: 16.862731 deg/s, posRepo size: 4
2021-01-27T18:24:41.129Z,1611771881.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:41.919Z,1611771881.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:42.330Z,1611771882.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:43.181Z,1611771883.181 [Micromodem](INFO): Nmea in: $SNTTA,0.012495,,,,182443.33*43

2021-01-27T18:24:43.219Z,1611771883.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 173.590105 deg, deltaT: 4.461742 s, approachRate: -0.053791 m/s, LOS rate: -7.234623 deg/s, posRepo size: 4
2021-01-27T18:24:45.586Z,1611771885.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:46.370Z,1611771886.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:46.807Z,1611771886.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:47.621Z,1611771887.621 [Micromodem](INFO): Nmea in: $SNTTA,0.012193,,,,182447.78*4B

2021-01-27T18:24:47.711Z,1611771887.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 192.129984 deg, deltaT: 4.402131 s, approachRate: -0.109038 m/s, LOS rate: 4.211569 deg/s, posRepo size: 4
2021-01-27T18:24:50.026Z,1611771890.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:50.802Z,1611771890.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:51.217Z,1611771891.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:52.053Z,1611771892.053 [Micromodem](INFO): Nmea in: $SNTTA,0.011651,,,,182452.21*49

2021-01-27T18:24:52.078Z,1611771892.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 219.308632 deg, deltaT: 4.475602 s, approachRate: -0.201090 m/s, LOS rate: 6.072624 deg/s, posRepo size: 4
2021-01-27T18:24:54.466Z,1611771894.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:55.250Z,1611771895.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:24:55.681Z,1611771895.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:24:56.497Z,1611771896.497 [Micromodem](INFO): Nmea in: $SNTTA,0.011203,,,,182456.66*4D

2021-01-27T18:24:56.511Z,1611771896.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.740000 m, bearing: 230.460336 deg, deltaT: 4.425350 s, approachRate: -0.149141 m/s, LOS rate: 2.519960 deg/s, posRepo size: 4
2021-01-27T18:24:58.925Z,1611771898.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:24:59.701Z,1611771899.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:00.100Z,1611771900.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:00.943Z,1611771900.943 [Micromodem](INFO): Nmea in: $SNTTA,0.010829,,0.011973,,182501.11*5E

2021-01-27T18:25:00.978Z,1611771900.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.260000 m, bearing: 246.252253 deg, deltaT: 4.415346 s, approachRate: -0.108712 m/s, LOS rate: 3.576598 deg/s, posRepo size: 4
2021-01-27T18:25:03.054Z,1611771903.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:03.775Z,1611771903.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:04.140Z,1611771904.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:04.975Z,1611771904.975 [Micromodem](INFO): Nmea in: $SNTTA,0.010940,,,,182505.18*4E

2021-01-27T18:25:05.011Z,1611771905.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 326.789308 deg, deltaT: 4.054344 s, approachRate: 0.044396 m/s, LOS rate: 19.864386 deg/s, posRepo size: 4
2021-01-27T18:25:07.389Z,1611771907.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:08.198Z,1611771908.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:08.584Z,1611771908.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:09.417Z,1611771909.417 [Micromodem](INFO): Nmea in: $SNTTA,0.011720,,,,182509.61*45

2021-01-27T18:25:09.440Z,1611771909.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 315.492858 deg, deltaT: 4.460658 s, approachRate: 0.269018 m/s, LOS rate: -2.532463 deg/s, posRepo size: 4
2021-01-27T18:25:11.857Z,1611771911.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:12.622Z,1611771912.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:13.032Z,1611771913.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:13.857Z,1611771913.857 [Micromodem](INFO): Nmea in: $SNTTA,0.012912,,,,182514.03*41

2021-01-27T18:25:13.919Z,1611771913.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 307.958449 deg, deltaT: 4.414136 s, approachRate: 0.421374 m/s, LOS rate: -1.706882 deg/s, posRepo size: 4
2021-01-27T18:25:16.287Z,1611771916.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:17.073Z,1611771917.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:17.465Z,1611771917.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:18.306Z,1611771918.306 [Micromodem](INFO): Nmea in: $SNTTA,0.014756,,0.062593,,182518.48*5F

2021-01-27T18:25:18.349Z,1611771918.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.199999 m, bearing: 304.854538 deg, deltaT: 4.489884 s, approachRate: 0.601352 m/s, LOS rate: -0.691312 deg/s, posRepo size: 4
2021-01-27T18:25:20.784Z,1611771920.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:21.518Z,1611771921.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:21.908Z,1611771921.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:22.793Z,1611771922.793 [Micromodem](INFO): Nmea in: $SNTTA,0.016671,,,,182522.93*43

2021-01-27T18:25:22.847Z,1611771922.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 302.752096 deg, deltaT: 4.411485 s, approachRate: 0.652841 m/s, LOS rate: -0.476584 deg/s, posRepo size: 4
2021-01-27T18:25:25.161Z,1611771925.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:25.958Z,1611771925.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:26.375Z,1611771926.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:27.201Z,1611771927.201 [Micromodem](INFO): Nmea in: $SNTTA,0.019062,,,,182527.37*43

2021-01-27T18:25:27.223Z,1611771927.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 279.676084 deg, deltaT: 4.516741 s, approachRate: 0.890022 m/s, LOS rate: -5.108996 deg/s, posRepo size: 4
2021-01-27T18:25:29.662Z,1611771929.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:30.398Z,1611771930.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:30.812Z,1611771930.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:31.665Z,1611771931.665 [Micromodem](INFO): Nmea in: $SNTTA,0.021147,,,,182531.81*44

2021-01-27T18:25:31.744Z,1611771931.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 275.095513 deg, deltaT: 4.380866 s, approachRate: 0.616317 m/s, LOS rate: -1.045586 deg/s, posRepo size: 4
2021-01-27T18:25:34.063Z,1611771934.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:34.842Z,1611771934.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:35.244Z,1611771935.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:36.093Z,1611771936.093 [Micromodem](INFO): Nmea in: $SNTTA,0.023459,,,,182536.25*45

2021-01-27T18:25:36.118Z,1611771936.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 271.130178 deg, deltaT: 4.506749 s, approachRate: 0.785489 m/s, LOS rate: -0.879866 deg/s, posRepo size: 4
2021-01-27T18:25:38.494Z,1611771938.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:39.282Z,1611771939.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:39.724Z,1611771939.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:40.525Z,1611771940.525 [Micromodem](INFO): Nmea in: $SNTTA,0.025867,,,,182540.69*4B

2021-01-27T18:25:40.555Z,1611771940.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.879997 m, bearing: 264.031535 deg, deltaT: 4.361309 s, approachRate: 0.811682 m/s, LOS rate: -1.627640 deg/s, posRepo size: 4
2021-01-27T18:25:42.967Z,1611771942.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:43.787Z,1611771943.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:44.140Z,1611771944.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:44.964Z,1611771944.964 [Micromodem](INFO): Nmea in: $SNTTA,0.028542,,0.043379,,182545.20*50

2021-01-27T18:25:45.058Z,1611771945.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 263.099461 deg, deltaT: 4.455815 s, approachRate: 0.794468 m/s, LOS rate: -0.209182 deg/s, posRepo size: 4
2021-01-27T18:25:47.397Z,1611771947.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:48.198Z,1611771948.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:48.580Z,1611771948.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:49.413Z,1611771949.413 [Micromodem](INFO): Nmea in: $SNTTA,0.030487,0.267395,,,182549.61*5E

2021-01-27T18:25:49.452Z,1611771949.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.840000 m, bearing: 234.936241 deg, deltaT: 4.459299 s, approachRate: 0.766937 m/s, LOS rate: -6.315616 deg/s, posRepo size: 4
2021-01-27T18:25:51.862Z,1611771951.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:52.652Z,1611771952.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:53.034Z,1611771953.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:53.843Z,1611771953.843 [Micromodem](INFO): Nmea in: $SNTTA,0.032751,,,,182554.06*4B

2021-01-27T18:25:53.896Z,1611771953.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.199993 m, bearing: 265.819351 deg, deltaT: 4.438643 s, approachRate: 0.756987 m/s, LOS rate: 6.957782 deg/s, posRepo size: 4
2021-01-27T18:25:56.275Z,1611771956.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:25:57.066Z,1611771957.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:25:57.480Z,1611771957.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:25:58.348Z,1611771958.348 [Micromodem](INFO): Nmea in: $SNTTA,0.035151,,,,182558.48*4C

2021-01-27T18:25:58.363Z,1611771958.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.860004 m, bearing: 216.939294 deg, deltaT: 4.449489 s, approachRate: 0.822569 m/s, LOS rate: -10.985544 deg/s, posRepo size: 4
2021-01-27T18:26:00.767Z,1611771960.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:01.506Z,1611771961.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:01.929Z,1611771961.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:01.950Z,1611771961.950 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T18:26:02.777Z,1611771962.777 [Micromodem](INFO): Nmea in: $SNTTA,0.037521,,,,182602.92*46

2021-01-27T18:26:02.839Z,1611771962.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 220.180806 deg, deltaT: 4.441727 s, approachRate: 0.796988 m/s, LOS rate: 0.729786 deg/s, posRepo size: 4
2021-01-27T18:26:05.175Z,1611771965.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:05.950Z,1611771965.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:06.364Z,1611771966.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:07.198Z,1611771967.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.058311,182607.36*41

2021-01-27T18:26:07.213Z,1611771967.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 218.133293 deg, deltaT: 4.458250 s, approachRate: 0.834408 m/s, LOS rate: -0.459264 deg/s, posRepo size: 4
2021-01-27T18:26:09.618Z,1611771969.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:10.398Z,1611771970.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:10.804Z,1611771970.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:11.648Z,1611771971.648 [Micromodem](INFO): Nmea in: $SNTTA,0.042346,,,,182611.81*43

2021-01-27T18:26:11.730Z,1611771971.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 294.261106 deg, deltaT: 4.422583 s, approachRate: 0.895405 m/s, LOS rate: 17.213427 deg/s, posRepo size: 4
2021-01-27T18:26:13.738Z,1611771973.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:14.434Z,1611771974.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:14.848Z,1611771974.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:15.721Z,1611771975.721 [Micromodem](INFO): Nmea in: $SNTTA,0.044655,,,,182615.84*43

2021-01-27T18:26:15.769Z,1611771975.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 282.184621 deg, deltaT: 4.042528 s, approachRate: 0.860846 m/s, LOS rate: -2.987360 deg/s, posRepo size: 4
2021-01-27T18:26:17.805Z,1611771977.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:18.482Z,1611771978.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:18.892Z,1611771978.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:19.749Z,1611771979.749 [Micromodem](INFO): Nmea in: $SNTTA,0.046934,,,,182619.89*48

2021-01-27T18:26:19.815Z,1611771979.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 276.924446 deg, deltaT: 4.037943 s, approachRate: 0.832105 m/s, LOS rate: -1.302687 deg/s, posRepo size: 4
2021-01-27T18:26:22.141Z,1611771982.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:22.914Z,1611771982.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:23.326Z,1611771983.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:24.171Z,1611771984.171 [Micromodem](INFO): Nmea in: $SNTTA,0.049895,,,,182624.32*43

2021-01-27T18:26:24.195Z,1611771984.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 275.308232 deg, deltaT: 4.500980 s, approachRate: 0.853148 m/s, LOS rate: -0.359080 deg/s, posRepo size: 4
2021-01-27T18:26:26.574Z,1611771986.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:27.371Z,1611771987.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:27.775Z,1611771987.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:28.605Z,1611771988.605 [Micromodem](INFO): Nmea in: $SNTTA,0.051933,,,,182628.78*45

2021-01-27T18:26:28.704Z,1611771988.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 273.306495 deg, deltaT: 4.376602 s, approachRate: 0.822556 m/s, LOS rate: -0.457372 deg/s, posRepo size: 4
2021-01-27T18:26:31.046Z,1611771991.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:31.812Z,1611771991.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:32.225Z,1611771992.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:33.057Z,1611771993.057 [Micromodem](INFO): Nmea in: $SNTTA,0.054838,,,,182633.22*4F

2021-01-27T18:26:33.082Z,1611771993.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 274.849380 deg, deltaT: 4.525550 s, approachRate: 0.822000 m/s, LOS rate: 0.340928 deg/s, posRepo size: 4
2021-01-27T18:26:35.458Z,1611771995.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:36.254Z,1611771996.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:36.706Z,1611771996.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:37.493Z,1611771997.493 [Micromodem](INFO): Nmea in: $SNTTA,0.056994,,,,182637.66*4E

2021-01-27T18:26:37.537Z,1611771997.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.920006 m, bearing: 270.547072 deg, deltaT: 4.366622 s, approachRate: 0.879399 m/s, LOS rate: -0.985272 deg/s, posRepo size: 4
2021-01-27T18:26:39.938Z,1611771999.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:40.718Z,1611772000.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:41.136Z,1611772001.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:41.953Z,1611772001.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182642.13*57

2021-01-27T18:26:42.845Z,1611772002.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:44.349Z,1611772004.349 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:26:45.577Z,1611772005.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:46.385Z,1611772006.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:46.776Z,1611772006.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:47.612Z,1611772007.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182647.80*58

2021-01-27T18:26:47.675Z,1611772007.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 269.292120 deg, deltaT: 10.115984 s, approachRate: 0.836300 m/s, LOS rate: -0.124056 deg/s, posRepo size: 4
2021-01-27T18:26:50.053Z,1611772010.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:50.814Z,1611772010.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:51.234Z,1611772011.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:52.052Z,1611772012.052 [Micromodem](INFO): Nmea in: $SNTTA,0.124179,,,,182652.22*42

2021-01-27T18:26:52.467Z,1611772012.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.759995 m, bearing: 277.466408 deg, deltaT: 4.904023 s, approachRate: 18.633678 m/s, LOS rate: 1.666854 deg/s, posRepo size: 4
2021-01-27T18:26:54.936Z,1611772014.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:26:55.718Z,1611772015.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:26:56.069Z,1611772016.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:26:56.910Z,1611772016.910 [Micromodem](INFO): Nmea in: $SNTTA,0.068300,,,,182657.13*40

2021-01-27T18:26:56.980Z,1611772016.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 266.675147 deg, deltaT: 4.397540 s, approachRate: -19.033367 m/s, LOS rate: -2.453931 deg/s, posRepo size: 4
2021-01-27T18:26:59.327Z,1611772019.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:00.111Z,1611772020.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:00.520Z,1611772020.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:01.357Z,1611772021.357 [Micromodem](INFO): Nmea in: $SNTTA,0.070490,,,,182701.52*40

2021-01-27T18:27:01.379Z,1611772021.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 274.028146 deg, deltaT: 4.482927 s, approachRate: 0.843201 m/s, LOS rate: 1.640223 deg/s, posRepo size: 4
2021-01-27T18:27:03.806Z,1611772023.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:04.550Z,1611772024.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:04.956Z,1611772024.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:05.801Z,1611772025.801 [Micromodem](INFO): Nmea in: $SNTTA,0.072901,,,,182705.96*4B

2021-01-27T18:27:05.854Z,1611772025.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 270.313643 deg, deltaT: 4.395959 s, approachRate: 0.887177 m/s, LOS rate: -0.844981 deg/s, posRepo size: 4
2021-01-27T18:27:08.205Z,1611772028.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:08.987Z,1611772028.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:09.408Z,1611772029.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:10.245Z,1611772030.245 [Micromodem](INFO): Nmea in: $SNTTA,0.076004,,,,182710.39*42

2021-01-27T18:27:10.267Z,1611772030.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.820000 m, bearing: 268.162489 deg, deltaT: 4.468156 s, approachRate: 0.913129 m/s, LOS rate: -0.481441 deg/s, posRepo size: 4
2021-01-27T18:27:12.710Z,1611772032.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:13.438Z,1611772033.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:13.850Z,1611772033.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:14.708Z,1611772034.708 [Micromodem](INFO): Nmea in: $SNTTA,0.078121,,,,182714.85*49

2021-01-27T18:27:14.765Z,1611772034.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.540001 m, bearing: 270.716733 deg, deltaT: 4.447668 s, approachRate: 0.836394 m/s, LOS rate: 0.574289 deg/s, posRepo size: 4
2021-01-27T18:27:17.110Z,1611772037.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:17.890Z,1611772037.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:18.314Z,1611772038.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:19.133Z,1611772039.133 [Micromodem](INFO): Nmea in: $SNTTA,0.080681,,,,182719.30*40

2021-01-27T18:27:19.148Z,1611772039.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.260002 m, bearing: 272.974794 deg, deltaT: 4.490066 s, approachRate: 0.828496 m/s, LOS rate: 0.502901 deg/s, posRepo size: 4
2021-01-27T18:27:19.924Z,1611772039.924 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T18:27:21.542Z,1611772041.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:22.332Z,1611772042.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:22.756Z,1611772042.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:23.573Z,1611772043.573 [Micromodem](INFO): Nmea in: $SNTTA,0.083293,,,,182723.74*4D

2021-01-27T18:27:23.600Z,1611772043.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 270.990078 deg, deltaT: 4.373741 s, approachRate: 0.905403 m/s, LOS rate: -0.453780 deg/s, posRepo size: 4
2021-01-27T18:27:26.029Z,1611772046.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:26.770Z,1611772046.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:27.186Z,1611772047.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:28.027Z,1611772048.027 [Micromodem](INFO): Nmea in: $SNTTA,0.085820,,,,182728.18*48

2021-01-27T18:27:28.066Z,1611772048.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 273.093885 deg, deltaT: 4.502467 s, approachRate: 0.839539 m/s, LOS rate: 0.467257 deg/s, posRepo size: 4
2021-01-27T18:27:30.433Z,1611772050.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:31.214Z,1611772051.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:31.648Z,1611772051.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:32.465Z,1611772052.465 [Micromodem](INFO): Nmea in: $SNTTA,0.088418,,,,182732.62*44

2021-01-27T18:27:32.487Z,1611772052.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.720001 m, bearing: 262.976271 deg, deltaT: 4.422931 s, approachRate: 0.841071 m/s, LOS rate: -2.287536 deg/s, posRepo size: 4
2021-01-27T18:27:34.893Z,1611772054.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:35.701Z,1611772055.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:36.084Z,1611772056.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:36.899Z,1611772056.899 [Micromodem](INFO): Nmea in: $SNTTA,0.090792,,,,182737.11*4D

2021-01-27T18:27:36.956Z,1611772056.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.720001 m, bearing: 271.137473 deg, deltaT: 4.418458 s, approachRate: 0.000000 m/s, LOS rate: 1.847070 deg/s, posRepo size: 4
2021-01-27T18:27:39.306Z,1611772059.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:40.107Z,1611772060.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:40.523Z,1611772060.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:41.345Z,1611772061.345 [Micromodem](INFO): Nmea in: $SNTTA,0.093359,,,,182741.51*48

2021-01-27T18:27:41.378Z,1611772061.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 278.044570 deg, deltaT: 4.460554 s, approachRate: 1.667955 m/s, LOS rate: 1.548484 deg/s, posRepo size: 4
2021-01-27T18:27:43.829Z,1611772063.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:44.546Z,1611772064.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:44.952Z,1611772064.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:45.802Z,1611772065.802 [Micromodem](INFO): Nmea in: $SNTTA,0.095928,,,,182745.95*4E

2021-01-27T18:27:45.836Z,1611772065.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.120010 m, bearing: 273.824442 deg, deltaT: 4.435259 s, approachRate: 0.892847 m/s, LOS rate: -0.951495 deg/s, posRepo size: 4
2021-01-27T18:27:48.208Z,1611772068.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:48.998Z,1611772068.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:49.401Z,1611772069.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:50.234Z,1611772070.234 [Micromodem](INFO): Nmea in: $SNTTA,0.098463,,,,182750.41*4C

2021-01-27T18:27:50.268Z,1611772070.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.899994 m, bearing: 278.795071 deg, deltaT: 4.451306 s, approachRate: 0.849185 m/s, LOS rate: 1.116668 deg/s, posRepo size: 4
2021-01-27T18:27:51.856Z,1611772071.856 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:27:52.726Z,1611772072.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:53.434Z,1611772073.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:53.848Z,1611772073.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:54.696Z,1611772074.696 [Micromodem](INFO): Nmea in: $SNTTA,0.101129,,,,182754.84*4B

2021-01-27T18:27:54.747Z,1611772074.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.860001 m, bearing: 272.480370 deg, deltaT: 4.424226 s, approachRate: 0.895073 m/s, LOS rate: -1.427301 deg/s, posRepo size: 4
2021-01-27T18:27:55.887Z,1611772075.887 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:27:57.089Z,1611772077.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:27:57.878Z,1611772077.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:27:58.315Z,1611772078.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:27:59.137Z,1611772079.137 [Micromodem](INFO): Nmea in: $SNTTA,0.103874,,,,182759.29*42

2021-01-27T18:27:59.163Z,1611772079.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 272.140746 deg, deltaT: 4.496417 s, approachRate: 0.934080 m/s, LOS rate: -0.075532 deg/s, posRepo size: 4
2021-01-27T18:28:01.546Z,1611772081.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:02.327Z,1611772082.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:02.760Z,1611772082.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:03.569Z,1611772083.569 [Micromodem](INFO): Nmea in: $SNTTA,0.106715,,,,182803.74*47

2021-01-27T18:28:03.597Z,1611772083.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 277.603559 deg, deltaT: 4.408321 s, approachRate: 0.939129 m/s, LOS rate: 1.239205 deg/s, posRepo size: 4
2021-01-27T18:28:06.009Z,1611772086.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:06.770Z,1611772086.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:07.176Z,1611772087.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:08.020Z,1611772088.020 [Micromodem](INFO): Nmea in: $SNTTA,0.109278,,,,182808.18*47

2021-01-27T18:28:08.078Z,1611772088.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.099991 m, bearing: 277.753631 deg, deltaT: 4.466141 s, approachRate: 0.873236 m/s, LOS rate: 0.033602 deg/s, posRepo size: 4
2021-01-27T18:28:10.428Z,1611772090.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:11.238Z,1611772091.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:11.634Z,1611772091.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:12.452Z,1611772092.452 [Micromodem](INFO): Nmea in: $SNTTA,0.112045,,,,182812.65*40

2021-01-27T18:28:12.474Z,1611772092.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.099991 m, bearing: 277.304369 deg, deltaT: 4.418438 s, approachRate: 0.000000 m/s, LOS rate: -0.101679 deg/s, posRepo size: 4
2021-01-27T18:28:14.908Z,1611772094.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:15.697Z,1611772095.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:16.068Z,1611772096.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:16.894Z,1611772096.894 [Micromodem](INFO): Nmea in: $SNTTA,0.114728,,,,182817.11*4C

2021-01-27T18:28:17.308Z,1611772097.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.739990 m, bearing: 267.113945 deg, deltaT: 4.881243 s, approachRate: 1.770041 m/s, LOS rate: -2.087670 deg/s, posRepo size: 4
2021-01-27T18:28:19.759Z,1611772099.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:20.502Z,1611772100.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:20.908Z,1611772100.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:21.767Z,1611772101.767 [Micromodem](INFO): Nmea in: $SNTTA,0.117689,,,,182821.91*48

2021-01-27T18:28:21.834Z,1611772101.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.739990 m, bearing: 275.094939 deg, deltaT: 4.411969 s, approachRate: 0.000000 m/s, LOS rate: 1.808942 deg/s, posRepo size: 4
2021-01-27T18:28:24.173Z,1611772104.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:24.946Z,1611772104.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:25.364Z,1611772105.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:26.193Z,1611772106.193 [Micromodem](INFO): Nmea in: $SNTTA,0.120435,,,,182826.35*40

2021-01-27T18:28:26.215Z,1611772106.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.739990 m, bearing: 269.430281 deg, deltaT: 4.473233 s, approachRate: 0.000000 m/s, LOS rate: -1.266345 deg/s, posRepo size: 4
2021-01-27T18:28:28.607Z,1611772108.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:29.387Z,1611772109.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:29.800Z,1611772109.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:30.645Z,1611772110.645 [Micromodem](INFO): Nmea in: $SNTTA,0.122934,,,,182830.79*41

2021-01-27T18:28:31.429Z,1611772111.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:33.033Z,1611772113.033 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:28:34.253Z,1611772114.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:35.043Z,1611772115.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:35.452Z,1611772115.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:36.289Z,1611772116.289 [Micromodem](INFO): Nmea in: $SNTTA,0.126226,,,,182836.45*44

2021-01-27T18:28:36.774Z,1611772116.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:38.708Z,1611772118.708 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:28:39.506Z,1611772119.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:40.315Z,1611772120.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:40.730Z,1611772120.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:41.536Z,1611772121.536 [Micromodem](INFO): Nmea in: $SNTTA,0.129428,,,,182841.72*47

2021-01-27T18:28:42.358Z,1611772122.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:43.937Z,1611772123.937 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:28:45.173Z,1611772125.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:45.958Z,1611772125.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:46.380Z,1611772126.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:47.186Z,1611772127.186 [Micromodem](INFO): Nmea in: $SNTTA,0.132614,,,,182847.37*47

2021-01-27T18:28:48.012Z,1611772128.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:49.595Z,1611772129.595 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:28:50.849Z,1611772130.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:51.618Z,1611772131.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:52.016Z,1611772132.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:52.859Z,1611772132.859 [Micromodem](INFO): Nmea in: $SNTTA,0.135790,,,,182853.03*4F

2021-01-27T18:28:53.718Z,1611772133.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:55.241Z,1611772135.241 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:28:56.478Z,1611772136.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:28:57.274Z,1611772137.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:28:57.721Z,1611772137.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:28:58.504Z,1611772138.504 [Micromodem](INFO): Nmea in: $SNTTA,0.139784,,,,182858.68*40

2021-01-27T18:28:58.958Z,1611772138.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 406.199982 m, bearing: 266.799593 deg, deltaT: 32.707035 s, approachRate: 7.137914 m/s, LOS rate: -0.080432 deg/s, posRepo size: 4
2021-01-27T18:29:01.346Z,1611772141.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:02.123Z,1611772142.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:02.520Z,1611772142.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:03.349Z,1611772143.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182903.53*59

2021-01-27T18:29:04.171Z,1611772144.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:05.769Z,1611772145.769 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:29:07.003Z,1611772147.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:07.770Z,1611772147.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:08.172Z,1611772148.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:09.008Z,1611772149.008 [Micromodem](INFO): Nmea in: $SNTTA,0.145833,,,,182909.18*4A

2021-01-27T18:29:09.423Z,1611772149.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.099976 m, bearing: 262.481930 deg, deltaT: 10.536640 s, approachRate: -17.851992 m/s, LOS rate: -0.409776 deg/s, posRepo size: 4
2021-01-27T18:29:11.876Z,1611772151.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:12.646Z,1611772152.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:13.020Z,1611772153.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:13.837Z,1611772153.837 [Micromodem](INFO): Nmea in: $SNTTA,0.148007,,,,182914.06*4B

2021-01-27T18:29:14.279Z,1611772154.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.180008 m, bearing: 269.077160 deg, deltaT: 4.836715 s, approachRate: 0.843554 m/s, LOS rate: 1.363576 deg/s, posRepo size: 4
2021-01-27T18:29:16.740Z,1611772156.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:17.478Z,1611772157.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:17.872Z,1611772157.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:18.718Z,1611772158.718 [Micromodem](INFO): Nmea in: $SNTTA,0.150842,,,,182918.89*40

2021-01-27T18:29:19.123Z,1611772159.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.379990 m, bearing: 267.186455 deg, deltaT: 4.875677 s, approachRate: 0.861415 m/s, LOS rate: -0.387783 deg/s, posRepo size: 4
2021-01-27T18:29:21.525Z,1611772161.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:22.327Z,1611772162.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:22.743Z,1611772162.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:23.540Z,1611772163.540 [Micromodem](INFO): Nmea in: $SNTTA,0.153751,,,,182923.74*44

2021-01-27T18:29:23.982Z,1611772163.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.759979 m, bearing: 270.310692 deg, deltaT: 4.784503 s, approachRate: 0.915453 m/s, LOS rate: 0.652991 deg/s, posRepo size: 4
2021-01-27T18:29:26.380Z,1611772166.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:27.162Z,1611772167.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:27.576Z,1611772167.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:28.420Z,1611772168.420 [Micromodem](INFO): Nmea in: $SNTTA,0.156620,,,,182928.57*4C

2021-01-27T18:29:28.832Z,1611772168.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.080002 m, bearing: 268.571508 deg, deltaT: 4.861940 s, approachRate: 0.888539 m/s, LOS rate: -0.357714 deg/s, posRepo size: 4
2021-01-27T18:29:31.227Z,1611772171.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:32.010Z,1611772172.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:32.416Z,1611772172.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:33.248Z,1611772173.248 [Micromodem](INFO): Nmea in: $SNTTA,0.161007,,,,182933.42*45

2021-01-27T18:29:33.677Z,1611772173.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.739990 m, bearing: 270.437433 deg, deltaT: 4.828439 s, approachRate: 1.379325 m/s, LOS rate: 0.386445 deg/s, posRepo size: 4
2021-01-27T18:29:36.087Z,1611772176.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:36.858Z,1611772176.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:37.272Z,1611772177.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:38.095Z,1611772178.095 [Micromodem](INFO): Nmea in: $SNTTA,0.162396,,,,182938.27*45

2021-01-27T18:29:38.507Z,1611772178.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.779984 m, bearing: 273.249258 deg, deltaT: 4.889302 s, approachRate: 0.417236 m/s, LOS rate: 0.575097 deg/s, posRepo size: 4
2021-01-27T18:29:40.943Z,1611772180.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:41.718Z,1611772181.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:42.116Z,1611772182.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:42.947Z,1611772182.947 [Micromodem](INFO): Nmea in: $SNTTA,0.165261,,,,182943.13*40

2021-01-27T18:29:43.400Z,1611772183.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.039978 m, bearing: 267.680195 deg, deltaT: 4.828386 s, approachRate: 0.882281 m/s, LOS rate: -1.153400 deg/s, posRepo size: 4
2021-01-27T18:29:45.812Z,1611772185.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:46.554Z,1611772186.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:46.973Z,1611772186.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:47.784Z,1611772187.784 [Micromodem](INFO): Nmea in: $SNTTA,0.168094,,,,182947.96*4C

2021-01-27T18:29:48.215Z,1611772188.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.300003 m, bearing: 265.843803 deg, deltaT: 4.874255 s, approachRate: 0.873985 m/s, LOS rate: -0.376753 deg/s, posRepo size: 4
2021-01-27T18:29:50.668Z,1611772190.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:51.411Z,1611772191.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:51.812Z,1611772191.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:52.656Z,1611772192.656 [Micromodem](INFO): Nmea in: $SNTTA,0.170844,,,,182952.82*41

2021-01-27T18:29:53.069Z,1611772193.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.619995 m, bearing: 269.535712 deg, deltaT: 4.888577 s, approachRate: 0.883691 m/s, LOS rate: 0.755211 deg/s, posRepo size: 4
2021-01-27T18:29:55.469Z,1611772195.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:56.254Z,1611772196.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:29:56.719Z,1611772196.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:29:57.482Z,1611772197.482 [Micromodem](INFO): Nmea in: $SNTTA,0.173833,,,,182957.66*4D

2021-01-27T18:29:58.303Z,1611772198.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:29:59.889Z,1611772199.889 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:30:01.121Z,1611772201.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:01.903Z,1611772201.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:02.309Z,1611772202.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:03.144Z,1611772203.144 [Micromodem](INFO): Nmea in: $SNTTA,0.177388,,0.187350,,183003.31*5F

2021-01-27T18:30:03.567Z,1611772203.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 266.279999 m, bearing: 268.237457 deg, deltaT: 10.415744 s, approachRate: 0.927442 m/s, LOS rate: -0.124644 deg/s, posRepo size: 4
2021-01-27T18:30:05.993Z,1611772205.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:06.775Z,1611772206.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:07.160Z,1611772207.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:07.974Z,1611772207.974 [Micromodem](INFO): Nmea in: $SNTTA,0.180063,,,,183008.18*47

2021-01-27T18:30:08.441Z,1611772208.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.359985 m, bearing: 271.211157 deg, deltaT: 4.886181 s, approachRate: 0.835005 m/s, LOS rate: 0.608594 deg/s, posRepo size: 4
2021-01-27T18:30:10.838Z,1611772210.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:11.617Z,1611772211.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:12.008Z,1611772212.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:12.828Z,1611772212.828 [Micromodem](INFO): Nmea in: $SNTTA,0.182769,,,,183013.03*48

2021-01-27T18:30:13.251Z,1611772213.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.320007 m, bearing: 261.127394 deg, deltaT: 4.838640 s, approachRate: 0.818416 m/s, LOS rate: -2.084008 deg/s, posRepo size: 4
2021-01-27T18:30:15.741Z,1611772215.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:16.450Z,1611772216.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:16.856Z,1611772216.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:17.727Z,1611772217.727 [Micromodem](INFO): Nmea in: $SNTTA,0.185761,,,,183017.86*4E

2021-01-27T18:30:18.103Z,1611772218.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.819977 m, bearing: 263.895587 deg, deltaT: 4.907943 s, approachRate: 0.916875 m/s, LOS rate: 0.564023 deg/s, posRepo size: 4
2021-01-27T18:30:20.510Z,1611772220.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:21.298Z,1611772221.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:21.721Z,1611772221.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:22.526Z,1611772222.526 [Micromodem](INFO): Nmea in: $SNTTA,0.188434,,,,183022.71*4E

2021-01-27T18:30:23.359Z,1611772223.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:24.933Z,1611772224.933 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:30:26.179Z,1611772226.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:26.970Z,1611772226.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:27.376Z,1611772227.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:28.179Z,1611772228.179 [Micromodem](INFO): Nmea in: $SNTTA,0.191842,,,,183028.38*4C

2021-01-27T18:30:29.042Z,1611772229.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:30.589Z,1611772230.589 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:30:31.853Z,1611772231.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:32.619Z,1611772232.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:33.016Z,1611772233.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:33.852Z,1611772233.852 [Micromodem](INFO): Nmea in: $SNTTA,0.195550,,,,183034.03*43

2021-01-27T18:30:34.253Z,1611772234.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.399994 m, bearing: 267.112169 deg, deltaT: 16.114787 s, approachRate: 0.904760 m/s, LOS rate: 0.199604 deg/s, posRepo size: 4
2021-01-27T18:30:36.739Z,1611772236.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:37.473Z,1611772237.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:37.872Z,1611772237.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:38.726Z,1611772238.726 [Micromodem](INFO): Nmea in: $SNTTA,0.198218,,,,183038.88*4A

2021-01-27T18:30:39.111Z,1611772239.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.480011 m, bearing: 266.018929 deg, deltaT: 4.876882 s, approachRate: 0.836604 m/s, LOS rate: -0.224168 deg/s, posRepo size: 4
2021-01-27T18:30:41.513Z,1611772241.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:42.303Z,1611772242.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:42.795Z,1611772242.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:43.554Z,1611772243.554 [Micromodem](INFO): Nmea in: $SNTTA,0.200927,,,,183043.71*45

2021-01-27T18:30:44.385Z,1611772244.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:45.577Z,1611772245.577 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:30:47.226Z,1611772247.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:48.010Z,1611772248.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:48.414Z,1611772248.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:49.249Z,1611772249.249 [Micromodem](INFO): Nmea in: $SNTTA,0.204504,,,,183049.42*46

2021-01-27T18:30:49.678Z,1611772249.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.899994 m, bearing: 268.774610 deg, deltaT: 10.480742 s, approachRate: 0.898790 m/s, LOS rate: 0.262928 deg/s, posRepo size: 4
2021-01-27T18:30:52.073Z,1611772252.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:52.846Z,1611772252.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:53.264Z,1611772253.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:54.094Z,1611772254.094 [Micromodem](INFO): Nmea in: $SNTTA,0.207344,,,,183054.25*4A

2021-01-27T18:30:54.945Z,1611772254.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:56.493Z,1611772256.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:30:57.763Z,1611772257.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:30:58.514Z,1611772258.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:30:58.928Z,1611772258.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:30:59.768Z,1611772259.768 [Micromodem](INFO): Nmea in: $SNTTA,0.210704,,,,183059.92*4D

2021-01-27T18:31:00.541Z,1611772260.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:02.145Z,1611772262.145 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:03.373Z,1611772263.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:04.159Z,1611772264.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:04.568Z,1611772264.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:05.402Z,1611772265.402 [Micromodem](INFO): Nmea in: $SNTTA,0.214068,,,,183105.57*45

2021-01-27T18:31:06.217Z,1611772266.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:07.797Z,1611772267.797 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:09.051Z,1611772269.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:09.814Z,1611772269.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:10.230Z,1611772270.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:11.054Z,1611772271.054 [Micromodem](INFO): Nmea in: $SNTTA,0.217523,,,,183111.22*4B

2021-01-27T18:31:11.877Z,1611772271.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:13.470Z,1611772273.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:14.766Z,1611772274.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:15.474Z,1611772275.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:15.888Z,1611772275.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:16.718Z,1611772276.718 [Micromodem](INFO): Nmea in: $SNTTA,0.220915,,,,183116.88*41

2021-01-27T18:31:17.509Z,1611772277.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:19.105Z,1611772279.105 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:20.363Z,1611772280.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:21.127Z,1611772281.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:21.536Z,1611772281.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:22.366Z,1611772282.366 [Micromodem](INFO): Nmea in: $SNTTA,0.224348,,,,183122.53*46

2021-01-27T18:31:23.174Z,1611772283.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:24.765Z,1611772284.765 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:26.055Z,1611772286.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:26.786Z,1611772286.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:27.198Z,1611772287.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:28.040Z,1611772288.040 [Micromodem](INFO): Nmea in: $SNTTA,0.227675,,,,183128.19*4A

2021-01-27T18:31:28.854Z,1611772288.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:30.046Z,1611772290.046 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:31:30.430Z,1611772290.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:31.726Z,1611772291.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:32.442Z,1611772292.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:32.844Z,1611772292.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:33.718Z,1611772293.718 [Micromodem](INFO): Nmea in: $SNTTA,0.231180,,,,183133.85*4F

2021-01-27T18:31:33.735Z,1611772293.735 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:31:34.501Z,1611772294.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:36.081Z,1611772296.081 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:37.319Z,1611772297.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:38.098Z,1611772298.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:38.532Z,1611772298.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:39.338Z,1611772299.338 [Micromodem](INFO): Nmea in: $SNTTA,0.234770,,,,183139.51*40

2021-01-27T18:31:40.137Z,1611772300.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:41.753Z,1611772301.753 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:43.002Z,1611772303.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:43.766Z,1611772303.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:44.168Z,1611772304.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:44.990Z,1611772304.990 [Micromodem](INFO): Nmea in: $SNTTA,0.237535,,,,183145.17*49

2021-01-27T18:31:45.823Z,1611772305.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:47.389Z,1611772307.389 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:31:48.671Z,1611772308.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:49.414Z,1611772309.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:49.819Z,1611772309.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:50.668Z,1611772310.668 [Micromodem](INFO): Nmea in: $SNTTA,0.240974,,,,183150.82*48

2021-01-27T18:31:51.073Z,1611772311.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.619965 m, bearing: 261.138349 deg, deltaT: 61.482566 s, approachRate: 0.890008 m/s, LOS rate: -0.124202 deg/s, posRepo size: 4
2021-01-27T18:31:53.472Z,1611772313.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:54.258Z,1611772314.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:54.701Z,1611772314.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:31:55.499Z,1611772315.499 [Micromodem](INFO): Nmea in: $SNTTA,0.243894,,,0.246386,183155.67*59

2021-01-27T18:31:55.938Z,1611772315.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 365.940002 m, bearing: 261.541440 deg, deltaT: 4.766919 s, approachRate: 0.906254 m/s, LOS rate: 0.084560 deg/s, posRepo size: 4
2021-01-27T18:31:58.333Z,1611772318.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:31:59.111Z,1611772319.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:31:59.512Z,1611772319.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:00.338Z,1611772320.338 [Micromodem](INFO): Nmea in: $SNTTA,0.246997,,,,183200.52*48

2021-01-27T18:32:00.799Z,1611772320.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 370.679993 m, bearing: 264.245457 deg, deltaT: 4.873036 s, approachRate: 0.972698 m/s, LOS rate: 0.554894 deg/s, posRepo size: 4
2021-01-27T18:32:03.187Z,1611772323.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:03.954Z,1611772323.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:04.373Z,1611772324.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:05.207Z,1611772325.207 [Micromodem](INFO): Nmea in: $SNTTA,0.249809,,,,183205.36*46

2021-01-27T18:32:05.646Z,1611772325.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 374.879974 m, bearing: 259.004489 deg, deltaT: 4.836099 s, approachRate: 0.868465 m/s, LOS rate: -1.083718 deg/s, posRepo size: 4
2021-01-27T18:32:08.042Z,1611772328.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:08.806Z,1611772328.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:09.212Z,1611772329.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:10.044Z,1611772330.044 [Micromodem](INFO): Nmea in: $SNTTA,0.252820,,,,183210.21*45

2021-01-27T18:32:10.451Z,1611772330.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 379.380005 m, bearing: 260.896042 deg, deltaT: 4.871417 s, approachRate: 0.923762 m/s, LOS rate: 0.388296 deg/s, posRepo size: 4
2021-01-27T18:32:12.921Z,1611772332.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:13.674Z,1611772333.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:14.056Z,1611772334.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:14.874Z,1611772334.874 [Micromodem](INFO): Nmea in: $SNTTA,0.256178,,,,183215.08*4B

2021-01-27T18:32:15.299Z,1611772335.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 383.999969 m, bearing: 263.005559 deg, deltaT: 4.849657 s, approachRate: 0.952637 m/s, LOS rate: 0.434983 deg/s, posRepo size: 4
2021-01-27T18:32:17.757Z,1611772337.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:18.526Z,1611772338.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:18.904Z,1611772338.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:19.730Z,1611772339.730 [Micromodem](INFO): Nmea in: $SNTTA,0.258838,,,,183219.93*46

2021-01-27T18:32:20.147Z,1611772340.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.379974 m, bearing: 261.409672 deg, deltaT: 4.843286 s, approachRate: 0.904346 m/s, LOS rate: -0.329505 deg/s, posRepo size: 4
2021-01-27T18:32:22.553Z,1611772342.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:23.353Z,1611772343.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:23.764Z,1611772343.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:24.582Z,1611772344.582 [Micromodem](INFO): Nmea in: $SNTTA,0.261814,,,,183224.76*47

2021-01-27T18:32:25.022Z,1611772345.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 392.759979 m, bearing: 261.834673 deg, deltaT: 4.881681 s, approachRate: 0.897233 m/s, LOS rate: 0.087061 deg/s, posRepo size: 4
2021-01-27T18:32:27.401Z,1611772347.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:28.198Z,1611772348.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:28.618Z,1611772348.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:29.447Z,1611772349.447 [Micromodem](INFO): Nmea in: $SNTTA,0.264739,,,,183229.60*48

2021-01-27T18:32:29.884Z,1611772349.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 397.199982 m, bearing: 262.039552 deg, deltaT: 4.793056 s, approachRate: 0.926341 m/s, LOS rate: 0.042745 deg/s, posRepo size: 4
2021-01-27T18:32:32.245Z,1611772352.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:33.056Z,1611772353.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:33.456Z,1611772353.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:34.280Z,1611772354.280 [Micromodem](INFO): Nmea in: $SNTTA,0.267521,,,,183234.46*48

2021-01-27T18:32:34.752Z,1611772354.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 401.339996 m, bearing: 261.597557 deg, deltaT: 4.868866 s, approachRate: 0.850304 m/s, LOS rate: -0.090780 deg/s, posRepo size: 4
2021-01-27T18:32:37.130Z,1611772357.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:37.894Z,1611772357.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:38.301Z,1611772358.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:39.132Z,1611772359.132 [Micromodem](INFO): Nmea in: $SNTTA,0.270398,,,,183239.30*46

2021-01-27T18:32:39.539Z,1611772359.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 405.659973 m, bearing: 265.018416 deg, deltaT: 4.832963 s, approachRate: 0.893857 m/s, LOS rate: 0.707818 deg/s, posRepo size: 4
2021-01-27T18:32:41.979Z,1611772361.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:42.770Z,1611772362.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:43.144Z,1611772363.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:43.958Z,1611772363.958 [Micromodem](INFO): Nmea in: $SNTTA,0.273331,,,,183244.18*46

2021-01-27T18:32:44.410Z,1611772364.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 410.100006 m, bearing: 260.045902 deg, deltaT: 4.857675 s, approachRate: 0.914024 m/s, LOS rate: -1.023641 deg/s, posRepo size: 4
2021-01-27T18:32:46.859Z,1611772366.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:47.598Z,1611772367.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:47.993Z,1611772367.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:48.828Z,1611772368.828 [Micromodem](INFO): Nmea in: $SNTTA,0.276230,,,,183249.01*46

2021-01-27T18:32:49.241Z,1611772369.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 414.479980 m, bearing: 258.792535 deg, deltaT: 4.864432 s, approachRate: 0.900408 m/s, LOS rate: -0.257659 deg/s, posRepo size: 4
2021-01-27T18:32:51.729Z,1611772371.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:52.434Z,1611772372.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:52.840Z,1611772372.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:53.702Z,1611772373.702 [Micromodem](INFO): Nmea in: $SNTTA,0.279132,,,,183253.84*4E

2021-01-27T18:32:54.075Z,1611772374.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 418.799988 m, bearing: 259.008232 deg, deltaT: 4.892612 s, approachRate: 0.882965 m/s, LOS rate: 0.044086 deg/s, posRepo size: 4
2021-01-27T18:32:56.497Z,1611772376.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:32:57.282Z,1611772377.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:32:57.723Z,1611772377.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:32:58.542Z,1611772378.542 [Micromodem](INFO): Nmea in: $SNTTA,0.281951,,,,183258.69*4C

2021-01-27T18:32:58.970Z,1611772378.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 423.119995 m, bearing: 261.864863 deg, deltaT: 4.811269 s, approachRate: 0.897894 m/s, LOS rate: 0.593738 deg/s, posRepo size: 4
2021-01-27T18:33:01.358Z,1611772381.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:02.130Z,1611772382.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:02.546Z,1611772382.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:03.368Z,1611772383.368 [Micromodem](INFO): Nmea in: $SNTTA,0.285001,,,,183303.54*45

2021-01-27T18:33:03.822Z,1611772383.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 427.500000 m, bearing: 258.144814 deg, deltaT: 4.840168 s, approachRate: 0.904928 m/s, LOS rate: -0.768578 deg/s, posRepo size: 4
2021-01-27T18:33:06.201Z,1611772386.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:06.990Z,1611772386.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:07.388Z,1611772387.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:08.276Z,1611772388.276 [Micromodem](INFO): Nmea in: $SNTTA,0.287882,,,,183308.40*4A

2021-01-27T18:33:08.753Z,1611772388.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 431.940002 m, bearing: 263.896380 deg, deltaT: 4.860708 s, approachRate: 0.913448 m/s, LOS rate: 1.183277 deg/s, posRepo size: 4
2021-01-27T18:33:11.131Z,1611772391.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:11.906Z,1611772391.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:12.322Z,1611772392.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:13.157Z,1611772393.157 [Micromodem](INFO): Nmea in: $SNTTA,0.290770,,,,183313.31*42

2021-01-27T18:33:13.581Z,1611772393.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 436.319977 m, bearing: 264.993663 deg, deltaT: 4.881111 s, approachRate: 0.897331 m/s, LOS rate: 0.224802 deg/s, posRepo size: 4
2021-01-27T18:33:15.994Z,1611772395.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:16.774Z,1611772396.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:17.164Z,1611772397.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:17.994Z,1611772397.994 [Micromodem](INFO): Nmea in: $SNTTA,0.293528,,,,183318.18*4E

2021-01-27T18:33:18.417Z,1611772398.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 440.399994 m, bearing: 258.593148 deg, deltaT: 4.856510 s, approachRate: 0.840113 m/s, LOS rate: -1.317925 deg/s, posRepo size: 4
2021-01-27T18:33:20.840Z,1611772400.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:21.611Z,1611772401.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:22.018Z,1611772402.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:22.838Z,1611772402.838 [Micromodem](INFO): Nmea in: $SNTTA,0.296433,,,,183323.02*43

2021-01-27T18:33:23.247Z,1611772403.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 444.779999 m, bearing: 262.539467 deg, deltaT: 4.889200 s, approachRate: 0.895853 m/s, LOS rate: 0.807150 deg/s, posRepo size: 4
2021-01-27T18:33:25.727Z,1611772405.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:26.454Z,1611772406.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:26.868Z,1611772406.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:27.724Z,1611772407.724 [Micromodem](INFO): Nmea in: $SNTTA,0.299391,,,,183327.86*4B

2021-01-27T18:33:28.095Z,1611772408.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 449.160004 m, bearing: 259.875857 deg, deltaT: 4.850972 s, approachRate: 0.902913 m/s, LOS rate: -0.549088 deg/s, posRepo size: 4
2021-01-27T18:33:30.509Z,1611772410.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:31.314Z,1611772411.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:31.727Z,1611772411.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:32.537Z,1611772412.537 [Micromodem](INFO): Nmea in: $SNTTA,0.302368,,,0.304874,183332.72*53

2021-01-27T18:33:32.982Z,1611772412.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 453.659973 m, bearing: 259.011811 deg, deltaT: 4.799901 s, approachRate: 0.937513 m/s, LOS rate: -0.180013 deg/s, posRepo size: 4
2021-01-27T18:33:35.357Z,1611772415.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:36.151Z,1611772416.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:36.552Z,1611772416.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:37.384Z,1611772417.384 [Micromodem](INFO): Nmea in: $SNTTA,0.305251,,,,183337.56*4E

2021-01-27T18:33:37.838Z,1611772417.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 457.979980 m, bearing: 263.023181 deg, deltaT: 4.856172 s, approachRate: 0.889591 m/s, LOS rate: 0.826035 deg/s, posRepo size: 4
2021-01-27T18:33:40.206Z,1611772420.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:41.006Z,1611772421.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:41.413Z,1611772421.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:42.247Z,1611772422.247 [Micromodem](INFO): Nmea in: $SNTTA,0.308103,,,,183342.41*43

2021-01-27T18:33:42.832Z,1611772422.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.240021 m, bearing: 258.876628 deg, deltaT: 4.837479 s, approachRate: 0.880632 m/s, LOS rate: -0.857172 deg/s, posRepo size: 4
2021-01-27T18:33:45.073Z,1611772425.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:45.846Z,1611772425.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:46.264Z,1611772426.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:47.091Z,1611772427.091 [Micromodem](INFO): Nmea in: $SNTTA,0.310902,,,,183347.25*44

2021-01-27T18:33:47.491Z,1611772427.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 466.440002 m, bearing: 263.712265 deg, deltaT: 4.853190 s, approachRate: 0.865406 m/s, LOS rate: 0.996383 deg/s, posRepo size: 4
2021-01-27T18:33:49.932Z,1611772429.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:50.714Z,1611772430.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:51.100Z,1611772431.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:51.910Z,1611772431.910 [Micromodem](INFO): Nmea in: $SNTTA,0.313643,,,,183352.12*4D

2021-01-27T18:33:52.793Z,1611772432.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 470.579987 m, bearing: 258.900260 deg, deltaT: 5.230995 s, approachRate: 0.791433 m/s, LOS rate: -0.919902 deg/s, posRepo size: 4
2021-01-27T18:33:55.159Z,1611772435.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:33:55.942Z,1611772435.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:33:56.356Z,1611772436.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:33:57.186Z,1611772437.186 [Micromodem](INFO): Nmea in: $SNTTA,0.316858,,,,183357.35*4C

2021-01-27T18:33:57.587Z,1611772437.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 475.379974 m, bearing: 260.986173 deg, deltaT: 4.855858 s, approachRate: 0.988494 m/s, LOS rate: 0.429566 deg/s, posRepo size: 4
2021-01-27T18:34:00.031Z,1611772440.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:00.795Z,1611772440.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:01.196Z,1611772441.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:02.034Z,1611772442.034 [Micromodem](INFO): Nmea in: $SNTTA,0.319776,,,,183402.20*43

2021-01-27T18:34:02.455Z,1611772442.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 479.820007 m, bearing: 265.719221 deg, deltaT: 4.921268 s, approachRate: 0.902213 m/s, LOS rate: 0.961754 deg/s, posRepo size: 4
2021-01-27T18:34:04.881Z,1611772444.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:05.653Z,1611772445.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:06.044Z,1611772446.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:06.881Z,1611772446.881 [Micromodem](INFO): Nmea in: $SNTTA,0.322677,,,,183407.06*4A

2021-01-27T18:34:07.287Z,1611772447.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 479.820007 m, bearing: 253.931079 deg, deltaT: 4.838080 s, approachRate: 0.000000 m/s, LOS rate: -2.436533 deg/s, posRepo size: 4
2021-01-27T18:34:09.783Z,1611772449.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:10.483Z,1611772450.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:10.896Z,1611772450.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:11.760Z,1611772451.760 [Micromodem](INFO): Nmea in: $SNTTA,0.325662,,,,183411.89*49

2021-01-27T18:34:12.137Z,1611772452.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 488.700012 m, bearing: 261.849536 deg, deltaT: 4.853433 s, approachRate: 1.829634 m/s, LOS rate: 1.631517 deg/s, posRepo size: 4
2021-01-27T18:34:13.792Z,1611772453.792 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:34:14.546Z,1611772454.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:15.340Z,1611772455.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:15.779Z,1611772455.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:16.573Z,1611772456.573 [Micromodem](INFO): Nmea in: $SNTTA,0.328569,,,,183416.75*48

2021-01-27T18:34:17.012Z,1611772457.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 488.700012 m, bearing: 258.627818 deg, deltaT: 4.809687 s, approachRate: 0.000000 m/s, LOS rate: -0.669839 deg/s, posRepo size: 4
2021-01-27T18:34:19.417Z,1611772459.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:20.191Z,1611772460.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:20.604Z,1611772460.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:21.425Z,1611772461.425 [Micromodem](INFO): Nmea in: $SNTTA,0.331386,,,,183421.60*47

2021-01-27T18:34:21.870Z,1611772461.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 488.700012 m, bearing: 257.069496 deg, deltaT: 4.847143 s, approachRate: 0.000000 m/s, LOS rate: -0.321493 deg/s, posRepo size: 4
2021-01-27T18:34:23.843Z,1611772463.843 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:34:24.269Z,1611772464.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:25.035Z,1611772465.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:25.452Z,1611772465.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:26.267Z,1611772466.267 [Micromodem](INFO): Nmea in: $SNTTA,0.334311,,,,183426.44*4D

2021-01-27T18:34:27.100Z,1611772467.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 501.540009 m, bearing: 260.230726 deg, deltaT: 5.294351 s, approachRate: 2.425226 m/s, LOS rate: 0.597095 deg/s, posRepo size: 4
2021-01-27T18:34:27.101Z,1611772467.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 501.54 m. Resuming terminal guidance.
2021-01-27T18:34:27.101Z,1611772467.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T18:34:28.750Z,1611772468.750 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T18:34:29.493Z,1611772469.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:30.286Z,1611772470.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:30.719Z,1611772470.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:31.514Z,1611772471.514 [Micromodem](INFO): Nmea in: $SNTTA,0.337573,,,,183431.69*45

2021-01-27T18:34:32.353Z,1611772472.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 506.519958 m, bearing: 301.870237 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T18:34:32.354Z,1611772472.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 301.870237deg and heading rate command to 0 deg/s.
2021-01-27T18:34:33.950Z,1611772473.950 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:34:34.788Z,1611772474.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:35.538Z,1611772475.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:35.952Z,1611772475.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:36.774Z,1611772476.774 [Micromodem](INFO): Nmea in: $SNTTA,0.340755,,,,183436.94*46

2021-01-27T18:34:37.612Z,1611772477.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 511.320007 m, bearing: 269.589151 deg, deltaT: 5.284115 s, approachRate: 0.908392 m/s, LOS rate: -6.109081 deg/s, posRepo size: 2
2021-01-27T18:34:37.614Z,1611772477.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 511.320007 m,
      bearing: 269.589151 deg,
      approachRate: 0.908392 m/s,
      LOS rate: -6.109081 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 301.870237 deg,
      new cmd heading: 301.870237 deg.

2021-01-27T18:34:38.804Z,1611772478.804 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:34:40.043Z,1611772480.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:40.790Z,1611772480.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:41.192Z,1611772481.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:42.022Z,1611772482.022 [Micromodem](INFO): Nmea in: $SNTTA,0.343748,,,,183442.20*45

2021-01-27T18:34:42.864Z,1611772482.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 515.700012 m, bearing: 287.470067 deg, deltaT: 5.204131 s, approachRate: 0.841640 m/s, LOS rate: 3.435908 deg/s, posRepo size: 3
2021-01-27T18:34:42.866Z,1611772482.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 515.700012 m,
      bearing: 287.470067 deg,
      approachRate: 0.841640 m/s,
      LOS rate: 3.435908 deg/s,
      cmd update: 10.307724 deg/s,
      cmd heading: 239.226120 deg,
      new cmd heading: 234.190692 deg.

2021-01-27T18:34:43.686Z,1611772483.686 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:34:45.265Z,1611772485.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:46.043Z,1611772486.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:46.457Z,1611772486.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:47.278Z,1611772487.278 [Micromodem](INFO): Nmea in: $SNTTA,0.346700,,,,183447.45*4A

2021-01-27T18:34:48.091Z,1611772488.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 520.140015 m, bearing: 283.269692 deg, deltaT: 5.328230 s, approachRate: 0.833298 m/s, LOS rate: -0.788325 deg/s, posRepo size: 4
2021-01-27T18:34:48.093Z,1611772488.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 520.140015 m,
      bearing: 283.269692 deg,
      approachRate: 0.833298 m/s,
      LOS rate: -0.788325 deg/s,
      cmd update: -2.364974 deg/s,
      cmd heading: 294.145666 deg,
      new cmd heading: 297.434778 deg.

2021-01-27T18:34:50.513Z,1611772490.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:51.299Z,1611772491.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:51.721Z,1611772491.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:52.538Z,1611772492.538 [Micromodem](INFO): Nmea in: $SNTTA,0.349732,,,,183452.71*47

2021-01-27T18:34:53.380Z,1611772493.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 524.700012 m, bearing: 244.909875 deg, deltaT: 5.224574 s, approachRate: 0.872798 m/s, LOS rate: -7.342190 deg/s, posRepo size: 4
2021-01-27T18:34:53.382Z,1611772493.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 524.700012 m,
      bearing: 244.909875 deg,
      approachRate: 0.872798 m/s,
      LOS rate: -7.342190 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.816813 deg,
      new cmd heading: 280.884441 deg.

2021-01-27T18:34:53.789Z,1611772493.789 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:34:55.799Z,1611772495.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:56.552Z,1611772496.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:34:56.948Z,1611772496.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:34:57.774Z,1611772497.774 [Micromodem](INFO): Nmea in: $SNTTA,0.352763,,,,183457.96*45

2021-01-27T18:34:58.577Z,1611772498.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:34:59.003Z,1611772499.003 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:35:00.185Z,1611772500.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:35:01.410Z,1611772501.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:02.199Z,1611772502.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:02.604Z,1611772502.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:03.434Z,1611772503.434 [Micromodem](INFO): Nmea in: $SNTTA,0.356046,,,,183503.61*49

2021-01-27T18:35:03.847Z,1611772503.847 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:35:04.262Z,1611772504.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 534.179993 m, bearing: 244.382529 deg, deltaT: 10.862054 s, approachRate: 0.872761 m/s, LOS rate: -0.048549 deg/s, posRepo size: 4
2021-01-27T18:35:04.264Z,1611772504.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 534.179993 m,
      bearing: 244.382529 deg,
      approachRate: 0.872761 m/s,
      LOS rate: -0.048549 deg/s,
      cmd update: -0.145648 deg/s,
      cmd heading: 151.332757 deg,
      new cmd heading: 146.494093 deg.

2021-01-27T18:35:06.728Z,1611772506.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:07.455Z,1611772507.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:07.872Z,1611772507.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:08.761Z,1611772508.761 [Micromodem](INFO): Nmea in: $SNTTA,0.358785,,,,183508.86*4D

2021-01-27T18:35:09.107Z,1611772509.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 538.019958 m, bearing: 226.420839 deg, deltaT: 5.007585 s, approachRate: 0.766830 m/s, LOS rate: -3.586896 deg/s, posRepo size: 4
2021-01-27T18:35:09.109Z,1611772509.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 538.019958 m,
      bearing: 226.420839 deg,
      approachRate: 0.766830 m/s,
      LOS rate: -3.586896 deg/s,
      cmd update: -10.760690 deg/s,
      cmd heading: 150.604983 deg,
      new cmd heading: 150.568384 deg.

2021-01-27T18:35:11.509Z,1611772511.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:12.303Z,1611772512.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:12.736Z,1611772512.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:13.530Z,1611772513.530 [Micromodem](INFO): Nmea in: $SNTTA,0.360701,,,,183513.71*48

2021-01-27T18:35:14.363Z,1611772514.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 541.140015 m, bearing: 178.287376 deg, deltaT: 5.118320 s, approachRate: 0.609586 m/s, LOS rate: -9.404153 deg/s, posRepo size: 4
2021-01-27T18:35:14.365Z,1611772514.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 541.140015 m,
      bearing: 178.287376 deg,
      approachRate: 0.609586 m/s,
      LOS rate: -9.404153 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 95.628338 deg,
      new cmd heading: 91.343658 deg.

2021-01-27T18:35:16.817Z,1611772516.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:17.554Z,1611772517.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:17.964Z,1611772517.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:18.006Z,1611772518.006 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:35:18.790Z,1611772518.790 [Micromodem](INFO): Nmea in: $SNTTA,0.362214,,,,183518.96*49

2021-01-27T18:35:18.815Z,1611772518.815 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:35:19.658Z,1611772519.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 543.359985 m, bearing: 104.914902 deg, deltaT: 5.226303 s, approachRate: 0.424769 m/s, LOS rate: -14.039077 deg/s, posRepo size: 4
2021-01-27T18:35:19.664Z,1611772519.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.039077 deg/s. Setting heading cmd to target bearing of 104.914902deg and heading rate command to 0 deg/s.
2021-01-27T18:35:22.065Z,1611772522.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:22.808Z,1611772522.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:23.220Z,1611772523.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:24.058Z,1611772524.058 [Micromodem](INFO): Nmea in: $SNTTA,0.362174,,,,183524.21*4F

2021-01-27T18:35:24.897Z,1611772524.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 543.119995 m, bearing: 68.242326 deg, deltaT: 5.234321 s, approachRate: -0.045849 m/s, LOS rate: -7.006176 deg/s, posRepo size: 4
2021-01-27T18:35:24.899Z,1611772524.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 543.119995 m,
      bearing: 68.242326 deg,
      approachRate: -0.045849 m/s,
      LOS rate: -7.006176 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 104.914902 deg,
      new cmd heading: 104.914902 deg.

2021-01-27T18:35:27.274Z,1611772527.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:28.066Z,1611772528.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:28.464Z,1611772528.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:29.282Z,1611772529.282 [Micromodem](INFO): Nmea in: $SNTTA,0.361456,,,,183529.47*44

2021-01-27T18:35:30.123Z,1611772530.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 541.979980 m, bearing: 61.415272 deg, deltaT: 5.315364 s, approachRate: -0.214475 m/s, LOS rate: -1.284400 deg/s, posRepo size: 4
2021-01-27T18:35:30.125Z,1611772530.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 541.979980 m,
      bearing: 61.415272 deg,
      approachRate: -0.214475 m/s,
      LOS rate: -1.284400 deg/s,
      cmd update: -3.853200 deg/s,
      cmd heading: 41.134552 deg,
      new cmd heading: 36.783112 deg.

2021-01-27T18:35:32.514Z,1611772532.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:33.316Z,1611772533.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:33.756Z,1611772533.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:33.783Z,1611772533.783 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:35:34.547Z,1611772534.547 [Micromodem](INFO): Nmea in: $SNTTA,0.360206,,,,183534.72*4C

2021-01-27T18:35:35.371Z,1611772535.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 540.000000 m, bearing: 59.788901 deg, deltaT: 5.217117 s, approachRate: -0.379516 m/s, LOS rate: -0.311737 deg/s, posRepo size: 4
2021-01-27T18:35:35.374Z,1611772535.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 540.000000 m,
      bearing: 59.788901 deg,
      approachRate: -0.379516 m/s,
      LOS rate: -0.311737 deg/s,
      cmd update: -0.935212 deg/s,
      cmd heading: 21.077099 deg,
      new cmd heading: 19.520752 deg.

2021-01-27T18:35:37.825Z,1611772537.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:38.584Z,1611772538.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:38.974Z,1611772538.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:38.993Z,1611772538.993 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T18:35:39.786Z,1611772539.786 [Micromodem](INFO): Nmea in: $SNTTA,0.358453,,,,183539.99*49

2021-01-27T18:35:40.607Z,1611772540.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 537.479980 m, bearing: 65.437959 deg, deltaT: 5.268812 s, approachRate: -0.478290 m/s, LOS rate: 1.072169 deg/s, posRepo size: 4
2021-01-27T18:35:40.612Z,1611772540.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 537.479980 m,
      bearing: 65.437959 deg,
      approachRate: -0.478290 m/s,
      LOS rate: 1.072169 deg/s,
      cmd update: 3.216508 deg/s,
      cmd heading: 16.138412 deg,
      new cmd heading: 15.801825 deg.

2021-01-27T18:35:43.064Z,1611772543.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:43.829Z,1611772543.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:44.232Z,1611772544.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:45.050Z,1611772545.050 [Micromodem](INFO): Nmea in: $SNTTA,0.356778,,,,183545.24*40

2021-01-27T18:35:45.882Z,1611772545.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 534.779968 m, bearing: 68.395902 deg, deltaT: 5.203127 s, approachRate: -0.518921 m/s, LOS rate: 0.568493 deg/s, posRepo size: 4
2021-01-27T18:35:45.885Z,1611772545.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 534.779968 m,
      bearing: 68.395902 deg,
      approachRate: -0.518921 m/s,
      LOS rate: 0.568493 deg/s,
      cmd update: 1.705480 deg/s,
      cmd heading: 32.874265 deg,
      new cmd heading: 34.264411 deg.

2021-01-27T18:35:48.294Z,1611772548.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:49.074Z,1611772549.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:49.473Z,1611772549.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:50.301Z,1611772550.301 [Micromodem](INFO): Nmea in: $SNTTA,0.355201,,,,183550.48*46

2021-01-27T18:35:51.115Z,1611772551.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 532.739990 m, bearing: 72.704235 deg, deltaT: 5.339627 s, approachRate: -0.382045 m/s, LOS rate: 0.806860 deg/s, posRepo size: 4
2021-01-27T18:35:51.117Z,1611772551.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 532.739990 m,
      bearing: 72.704235 deg,
      approachRate: -0.382045 m/s,
      LOS rate: 0.806860 deg/s,
      cmd update: 2.420581 deg/s,
      cmd heading: 41.974078 deg,
      new cmd heading: 42.535982 deg.

2021-01-27T18:35:53.521Z,1611772553.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:53.929Z,1611772553.929 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:35:54.342Z,1611772554.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:54.764Z,1611772554.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:35:55.557Z,1611772555.557 [Micromodem](INFO): Nmea in: $SNTTA,0.353814,,,,183555.75*45

2021-01-27T18:35:56.393Z,1611772556.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 530.519958 m, bearing: 72.806620 deg, deltaT: 5.216237 s, approachRate: -0.425600 m/s, LOS rate: 0.019628 deg/s, posRepo size: 4
2021-01-27T18:35:56.395Z,1611772556.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 530.519958 m,
      bearing: 72.806620 deg,
      approachRate: -0.425600 m/s,
      LOS rate: 0.019628 deg/s,
      cmd update: 0.058884 deg/s,
      cmd heading: 54.610025 deg,
      new cmd heading: 55.545914 deg.

2021-01-27T18:35:58.818Z,1611772558.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:35:59.570Z,1611772559.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:35:59.984Z,1611772559.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:00.803Z,1611772560.803 [Micromodem](INFO): Nmea in: $SNTTA,0.352002,,,,183600.98*4B

2021-01-27T18:36:01.665Z,1611772561.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 527.760010 m, bearing: 71.111319 deg, deltaT: 5.208811 s, approachRate: -0.529862 m/s, LOS rate: -0.325468 deg/s, posRepo size: 4
2021-01-27T18:36:01.667Z,1611772561.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 527.760010 m,
      bearing: 71.111319 deg,
      approachRate: -0.529862 m/s,
      LOS rate: -0.325468 deg/s,
      cmd update: -0.976404 deg/s,
      cmd heading: 54.916720 deg,
      new cmd heading: 54.942778 deg.

2021-01-27T18:36:03.730Z,1611772563.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:04.418Z,1611772564.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:04.830Z,1611772564.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:05.665Z,1611772565.665 [Micromodem](INFO): Nmea in: $SNTTA,0.350240,,,,183605.82*43

2021-01-27T18:36:06.479Z,1611772566.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 525.179993 m, bearing: 68.714893 deg, deltaT: 4.840548 s, approachRate: -0.533001 m/s, LOS rate: -0.495073 deg/s, posRepo size: 4
2021-01-27T18:36:06.481Z,1611772566.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 525.179993 m,
      bearing: 68.714893 deg,
      approachRate: -0.533001 m/s,
      LOS rate: -0.495073 deg/s,
      cmd update: -1.485220 deg/s,
      cmd heading: 50.190011 deg,
      new cmd heading: 49.776073 deg.

2021-01-27T18:36:08.888Z,1611772568.888 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-01-27T18:36:08.888Z,1611772568.888 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-01-27T18:36:08.888Z,1611772568.888 [RDI_Pathfinder](ERROR): Communications Fault
2021-01-27T18:36:08.917Z,1611772568.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:09.016Z,1611772569.016 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-01-27T18:36:09.348Z,1611772569.348 [RDI_Pathfinder](INFO): Powering down
2021-01-27T18:36:09.691Z,1611772569.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:10.076Z,1611772570.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:10.228Z,1611772570.228 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-01-27T18:36:10.228Z,1611772570.228 [RDI_Pathfinder] No Fault, FailCount= 1
2021-01-27T18:36:10.894Z,1611772570.894 [Micromodem](INFO): Nmea in: $SNTTA,0.348336,,,,183611.10*44

2021-01-27T18:36:11.735Z,1611772571.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 522.299988 m, bearing: 68.964454 deg, deltaT: 5.272702 s, approachRate: -0.546210 m/s, LOS rate: 0.047331 deg/s, posRepo size: 4
2021-01-27T18:36:11.738Z,1611772571.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 522.299988 m,
      bearing: 68.964454 deg,
      approachRate: -0.546210 m/s,
      LOS rate: 0.047331 deg/s,
      cmd update: 0.141993 deg/s,
      cmd heading: 42.362768 deg,
      new cmd heading: 41.753723 deg.

2021-01-27T18:36:14.133Z,1611772574.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:14.926Z,1611772574.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:15.338Z,1611772575.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:16.161Z,1611772576.161 [Micromodem](INFO): Nmea in: $SNTTA,0.346309,,,,183616.33*40

2021-01-27T18:36:16.983Z,1611772576.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 519.239990 m, bearing: 70.540165 deg, deltaT: 5.233354 s, approachRate: -0.584711 m/s, LOS rate: 0.301090 deg/s, posRepo size: 4
2021-01-27T18:36:17.001Z,1611772577.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 519.239990 m,
      bearing: 70.540165 deg,
      approachRate: -0.584711 m/s,
      LOS rate: 0.301090 deg/s,
      cmd update: 0.903270 deg/s,
      cmd heading: 43.106236 deg,
      new cmd heading: 43.166100 deg.

2021-01-27T18:36:19.405Z,1611772579.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:20.179Z,1611772580.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:20.588Z,1611772580.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:21.410Z,1611772581.410 [Micromodem](INFO): Nmea in: $SNTTA,0.344568,,,,183621.58*4A

2021-01-27T18:36:22.220Z,1611772582.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 516.599976 m, bearing: 71.990173 deg, deltaT: 5.252808 s, approachRate: -0.502591 m/s, LOS rate: 0.276044 deg/s, posRepo size: 4
2021-01-27T18:36:22.222Z,1611772582.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 516.599976 m,
      bearing: 71.990173 deg,
      approachRate: -0.502591 m/s,
      LOS rate: 0.276044 deg/s,
      cmd update: 0.828133 deg/s,
      cmd heading: 47.850872 deg,
      new cmd heading: 48.217480 deg.

2021-01-27T18:36:24.709Z,1611772584.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:25.426Z,1611772585.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:25.828Z,1611772585.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:26.671Z,1611772586.671 [Micromodem](INFO): Nmea in: $SNTTA,0.342712,,,,183626.83*42

2021-01-27T18:36:27.493Z,1611772587.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 513.779968 m, bearing: 72.636849 deg, deltaT: 5.252837 s, approachRate: -0.536854 m/s, LOS rate: 0.123110 deg/s, posRepo size: 4
2021-01-27T18:36:27.495Z,1611772587.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 513.779968 m,
      bearing: 72.636849 deg,
      approachRate: -0.536854 m/s,
      LOS rate: 0.123110 deg/s,
      cmd update: 0.369329 deg/s,
      cmd heading: 52.200984 deg,
      new cmd heading: 52.553772 deg.

2021-01-27T18:36:29.899Z,1611772589.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:30.702Z,1611772590.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:31.086Z,1611772591.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:31.902Z,1611772591.902 [Micromodem](INFO): Nmea in: $SNTTA,0.340709,,,,183632.11*44

2021-01-27T18:36:32.741Z,1611772592.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 510.899963 m, bearing: 69.275426 deg, deltaT: 5.321762 s, approachRate: -0.541175 m/s, LOS rate: -0.631637 deg/s, posRepo size: 4
2021-01-27T18:36:32.743Z,1611772592.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 510.899963 m,
      bearing: 69.275426 deg,
      approachRate: -0.541175 m/s,
      LOS rate: -0.631637 deg/s,
      cmd update: -1.894912 deg/s,
      cmd heading: 54.164990 deg,
      new cmd heading: 54.296530 deg.

2021-01-27T18:36:35.158Z,1611772595.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:35.927Z,1611772595.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:36.355Z,1611772596.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:37.174Z,1611772597.174 [Micromodem](INFO): Nmea in: $SNTTA,0.338718,,,,183637.33*4E

2021-01-27T18:36:37.595Z,1611772597.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 510.899963 m, bearing: 66.931073 deg, deltaT: 4.805460 s, approachRate: 0.000000 m/s, LOS rate: -0.487852 deg/s, posRepo size: 4
2021-01-27T18:36:37.602Z,1611772597.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 510.899963 m,
      bearing: 66.931073 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.487852 deg/s,
      cmd update: -1.463556 deg/s,
      cmd heading: 45.053997 deg,
      new cmd heading: 44.327359 deg.

2021-01-27T18:36:40.011Z,1611772600.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:40.774Z,1611772600.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:41.188Z,1611772601.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:42.022Z,1611772602.022 [Micromodem](INFO): Nmea in: $SNTTA,0.336964,,,,183642.18*4E

2021-01-27T18:36:42.445Z,1611772602.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 510.899963 m, bearing: 70.754599 deg, deltaT: 4.859503 s, approachRate: 0.000000 m/s, LOS rate: 0.786814 deg/s, posRepo size: 4
2021-01-27T18:36:42.447Z,1611772602.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 510.899963 m,
      bearing: 70.754599 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.786814 deg/s,
      cmd update: 2.360443 deg/s,
      cmd heading: 37.941872 deg,
      new cmd heading: 37.373910 deg.

2021-01-27T18:36:44.842Z,1611772604.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:45.638Z,1611772605.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:46.032Z,1611772606.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:46.854Z,1611772606.854 [Micromodem](INFO): Nmea in: $SNTTA,0.335214,,,,183647.04*49

2021-01-27T18:36:47.788Z,1611772607.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 502.619995 m, bearing: 73.194957 deg, deltaT: 5.219651 s, approachRate: -1.586307 m/s, LOS rate: 0.467533 deg/s, posRepo size: 4
2021-01-27T18:36:47.790Z,1611772607.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 502.619995 m,
      bearing: 73.194957 deg,
      approachRate: -1.586307 m/s,
      LOS rate: 0.467533 deg/s,
      cmd update: 1.402599 deg/s,
      cmd heading: 50.265468 deg,
      new cmd heading: 51.442087 deg.

2021-01-27T18:36:50.102Z,1611772610.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:50.887Z,1611772610.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:51.295Z,1611772611.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:52.111Z,1611772612.111 [Micromodem](INFO): Nmea in: $SNTTA,0.333452,,,0.335989,183652.29*53

2021-01-27T18:36:52.939Z,1611772612.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 499.979980 m, bearing: 71.794120 deg, deltaT: 5.246189 s, approachRate: -0.503225 m/s, LOS rate: -0.267020 deg/s, posRepo size: 4
2021-01-27T18:36:52.942Z,1611772612.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 499.979980 m,
      bearing: 71.794120 deg,
      approachRate: -0.503225 m/s,
      LOS rate: -0.267020 deg/s,
      cmd update: -0.801060 deg/s,
      cmd heading: 57.623881 deg,
      new cmd heading: 58.212790 deg.

2021-01-27T18:36:55.373Z,1611772615.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:36:56.130Z,1611772616.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:36:56.532Z,1611772616.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:36:57.377Z,1611772617.377 [Micromodem](INFO): Nmea in: $SNTTA,0.331430,,,,183657.54*49

2021-01-27T18:36:57.789Z,1611772617.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 499.979980 m, bearing: 71.230977 deg, deltaT: 4.926427 s, approachRate: 0.000000 m/s, LOS rate: -0.114310 deg/s, posRepo size: 4
2021-01-27T18:36:57.790Z,1611772617.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 499.979980 m,
      bearing: 71.230977 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.114310 deg/s,
      cmd update: -0.342931 deg/s,
      cmd heading: 53.680694 deg,
      new cmd heading: 53.403289 deg.

2021-01-27T18:37:00.202Z,1611772620.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:00.986Z,1611772620.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:01.392Z,1611772621.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:02.206Z,1611772622.206 [Micromodem](INFO): Nmea in: $SNTTA,0.329569,,,,183702.40*49

2021-01-27T18:37:03.043Z,1611772623.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 494.160004 m, bearing: 70.916734 deg, deltaT: 5.220084 s, approachRate: -1.114920 m/s, LOS rate: -0.060199 deg/s, posRepo size: 4
2021-01-27T18:37:03.061Z,1611772623.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 494.160004 m,
      bearing: 70.916734 deg,
      approachRate: -1.114920 m/s,
      LOS rate: -0.060199 deg/s,
      cmd update: -0.180597 deg/s,
      cmd heading: 51.890591 deg,
      new cmd heading: 51.759796 deg.

2021-01-27T18:37:05.477Z,1611772625.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:06.230Z,1611772626.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:06.653Z,1611772626.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:07.469Z,1611772627.469 [Micromodem](INFO): Nmea in: $SNTTA,0.327549,,,,183707.64*46

2021-01-27T18:37:07.899Z,1611772627.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 494.160004 m, bearing: 71.219557 deg, deltaT: 4.864313 s, approachRate: 0.000000 m/s, LOS rate: 0.062254 deg/s, posRepo size: 4
2021-01-27T18:37:07.901Z,1611772627.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 494.160004 m,
      bearing: 71.219557 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.062254 deg/s,
      cmd update: 0.186762 deg/s,
      cmd heading: 51.012100 deg,
      new cmd heading: 50.944780 deg.

2021-01-27T18:37:10.289Z,1611772630.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:11.079Z,1611772631.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:11.494Z,1611772631.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:12.342Z,1611772632.342 [Micromodem](INFO): Nmea in: $SNTTA,0.325670,,,0.328187,183712.48*5E

2021-01-27T18:37:12.780Z,1611772632.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 494.160004 m, bearing: 71.396862 deg, deltaT: 4.860439 s, approachRate: 0.000000 m/s, LOS rate: 0.036479 deg/s, posRepo size: 4
2021-01-27T18:37:12.782Z,1611772632.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 494.160004 m,
      bearing: 71.396862 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.036479 deg/s,
      cmd update: 0.109438 deg/s,
      cmd heading: 51.919822 deg,
      new cmd heading: 51.993247 deg.

2021-01-27T18:37:15.129Z,1611772635.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:15.926Z,1611772635.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:16.350Z,1611772636.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:17.178Z,1611772637.178 [Micromodem](INFO): Nmea in: $SNTTA,0.323741,,,,183717.33*4B

2021-01-27T18:37:17.594Z,1611772637.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 485.519989 m, bearing: 71.566954 deg, deltaT: 4.824238 s, approachRate: -1.790959 m/s, LOS rate: 0.035258 deg/s, posRepo size: 4
2021-01-27T18:37:17.601Z,1611772637.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 485.519989 m,
      bearing: 71.566954 deg,
      approachRate: -1.790959 m/s,
      LOS rate: 0.035258 deg/s,
      cmd update: 0.105774 deg/s,
      cmd heading: 52.447764 deg,
      new cmd heading: 52.487753 deg.

2021-01-27T18:37:20.000Z,1611772640.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:20.771Z,1611772640.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:21.189Z,1611772641.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:22.009Z,1611772642.009 [Micromodem](INFO): Nmea in: $SNTTA,0.321890,,,,183722.18*45

2021-01-27T18:37:22.458Z,1611772642.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 482.639984 m, bearing: 71.589972 deg, deltaT: 4.845289 s, approachRate: -0.594393 m/s, LOS rate: 0.004751 deg/s, posRepo size: 4
2021-01-27T18:37:22.465Z,1611772642.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 482.639984 m,
      bearing: 71.589972 deg,
      approachRate: -0.594393 m/s,
      LOS rate: 0.004751 deg/s,
      cmd update: 0.014252 deg/s,
      cmd heading: 52.960711 deg,
      new cmd heading: 53.002218 deg.

2021-01-27T18:37:24.855Z,1611772644.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:25.647Z,1611772645.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:26.024Z,1611772646.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:26.851Z,1611772646.851 [Micromodem](INFO): Nmea in: $SNTTA,0.319953,,,,183727.05*49

2021-01-27T18:37:27.750Z,1611772647.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 479.699982 m, bearing: 72.027172 deg, deltaT: 5.207803 s, approachRate: -0.564538 m/s, LOS rate: 0.083951 deg/s, posRepo size: 4
2021-01-27T18:37:27.757Z,1611772647.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 479.699982 m,
      bearing: 72.027172 deg,
      approachRate: -0.564538 m/s,
      LOS rate: 0.083951 deg/s,
      cmd update: 0.251853 deg/s,
      cmd heading: 53.034931 deg,
      new cmd heading: 53.041709 deg.

2021-01-27T18:37:30.090Z,1611772650.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:30.878Z,1611772650.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:31.292Z,1611772651.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:32.125Z,1611772652.125 [Micromodem](INFO): Nmea in: $SNTTA,0.318020,,,,183732.28*4E

2021-01-27T18:37:32.541Z,1611772652.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 476.820007 m, bearing: 72.503851 deg, deltaT: 4.891797 s, approachRate: -0.588735 m/s, LOS rate: 0.097445 deg/s, posRepo size: 4
2021-01-27T18:37:32.542Z,1611772652.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 476.820007 m,
      bearing: 72.503851 deg,
      approachRate: -0.588735 m/s,
      LOS rate: 0.097445 deg/s,
      cmd update: 0.292334 deg/s,
      cmd heading: 54.265936 deg,
      new cmd heading: 54.358710 deg.

2021-01-27T18:37:34.951Z,1611772654.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:35.730Z,1611772655.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:36.128Z,1611772656.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:36.973Z,1611772656.973 [Micromodem](INFO): Nmea in: $SNTTA,0.316120,,,,183737.14*4B

2021-01-27T18:37:37.409Z,1611772657.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 473.939972 m, bearing: 72.407785 deg, deltaT: 4.838666 s, approachRate: -0.595213 m/s, LOS rate: -0.019854 deg/s, posRepo size: 4
2021-01-27T18:37:37.411Z,1611772657.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 473.939972 m,
      bearing: 72.407785 deg,
      approachRate: -0.595213 m/s,
      LOS rate: -0.019854 deg/s,
      cmd update: -0.059562 deg/s,
      cmd heading: 55.681601 deg,
      new cmd heading: 55.801595 deg.

2021-01-27T18:37:39.807Z,1611772659.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:40.578Z,1611772660.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:40.984Z,1611772660.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:41.831Z,1611772661.831 [Micromodem](INFO): Nmea in: $SNTTA,0.314164,,,,183741.98*4C

2021-01-27T18:37:42.223Z,1611772662.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 471.059998 m, bearing: 72.549935 deg, deltaT: 4.856046 s, approachRate: -0.593070 m/s, LOS rate: 0.029273 deg/s, posRepo size: 4
2021-01-27T18:37:42.225Z,1611772662.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 471.059998 m,
      bearing: 72.549935 deg,
      approachRate: -0.593070 m/s,
      LOS rate: 0.029273 deg/s,
      cmd update: 0.087818 deg/s,
      cmd heading: 55.392360 deg,
      new cmd heading: 55.370422 deg.

2021-01-27T18:37:44.737Z,1611772664.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:45.418Z,1611772665.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:45.834Z,1611772665.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:46.684Z,1611772666.684 [Micromodem](INFO): Nmea in: $SNTTA,0.312332,,,,183746.83*46

2021-01-27T18:37:47.059Z,1611772667.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 468.299957 m, bearing: 72.338308 deg, deltaT: 4.889401 s, approachRate: -0.564495 m/s, LOS rate: -0.043283 deg/s, posRepo size: 4
2021-01-27T18:37:47.083Z,1611772667.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 468.299957 m,
      bearing: 72.338308 deg,
      approachRate: -0.564495 m/s,
      LOS rate: -0.043283 deg/s,
      cmd update: -0.129848 deg/s,
      cmd heading: 55.821386 deg,
      new cmd heading: 55.849398 deg.

2021-01-27T18:37:49.498Z,1611772669.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:50.266Z,1611772670.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:50.712Z,1611772670.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:51.515Z,1611772671.515 [Micromodem](INFO): Nmea in: $SNTTA,0.310417,,,,183751.67*48

2021-01-27T18:37:51.912Z,1611772671.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 465.479980 m, bearing: 72.079724 deg, deltaT: 4.795541 s, approachRate: -0.588041 m/s, LOS rate: -0.053922 deg/s, posRepo size: 4
2021-01-27T18:37:51.914Z,1611772671.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 465.479980 m,
      bearing: 72.079724 deg,
      approachRate: -0.588041 m/s,
      LOS rate: -0.053922 deg/s,
      cmd update: -0.161765 deg/s,
      cmd heading: 55.198190 deg,
      new cmd heading: 55.149786 deg.

2021-01-27T18:37:54.369Z,1611772674.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:55.123Z,1611772675.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:37:55.528Z,1611772675.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:37:56.366Z,1611772676.366 [Micromodem](INFO): Nmea in: $SNTTA,0.308367,,,,183756.53*41

2021-01-27T18:37:56.780Z,1611772676.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 462.359985 m, bearing: 72.744534 deg, deltaT: 4.889604 s, approachRate: -0.638088 m/s, LOS rate: 0.135964 deg/s, posRepo size: 4
2021-01-27T18:37:56.782Z,1611772676.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 462.359985 m,
      bearing: 72.744534 deg,
      approachRate: -0.638088 m/s,
      LOS rate: 0.135964 deg/s,
      cmd update: 0.407892 deg/s,
      cmd heading: 54.409204 deg,
      new cmd heading: 54.350471 deg.

2021-01-27T18:37:59.170Z,1611772679.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:37:59.962Z,1611772679.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:00.416Z,1611772680.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:01.204Z,1611772681.204 [Micromodem](INFO): Nmea in: $SNTTA,0.306454,,,,183801.37*47

2021-01-27T18:38:01.682Z,1611772681.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 459.479980 m, bearing: 72.903704 deg, deltaT: 4.806640 s, approachRate: -0.599172 m/s, LOS rate: 0.033115 deg/s, posRepo size: 4
2021-01-27T18:38:01.689Z,1611772681.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 459.479980 m,
      bearing: 72.903704 deg,
      approachRate: -0.599172 m/s,
      LOS rate: 0.033115 deg/s,
      cmd update: 0.099344 deg/s,
      cmd heading: 56.374851 deg,
      new cmd heading: 56.554520 deg.

2021-01-27T18:38:04.022Z,1611772684.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:04.807Z,1611772684.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:05.212Z,1611772685.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:06.044Z,1611772686.044 [Micromodem](INFO): Nmea in: $SNTTA,0.304620,,,,183806.21*44

2021-01-27T18:38:06.466Z,1611772686.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 456.779968 m, bearing: 72.997121 deg, deltaT: 4.822598 s, approachRate: -0.559867 m/s, LOS rate: 0.019371 deg/s, posRepo size: 4
2021-01-27T18:38:06.468Z,1611772686.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.779968 m,
      bearing: 72.997121 deg,
      approachRate: -0.559867 m/s,
      LOS rate: 0.019371 deg/s,
      cmd update: 0.058112 deg/s,
      cmd heading: 56.853929 deg,
      new cmd heading: 56.894434 deg.

2021-01-27T18:38:08.894Z,1611772688.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:09.686Z,1611772689.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:10.060Z,1611772690.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:10.896Z,1611772690.896 [Micromodem](INFO): Nmea in: $SNTTA,0.302657,,,,183811.10*46

2021-01-27T18:38:11.361Z,1611772691.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 456.779968 m, bearing: 72.868549 deg, deltaT: 4.882664 s, approachRate: 0.000000 m/s, LOS rate: -0.026332 deg/s, posRepo size: 4
2021-01-27T18:38:11.363Z,1611772691.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 456.779968 m,
      bearing: 72.868549 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.026332 deg/s,
      cmd update: -0.078997 deg/s,
      cmd heading: 57.137655 deg,
      new cmd heading: 57.162058 deg.

2021-01-27T18:38:13.773Z,1611772693.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:14.506Z,1611772694.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:14.913Z,1611772694.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:15.748Z,1611772695.748 [Micromodem](INFO): Nmea in: $SNTTA,0.300821,,,,183815.91*46

2021-01-27T18:38:16.166Z,1611772696.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 451.019958 m, bearing: 72.569339 deg, deltaT: 4.834856 s, approachRate: -1.191351 m/s, LOS rate: -0.061886 deg/s, posRepo size: 4
2021-01-27T18:38:16.168Z,1611772696.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 451.019958 m,
      bearing: 72.569339 deg,
      approachRate: -1.191351 m/s,
      LOS rate: -0.061886 deg/s,
      cmd update: -0.185658 deg/s,
      cmd heading: 56.755710 deg,
      new cmd heading: 56.724860 deg.

2021-01-27T18:38:18.579Z,1611772698.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:19.389Z,1611772699.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:19.760Z,1611772699.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:20.574Z,1611772700.574 [Micromodem](INFO): Nmea in: $SNTTA,0.298832,,,,183820.79*44

2021-01-27T18:38:21.009Z,1611772701.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 451.019958 m, bearing: 73.111042 deg, deltaT: 4.910608 s, approachRate: 0.000000 m/s, LOS rate: 0.110313 deg/s, posRepo size: 4
2021-01-27T18:38:21.011Z,1611772701.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 451.019958 m,
      bearing: 73.111042 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.110313 deg/s,
      cmd update: 0.330938 deg/s,
      cmd heading: 55.845435 deg,
      new cmd heading: 55.784166 deg.

2021-01-27T18:38:23.443Z,1611772703.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:24.198Z,1611772704.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:24.604Z,1611772704.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:25.432Z,1611772705.432 [Micromodem](INFO): Nmea in: $SNTTA,0.296729,,,,183825.60*42

2021-01-27T18:38:25.872Z,1611772705.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 444.899963 m, bearing: 73.664376 deg, deltaT: 4.789979 s, approachRate: -1.277666 m/s, LOS rate: 0.115519 deg/s, posRepo size: 4
2021-01-27T18:38:25.874Z,1611772705.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 444.899963 m,
      bearing: 73.664376 deg,
      approachRate: -1.277666 m/s,
      LOS rate: 0.115519 deg/s,
      cmd update: 0.346557 deg/s,
      cmd heading: 57.426629 deg,
      new cmd heading: 57.564112 deg.

2021-01-27T18:38:28.269Z,1611772708.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:29.050Z,1611772709.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:29.456Z,1611772709.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:30.295Z,1611772710.295 [Micromodem](INFO): Nmea in: $SNTTA,0.294597,,,,183830.46*47

2021-01-27T18:38:30.742Z,1611772710.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 441.660004 m, bearing: 73.878229 deg, deltaT: 4.888912 s, approachRate: -0.662716 m/s, LOS rate: 0.043742 deg/s, posRepo size: 4
2021-01-27T18:38:30.744Z,1611772710.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 441.660004 m,
      bearing: 73.878229 deg,
      approachRate: -0.662716 m/s,
      LOS rate: 0.043742 deg/s,
      cmd update: 0.131227 deg/s,
      cmd heading: 59.123717 deg,
      new cmd heading: 59.258437 deg.

2021-01-27T18:38:33.122Z,1611772713.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:33.902Z,1611772713.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:34.338Z,1611772714.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:35.132Z,1611772715.132 [Micromodem](INFO): Nmea in: $SNTTA,0.292755,,,,183835.31*48

2021-01-27T18:38:35.550Z,1611772715.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 438.959991 m, bearing: 74.046252 deg, deltaT: 4.813366 s, approachRate: -0.560941 m/s, LOS rate: 0.034908 deg/s, posRepo size: 4
2021-01-27T18:38:35.569Z,1611772715.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 438.959991 m,
      bearing: 74.046252 deg,
      approachRate: -0.560941 m/s,
      LOS rate: 0.034908 deg/s,
      cmd update: 0.104723 deg/s,
      cmd heading: 59.756368 deg,
      new cmd heading: 59.805466 deg.

2021-01-27T18:38:37.979Z,1611772717.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:38.756Z,1611772718.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:39.156Z,1611772719.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:39.980Z,1611772719.980 [Micromodem](INFO): Nmea in: $SNTTA,0.290829,,,,183840.16*49

2021-01-27T18:38:40.425Z,1611772720.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 436.019989 m, bearing: 74.678782 deg, deltaT: 4.824613 s, approachRate: -0.609376 m/s, LOS rate: 0.131105 deg/s, posRepo size: 4
2021-01-27T18:38:40.427Z,1611772720.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.019989 m,
      bearing: 74.678782 deg,
      approachRate: -0.609376 m/s,
      LOS rate: 0.131105 deg/s,
      cmd update: 0.393315 deg/s,
      cmd heading: 60.262061 deg,
      new cmd heading: 60.306171 deg.

2021-01-27T18:38:42.821Z,1611772722.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:43.590Z,1611772723.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:44.004Z,1611772724.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:44.828Z,1611772724.828 [Micromodem](INFO): Nmea in: $SNTTA,0.289069,,,,183845.00*4F

2021-01-27T18:38:45.266Z,1611772725.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 433.439972 m, bearing: 73.980053 deg, deltaT: 4.889040 s, approachRate: -0.527714 m/s, LOS rate: -0.142917 deg/s, posRepo size: 4
2021-01-27T18:38:45.268Z,1611772725.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 433.439972 m,
      bearing: 73.980053 deg,
      approachRate: -0.527714 m/s,
      LOS rate: -0.142917 deg/s,
      cmd update: -0.428752 deg/s,
      cmd heading: 62.183347 deg,
      new cmd heading: 62.331157 deg.

2021-01-27T18:38:47.692Z,1611772727.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:48.446Z,1611772728.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:48.860Z,1611772728.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:49.700Z,1611772729.700 [Micromodem](INFO): Nmea in: $SNTTA,0.287166,,,,183849.85*4E

2021-01-27T18:38:50.111Z,1611772730.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 430.619995 m, bearing: 75.065159 deg, deltaT: 4.869309 s, approachRate: -0.579133 m/s, LOS rate: 0.222846 deg/s, posRepo size: 4
2021-01-27T18:38:50.113Z,1611772730.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 430.619995 m,
      bearing: 75.065159 deg,
      approachRate: -0.579133 m/s,
      LOS rate: 0.222846 deg/s,
      cmd update: 0.668538 deg/s,
      cmd heading: 60.095536 deg,
      new cmd heading: 59.944100 deg.

2021-01-27T18:38:52.525Z,1611772732.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:53.290Z,1611772733.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:53.703Z,1611772733.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:54.537Z,1611772734.537 [Micromodem](INFO): Nmea in: $SNTTA,0.285344,,,,183854.70*48

2021-01-27T18:38:54.972Z,1611772734.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 427.679962 m, bearing: 75.020182 deg, deltaT: 4.799629 s, approachRate: -0.612554 m/s, LOS rate: -0.009371 deg/s, posRepo size: 4
2021-01-27T18:38:54.974Z,1611772734.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 427.679962 m,
      bearing: 75.020182 deg,
      approachRate: -0.612554 m/s,
      LOS rate: -0.009371 deg/s,
      cmd update: -0.028113 deg/s,
      cmd heading: 63.306942 deg,
      new cmd heading: 63.578735 deg.

2021-01-27T18:38:57.374Z,1611772737.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:38:58.138Z,1611772738.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:38:58.544Z,1611772738.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:38:59.384Z,1611772739.384 [Micromodem](INFO): Nmea in: $SNTTA,0.283404,,,,183859.55*47

2021-01-27T18:38:59.803Z,1611772739.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 424.799988 m, bearing: 74.680612 deg, deltaT: 4.847328 s, approachRate: -0.594136 m/s, LOS rate: -0.070053 deg/s, posRepo size: 4
2021-01-27T18:38:59.805Z,1611772739.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 424.799988 m,
      bearing: 74.680612 deg,
      approachRate: -0.594136 m/s,
      LOS rate: -0.070053 deg/s,
      cmd update: -0.210159 deg/s,
      cmd heading: 63.170676 deg,
      new cmd heading: 63.159591 deg.

2021-01-27T18:39:02.203Z,1611772742.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:02.990Z,1611772742.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:03.396Z,1611772743.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:04.229Z,1611772744.229 [Micromodem](INFO): Nmea in: $SNTTA,0.281777,,,,183904.40*4F

2021-01-27T18:39:04.675Z,1611772744.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 421.559967 m, bearing: 79.694579 deg, deltaT: 4.837590 s, approachRate: -0.669759 m/s, LOS rate: 1.036460 deg/s, posRepo size: 4
2021-01-27T18:39:04.678Z,1611772744.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 421.559967 m,
      bearing: 79.694579 deg,
      approachRate: -0.669759 m/s,
      LOS rate: 1.036460 deg/s,
      cmd update: 3.109379 deg/s,
      cmd heading: 62.154047 deg,
      new cmd heading: 62.063790 deg.

2021-01-27T18:39:07.035Z,1611772747.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:07.830Z,1611772747.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:08.240Z,1611772748.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:09.076Z,1611772749.076 [Micromodem](INFO): Nmea in: $SNTTA,0.279306,,,,183909.24*45

2021-01-27T18:39:09.535Z,1611772749.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 418.859985 m, bearing: 80.341507 deg, deltaT: 4.861742 s, approachRate: -0.555353 m/s, LOS rate: 0.133065 deg/s, posRepo size: 4
2021-01-27T18:39:09.541Z,1611772749.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 418.859985 m,
      bearing: 80.341507 deg,
      approachRate: -0.555353 m/s,
      LOS rate: 0.133065 deg/s,
      cmd update: 0.399195 deg/s,
      cmd heading: 77.272044 deg,
      new cmd heading: 78.596919 deg.

2021-01-27T18:39:11.895Z,1611772751.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:12.733Z,1611772752.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:12.956Z,1611772752.956 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T18:39:12.956Z,1611772752.956 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T18:39:12.956Z,1611772752.956 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T18:39:12.956Z,1611772752.956 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T18:39:12.957Z,1611772752.957 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T18:39:13.284Z,1611772753.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:13.398Z,1611772753.398 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A811600A0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-01-27T18:39:13.398Z,1611772753.398 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336
2021-01-27T18:39:13.399Z,1611772753.399 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E919A4DFDEEB09C11C2E7B963941B86F5A008BF2432EFFD1B9845169B626241BD5EA6FDC5CE4088
2021-01-27T18:39:13.399Z,1611772753.399 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-27T18:39:13.694Z,1611772753.694 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-27T18:39:14.092Z,1611772754.092 [Micromodem](INFO): Nmea in: $CADRQ,183914,1,10,0,64,1*70

2021-01-27T18:39:14.092Z,1611772754.092 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A811600A0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*32

2021-01-27T18:39:14.501Z,1611772754.501 [Micromodem](INFO): Nmea in: $SNTTA,0.277451,,,,183914.14*41

2021-01-27T18:39:14.501Z,1611772754.501 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.277451,,,,183914.14*41

2021-01-27T18:39:14.558Z,1611772754.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 415.920013 m, bearing: 82.082529 deg, deltaT: 5.110220 s, approachRate: -0.575312 m/s, LOS rate: 0.340694 deg/s, posRepo size: 4
2021-01-27T18:39:14.560Z,1611772754.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 415.920013 m,
      bearing: 82.082529 deg,
      approachRate: -0.575312 m/s,
      LOS rate: 0.340694 deg/s,
      cmd update: 1.022083 deg/s,
      cmd heading: 79.310414 deg,
      new cmd heading: 79.447575 deg.

2021-01-27T18:39:15.721Z,1611772755.721 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:39:16.125Z,1611772756.125 [Micromodem](INFO): Nmea in: $CADRQ,183915,1,10,0,64,2*72

2021-01-27T18:39:16.125Z,1611772756.125 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336*30

2021-01-27T18:39:16.521Z,1611772756.521 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:39:16.915Z,1611772756.915 [Micromodem](INFO): Nmea in: $CADRQ,183917,1,10,0,64,3*71

2021-01-27T18:39:16.936Z,1611772756.936 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E919A4DFDEEB09C11C2E7B963941B86F5A008BF2432EFFD1B9845169B626241BD5EA6FDC5CE4088*3D

2021-01-27T18:39:17.079Z,1611772757.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:17.343Z,1611772757.343 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:39:17.722Z,1611772757.722 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-01-27T18:39:17.723Z,1611772757.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:19.767Z,1611772759.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:21.382Z,1611772761.382 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-01-27T18:39:21.382Z,1611772761.382 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-01-27T18:39:21.763Z,1611772761.763 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,183918.391325,3,0,200,4000,14500,1,1,10,1,3,3,3,192*79

2021-01-27T18:39:21.763Z,1611772761.763 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,183918.391325,3,0,200,4000,14500,1,1,10,1,3,3,3,192*79

2021-01-27T18:39:22.671Z,1611772762.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:25.459Z,1611772765.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:25.815Z,1611772765.815 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T18:39:26.213Z,1611772766.213 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127183925.958621,06,188,22,0169,0150,89,01,01,00,03,1,010,001,0,4,1,0,150,6.4,3.00,02,0.00,-01,1.33,40,14500,4000*7F

2021-01-27T18:39:26.214Z,1611772766.214 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127183925.958621,06,188,22,0169,0150,89,01,01,00,03,1,010,001,0,4,1,0,150,6.4,3.00,02,0.00,-01,1.33,40,14500,4000*7F

2021-01-27T18:39:28.252Z,1611772768.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:29.037Z,1611772769.037 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:29.453Z,1611772769.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:30.272Z,1611772770.272 [Micromodem](INFO): Nmea in: $SNTTA,0.270636,,,,183930.44*46

2021-01-27T18:39:30.744Z,1611772770.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 405.720001 m, bearing: 79.649677 deg, deltaT: 16.145800 s, approachRate: -0.631744 m/s, LOS rate: -0.150680 deg/s, posRepo size: 4
2021-01-27T18:39:30.746Z,1611772770.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 405.720001 m,
      bearing: 79.649677 deg,
      approachRate: -0.631744 m/s,
      LOS rate: -0.150680 deg/s,
      cmd update: -0.452041 deg/s,
      cmd heading: 95.804283 deg,
      new cmd heading: 96.204801 deg.

2021-01-27T18:39:33.097Z,1611772773.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:33.927Z,1611772773.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:34.304Z,1611772774.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:35.113Z,1611772775.113 [Micromodem](INFO): Nmea in: $SNTTA,0.268742,,,,183935.34*4F

2021-01-27T18:39:35.569Z,1611772775.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 402.959961 m, bearing: 77.922124 deg, deltaT: 4.810172 s, approachRate: -0.573792 m/s, LOS rate: -0.359146 deg/s, posRepo size: 4
2021-01-27T18:39:35.571Z,1611772775.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 402.959961 m,
      bearing: 77.922124 deg,
      approachRate: -0.573792 m/s,
      LOS rate: -0.359146 deg/s,
      cmd update: -1.077437 deg/s,
      cmd heading: 93.629757 deg,
      new cmd heading: 93.446022 deg.

2021-01-27T18:39:37.952Z,1611772777.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:38.734Z,1611772778.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:39.145Z,1611772779.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:39.972Z,1611772779.972 [Micromodem](INFO): Nmea in: $SNTTA,0.266713,,,,183940.14*45

2021-01-27T18:39:40.431Z,1611772780.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 399.779999 m, bearing: 79.212586 deg, deltaT: 4.856715 s, approachRate: -0.654756 m/s, LOS rate: 0.265707 deg/s, posRepo size: 4
2021-01-27T18:39:40.433Z,1611772780.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.779999 m,
      bearing: 79.212586 deg,
      approachRate: -0.654756 m/s,
      LOS rate: 0.265707 deg/s,
      cmd update: 0.797120 deg/s,
      cmd heading: 88.383965 deg,
      new cmd heading: 87.952676 deg.

2021-01-27T18:39:42.799Z,1611772782.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:43.586Z,1611772783.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:43.988Z,1611772783.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:44.820Z,1611772784.820 [Micromodem](INFO): Nmea in: $SNTTA,0.264720,,,,183944.99*46

2021-01-27T18:39:45.294Z,1611772785.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 397.260010 m, bearing: 78.411166 deg, deltaT: 4.852991 s, approachRate: -0.519265 m/s, LOS rate: -0.165139 deg/s, posRepo size: 4
2021-01-27T18:39:45.301Z,1611772785.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.260010 m,
      bearing: 78.411166 deg,
      approachRate: -0.519265 m/s,
      LOS rate: -0.165139 deg/s,
      cmd update: -0.495418 deg/s,
      cmd heading: 92.251903 deg,
      new cmd heading: 92.579400 deg.

2021-01-27T18:39:47.788Z,1611772787.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:48.438Z,1611772788.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:48.832Z,1611772788.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:49.684Z,1611772789.684 [Micromodem](INFO): Nmea in: $SNTTA,0.262758,,,,183949.84*4E

2021-01-27T18:39:50.085Z,1611772790.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 394.019989 m, bearing: 77.871881 deg, deltaT: 4.855477 s, approachRate: -0.667292 m/s, LOS rate: -0.111067 deg/s, posRepo size: 4
2021-01-27T18:39:50.087Z,1611772790.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.019989 m,
      bearing: 77.871881 deg,
      approachRate: -0.667292 m/s,
      LOS rate: -0.111067 deg/s,
      cmd update: -0.333202 deg/s,
      cmd heading: 89.846121 deg,
      new cmd heading: 89.675185 deg.

2021-01-27T18:39:52.504Z,1611772792.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:53.283Z,1611772793.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:53.700Z,1611772793.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:54.520Z,1611772794.520 [Micromodem](INFO): Nmea in: $SNTTA,0.260957,,,,183954.69*42

2021-01-27T18:39:54.959Z,1611772794.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 391.379974 m, bearing: 78.211881 deg, deltaT: 4.824714 s, approachRate: -0.547186 m/s, LOS rate: 0.070470 deg/s, posRepo size: 4
2021-01-27T18:39:54.961Z,1611772794.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 391.379974 m,
      bearing: 78.211881 deg,
      approachRate: -0.547186 m/s,
      LOS rate: 0.070470 deg/s,
      cmd update: 0.211411 deg/s,
      cmd heading: 88.245197 deg,
      new cmd heading: 88.106890 deg.

2021-01-27T18:39:57.372Z,1611772797.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:39:58.123Z,1611772798.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:39:58.564Z,1611772798.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:39:59.388Z,1611772799.388 [Micromodem](INFO): Nmea in: $SNTTA,0.259122,,,,183959.53*46

2021-01-27T18:39:59.823Z,1611772799.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.559998 m, bearing: 78.430639 deg, deltaT: 4.883543 s, approachRate: -0.577445 m/s, LOS rate: 0.044795 deg/s, posRepo size: 4
2021-01-27T18:39:59.841Z,1611772799.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.559998 m,
      bearing: 78.430639 deg,
      approachRate: -0.577445 m/s,
      LOS rate: 0.044795 deg/s,
      cmd update: 0.134384 deg/s,
      cmd heading: 89.281873 deg,
      new cmd heading: 89.361250 deg.

2021-01-27T18:40:02.214Z,1611772802.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:02.995Z,1611772802.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:03.412Z,1611772803.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:03.805Z,1611772803.805 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:40:04.244Z,1611772804.244 [Micromodem](INFO): Nmea in: $SNTTA,0.257033,,,,184004.40*4D

2021-01-27T18:40:04.765Z,1611772804.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 385.319977 m, bearing: 78.987470 deg, deltaT: 4.883663 s, approachRate: -0.663441 m/s, LOS rate: 0.114019 deg/s, posRepo size: 4
2021-01-27T18:40:04.767Z,1611772804.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.319977 m,
      bearing: 78.987470 deg,
      approachRate: -0.663441 m/s,
      LOS rate: 0.114019 deg/s,
      cmd update: 0.342057 deg/s,
      cmd heading: 89.933200 deg,
      new cmd heading: 89.996381 deg.

2021-01-27T18:40:07.063Z,1611772807.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:07.851Z,1611772807.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:08.256Z,1611772808.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:09.093Z,1611772809.093 [Micromodem](INFO): Nmea in: $SNTTA,0.255159,,,,184009.26*4F

2021-01-27T18:40:09.510Z,1611772809.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 382.500000 m, bearing: 78.130370 deg, deltaT: 4.775700 s, approachRate: -0.590484 m/s, LOS rate: -0.179471 deg/s, posRepo size: 4
2021-01-27T18:40:09.512Z,1611772809.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.500000 m,
      bearing: 78.130370 deg,
      approachRate: -0.590484 m/s,
      LOS rate: -0.179471 deg/s,
      cmd update: -0.538413 deg/s,
      cmd heading: 91.579390 deg,
      new cmd heading: 91.717165 deg.

2021-01-27T18:40:11.922Z,1611772811.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:12.702Z,1611772812.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:13.115Z,1611772813.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:13.945Z,1611772813.945 [Micromodem](INFO): Nmea in: $SNTTA,0.253116,,,,184014.11*4A

2021-01-27T18:40:14.395Z,1611772814.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 380.399994 m, bearing: 79.974262 deg, deltaT: 4.894794 s, approachRate: -0.429028 m/s, LOS rate: 0.376705 deg/s, posRepo size: 4
2021-01-27T18:40:14.397Z,1611772814.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 380.399994 m,
      bearing: 79.974262 deg,
      approachRate: -0.429028 m/s,
      LOS rate: 0.376705 deg/s,
      cmd update: 1.130114 deg/s,
      cmd heading: 88.946105 deg,
      new cmd heading: 88.732287 deg.

2021-01-27T18:40:16.755Z,1611772816.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:17.543Z,1611772817.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:17.960Z,1611772817.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:18.784Z,1611772818.784 [Micromodem](INFO): Nmea in: $SNTTA,0.251240,,,,184018.95*48

2021-01-27T18:40:18.784Z,1611772818.784 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T18:40:19.245Z,1611772819.245 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A811600A0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-01-27T18:40:19.245Z,1611772819.245 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336
2021-01-27T18:40:19.246Z,1611772819.246 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E919A4DFDEEB09C11C2E7B963941B86F5A008BF2432EFFD1B9845169B626241BD5EA6FDC5CE4088
2021-01-27T18:40:19.246Z,1611772819.246 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-01-27T18:40:19.359Z,1611772819.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 376.679993 m, bearing: 78.872163 deg, deltaT: 4.875209 s, approachRate: -0.763044 m/s, LOS rate: -0.226062 deg/s, posRepo size: 4
2021-01-27T18:40:19.365Z,1611772819.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.679993 m,
      bearing: 78.872163 deg,
      approachRate: -0.763044 m/s,
      LOS rate: -0.226062 deg/s,
      cmd update: -0.678186 deg/s,
      cmd heading: 94.439928 deg,
      new cmd heading: 95.005050 deg.

2021-01-27T18:40:19.989Z,1611772819.989 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-01-27T18:40:20.401Z,1611772820.401 [Micromodem](INFO): Nmea in: $CADRQ,184020,1,10,0,64,1*79

2021-01-27T18:40:20.401Z,1611772820.401 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A811600A0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*32

2021-01-27T18:40:20.805Z,1611772820.805 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:40:21.197Z,1611772821.197 [Micromodem](INFO): Nmea in: $CADRQ,184021,1,10,0,64,2*7B

2021-01-27T18:40:21.197Z,1611772821.197 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E672198ADF3FD0AD456120FFB3C32744C0A36F26AB1F4F336*30

2021-01-27T18:40:21.599Z,1611772821.599 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:40:21.691Z,1611772821.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:22.003Z,1611772822.003 [Micromodem](INFO): Nmea in: $CADRQ,184022,1,10,0,64,3*79

2021-01-27T18:40:22.006Z,1611772822.006 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,32A1961F43043FEEC4B68985D16B9EA6062FB11B548CB87E9E919A4DFDEEB09C11C2E7B963941B86F5A008BF2432EFFD1B9845169B626241BD5EA6FDC5CE4088*3D

2021-01-27T18:40:22.398Z,1611772822.398 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T18:40:22.399Z,1611772822.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:22.806Z,1611772822.806 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-01-27T18:40:22.806Z,1611772822.806 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-01-27T18:40:24.464Z,1611772824.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:26.470Z,1611772826.470 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-01-27T18:40:26.470Z,1611772826.470 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-01-27T18:40:26.873Z,1611772826.873 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,184023.461391,3,0,200,4000,14500,1,1,10,1,3,3,3,192*78

2021-01-27T18:40:26.873Z,1611772826.873 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,184023.461391,3,0,200,4000,14500,1,1,10,1,3,3,3,192*78

2021-01-27T18:40:27.367Z,1611772827.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:30.146Z,1611772830.146 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T18:40:30.183Z,1611772830.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:30.515Z,1611772830.515 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T18:40:30.922Z,1611772830.922 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-01-27T18:40:30.923Z,1611772830.923 [Micromodem](INFO): Sent 184 bytes from file Logs/20210127T175400/Courier0010.lzma.parts
2021-01-27T18:40:30.924Z,1611772830.924 [Micromodem](INFO): Packets left to send: 1
2021-01-27T18:40:31.358Z,1611772831.358 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127184030.443802,06,1018,30,0256,0150,29,02,02,00,04,1,010,001,0,4,1,0,150,9.6,6.00,17,-3.00,-01,1.46,29,14500,4000*6A

2021-01-27T18:40:31.358Z,1611772831.358 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127184030.443802,06,1018,30,0256,0150,29,02,02,00,04,1,010,001,0,4,1,0,150,9.6,6.00,17,-3.00,-01,1.46,29,14500,4000*6A

2021-01-27T18:40:31.364Z,1611772831.364 [CTD_Seabird](ERROR): Failed to parse device response: 5.75,2.593.44
2021-01-27T18:40:31.442Z,1611772831.442 [Micromodem](INFO): Using rate 1 for 10 bytes.
2021-01-27T18:40:31.442Z,1611772831.442 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B8A811600A0000006000
2021-01-27T18:40:31.750Z,1611772831.750 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T18:40:32.973Z,1611772832.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:33.745Z,1611772833.745 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:34.148Z,1611772834.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:34.169Z,1611772834.169 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:40:34.550Z,1611772834.550 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T18:40:34.982Z,1611772834.982 [Micromodem](INFO): Nmea in: $CADRQ,184035,1,10,0,64,1*7D

2021-01-27T18:40:34.983Z,1611772834.983 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-01-27T18:40:34.983Z,1611772834.983 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A811600A0000006000*3B

2021-01-27T18:40:35.093Z,1611772835.093 [Micromodem](INFO): Using rate 0 for 10 bytes.
2021-01-27T18:40:35.094Z,1611772835.094 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B8A811600A0000006000
2021-01-27T18:40:35.400Z,1611772835.400 [Micromodem](INFO): Nmea in: $SNTTA,0.244568,,,,184035.15*46

2021-01-27T18:40:35.400Z,1611772835.400 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.244568,,,,184035.15*46

2021-01-27T18:40:35.808Z,1611772835.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:36.581Z,1611772836.581 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,10*4A

2021-01-27T18:40:36.581Z,1611772836.581 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:40:36.605Z,1611772836.605 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:40:36.986Z,1611772836.986 [Micromodem](INFO): Nmea in: $CATXP,10*73

2021-01-27T18:40:36.986Z,1611772836.986 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2021-01-27T18:40:37.405Z,1611772837.405 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:40:37.406Z,1611772837.406 [Micromodem](INFO): Nmea in: $CATXF,10*65

2021-01-27T18:40:37.406Z,1611772837.406 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2021-01-27T18:40:37.779Z,1611772837.779 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,184036.355660,3,0,200,4000,14500,1,1,10,1,1,1,3,10*4C

2021-01-27T18:40:37.779Z,1611772837.779 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,184036.355660,3,0,200,4000,14500,1,1,10,1,1,1,3,10*4C

2021-01-27T18:40:38.682Z,1611772838.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:41.452Z,1611772841.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:44.266Z,1611772844.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:46.769Z,1611772846.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:47.874Z,1611772847.874 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:40:48.286Z,1611772848.286 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T18:40:48.286Z,1611772848.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:48.702Z,1611772848.702 [Micromodem](INFO): Nmea in: $CADRQ,184049,1,10,0,64,1*76

2021-01-27T18:40:48.703Z,1611772848.703 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,184049,1,10,0,64,1*76

2021-01-27T18:40:49.096Z,1611772849.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:49.524Z,1611772849.524 [Micromodem](INFO): Nmea in: $SNTTA,0.238376,,,,184049.69*44

2021-01-27T18:40:50.013Z,1611772850.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.360016 m, bearing: 80.979242 deg, deltaT: 30.705688 s, approachRate: -0.629199 m/s, LOS rate: 0.068622 deg/s, posRepo size: 4
2021-01-27T18:40:50.015Z,1611772850.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.360016 m,
      bearing: 80.979242 deg,
      approachRate: -0.629199 m/s,
      LOS rate: 0.068622 deg/s,
      cmd update: 0.205865 deg/s,
      cmd heading: 73.604878 deg,
      new cmd heading: 73.312540 deg.

2021-01-27T18:40:52.391Z,1611772852.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:53.134Z,1611772853.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:53.548Z,1611772853.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:54.382Z,1611772854.382 [Micromodem](INFO): Nmea in: $SNTTA,0.236273,,,,184054.54*4C

2021-01-27T18:40:55.181Z,1611772855.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:56.777Z,1611772856.777 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:40:57.843Z,1611772857.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:40:58.455Z,1611772858.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:40:58.974Z,1611772858.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:40:59.759Z,1611772859.759 [Micromodem](INFO): Nmea in: $SNTTA,0.233929,,,,184059.86*4F

2021-01-27T18:41:00.184Z,1611772860.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.759979 m, bearing: 80.614025 deg, deltaT: 10.247164 s, approachRate: -0.644084 m/s, LOS rate: -0.035641 deg/s, posRepo size: 4
2021-01-27T18:41:00.186Z,1611772860.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.759979 m,
      bearing: 80.614025 deg,
      approachRate: -0.644084 m/s,
      LOS rate: -0.035641 deg/s,
      cmd update: -0.106922 deg/s,
      cmd heading: 75.714788 deg,
      new cmd heading: 75.787615 deg.

2021-01-27T18:41:02.675Z,1611772862.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:03.403Z,1611772863.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:03.792Z,1611772863.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:04.626Z,1611772864.626 [Micromodem](INFO): Nmea in: $SNTTA,0.231949,,,,184104.81*45

2021-01-27T18:41:05.130Z,1611772865.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.699982 m, bearing: 81.184721 deg, deltaT: 4.876596 s, approachRate: -0.627486 m/s, LOS rate: 0.117028 deg/s, posRepo size: 4
2021-01-27T18:41:05.131Z,1611772865.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.699982 m,
      bearing: 81.184721 deg,
      approachRate: -0.627486 m/s,
      LOS rate: 0.117028 deg/s,
      cmd update: 0.351083 deg/s,
      cmd heading: 75.194220 deg,
      new cmd heading: 75.148140 deg.

2021-01-27T18:41:07.488Z,1611772867.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:08.236Z,1611772868.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:08.659Z,1611772868.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:09.479Z,1611772869.479 [Micromodem](INFO): Nmea in: $SNTTA,0.229846,,,,184109.64*44

2021-01-27T18:41:09.897Z,1611772869.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.579987 m, bearing: 80.607727 deg, deltaT: 4.896954 s, approachRate: -0.637130 m/s, LOS rate: -0.117827 deg/s, posRepo size: 4
2021-01-27T18:41:09.899Z,1611772869.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.579987 m,
      bearing: 80.607727 deg,
      approachRate: -0.637130 m/s,
      LOS rate: -0.117827 deg/s,
      cmd update: -0.353481 deg/s,
      cmd heading: 76.916227 deg,
      new cmd heading: 77.013573 deg.

2021-01-27T18:41:12.322Z,1611772872.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:13.083Z,1611772873.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:13.493Z,1611772873.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:14.339Z,1611772874.339 [Micromodem](INFO): Nmea in: $SNTTA,0.227830,,,,184114.49*48

2021-01-27T18:41:14.734Z,1611772874.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 341.519989 m, bearing: 80.914464 deg, deltaT: 4.789259 s, approachRate: -0.638929 m/s, LOS rate: 0.064047 deg/s, posRepo size: 4
2021-01-27T18:41:14.735Z,1611772874.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 341.519989 m,
      bearing: 80.914464 deg,
      approachRate: -0.638929 m/s,
      LOS rate: 0.064047 deg/s,
      cmd update: 0.192141 deg/s,
      cmd heading: 75.224697 deg,
      new cmd heading: 75.102804 deg.

2021-01-27T18:41:17.171Z,1611772877.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:17.930Z,1611772877.930 [Micromodem](INFO): Nmea in: $CAERR,184119,DATA_TIMEOUT,1*4A

2021-01-27T18:41:17.931Z,1611772877.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:18.356Z,1611772878.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:19.173Z,1611772879.173 [Micromodem](INFO): Nmea in: $SNTTA,0.225707,,,,184119.34*46

2021-01-27T18:41:19.592Z,1611772879.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 338.339966 m, bearing: 81.126241 deg, deltaT: 4.842861 s, approachRate: -0.656641 m/s, LOS rate: 0.043730 deg/s, posRepo size: 4
2021-01-27T18:41:19.594Z,1611772879.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.339966 m,
      bearing: 81.126241 deg,
      approachRate: -0.656641 m/s,
      LOS rate: 0.043730 deg/s,
      cmd update: 0.131189 deg/s,
      cmd heading: 76.155967 deg,
      new cmd heading: 76.224442 deg.

2021-01-27T18:41:22.034Z,1611772882.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:22.774Z,1611772882.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:23.188Z,1611772883.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:24.036Z,1611772884.036 [Micromodem](INFO): Nmea in: $SNTTA,0.223780,,,,184124.18*4F

2021-01-27T18:41:24.836Z,1611772884.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:26.413Z,1611772886.413 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:41:27.707Z,1611772887.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:28.446Z,1611772888.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:28.836Z,1611772888.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:29.691Z,1611772889.691 [Micromodem](INFO): Nmea in: $SNTTA,0.221338,,,,184129.85*43

2021-01-27T18:41:30.120Z,1611772890.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.919983 m, bearing: 80.956934 deg, deltaT: 10.489552 s, approachRate: -0.612036 m/s, LOS rate: -0.016141 deg/s, posRepo size: 4
2021-01-27T18:41:30.122Z,1611772890.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.919983 m,
      bearing: 80.956934 deg,
      approachRate: -0.612036 m/s,
      LOS rate: -0.016141 deg/s,
      cmd update: -0.048422 deg/s,
      cmd heading: 77.532063 deg,
      new cmd heading: 77.583831 deg.

2021-01-27T18:41:32.512Z,1611772892.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:33.293Z,1611772893.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:33.714Z,1611772893.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:34.505Z,1611772894.505 [Micromodem](INFO): Nmea in: $SNTTA,0.219285,,,,184134.70*49

2021-01-27T18:41:34.951Z,1611772894.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.799988 m, bearing: 81.104671 deg, deltaT: 4.813954 s, approachRate: -0.648115 m/s, LOS rate: 0.030689 deg/s, posRepo size: 4
2021-01-27T18:41:34.954Z,1611772894.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.799988 m,
      bearing: 81.104671 deg,
      approachRate: -0.648115 m/s,
      LOS rate: 0.030689 deg/s,
      cmd update: 0.092068 deg/s,
      cmd heading: 77.299405 deg,
      new cmd heading: 77.279013 deg.

2021-01-27T18:41:37.446Z,1611772897.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:38.132Z,1611772898.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:38.541Z,1611772898.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:39.392Z,1611772899.392 [Micromodem](INFO): Nmea in: $SNTTA,0.217334,,,,184139.54*47

2021-01-27T18:41:39.799Z,1611772899.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.679993 m, bearing: 81.135701 deg, deltaT: 4.906468 s, approachRate: -0.635894 m/s, LOS rate: 0.006324 deg/s, posRepo size: 4
2021-01-27T18:41:39.801Z,1611772899.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.679993 m,
      bearing: 81.135701 deg,
      approachRate: -0.635894 m/s,
      LOS rate: 0.006324 deg/s,
      cmd update: 0.018973 deg/s,
      cmd heading: 77.751169 deg,
      new cmd heading: 77.784513 deg.

2021-01-27T18:41:40.162Z,1611772900.162 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T18:41:40.662Z,1611772900.662 [Micromodem](INFO): Using rate 0 for 10 bytes.
2021-01-27T18:41:40.662Z,1611772900.662 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B8A811600A0000006000
2021-01-27T18:41:40.662Z,1611772900.662 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:41:40.969Z,1611772900.969 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T18:41:41.405Z,1611772901.405 [Micromodem](INFO): Nmea in: $CADRQ,184141,1,10,0,64,1*7F

2021-01-27T18:41:41.405Z,1611772901.405 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-01-27T18:41:41.406Z,1611772901.406 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A811600A0000006000*3B

2021-01-27T18:41:41.509Z,1611772901.509 [Micromodem](INFO): Using rate 0 for 10 bytes.
2021-01-27T18:41:41.510Z,1611772901.510 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B8A811600A0000006000
2021-01-27T18:41:41.531Z,1611772901.531 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T18:41:41.781Z,1611772901.781 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,10*4A

2021-01-27T18:41:41.781Z,1611772901.781 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:41:42.175Z,1611772902.175 [Micromodem](INFO): Nmea in: $CATXP,10*73

2021-01-27T18:41:42.177Z,1611772902.177 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2021-01-27T18:41:42.231Z,1611772902.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:43.414Z,1611772903.414 [Micromodem](INFO): Nmea in: $CATXF,10*65

2021-01-27T18:41:43.414Z,1611772903.414 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2021-01-27T18:41:43.787Z,1611772903.787 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,184142.776884,3,0,200,4000,14500,1,1,10,1,1,1,3,10*4F

2021-01-27T18:41:43.787Z,1611772903.787 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,184142.776884,3,0,200,4000,14500,1,1,10,1,1,1,3,10*4F

2021-01-27T18:41:45.053Z,1611772905.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:45.802Z,1611772905.802 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T18:41:45.803Z,1611772905.803 [Micromodem](INFO): Sent 2 bytes from file Logs/20210127T175400/Courier0010.lzma.parts
2021-01-27T18:41:45.803Z,1611772905.803 [Micromodem](INFO): Packets left to send: 0
2021-01-27T18:41:46.209Z,1611772906.209 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127184145.921715,06,604,27,0118,0150,89,02,02,00,04,1,010,001,0,4,1,0,150,8.3,4.00,07,-1.00,-01,1.25,41,14500,4000*58

2021-01-27T18:41:46.209Z,1611772906.209 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127184145.921715,06,604,27,0118,0150,89,02,02,00,04,1,010,001,0,4,1,0,150,8.3,4.00,07,-1.00,-01,1.25,41,14500,4000*58

2021-01-27T18:41:46.356Z,1611772906.356 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T18:41:46.356Z,1611772906.356 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T18:41:46.356Z,1611772906.356 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T18:41:46.356Z,1611772906.356 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T18:41:46.356Z,1611772906.356 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T18:41:47.870Z,1611772907.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:50.740Z,1611772910.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:53.082Z,1611772913.082 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-01-27T18:41:53.486Z,1611772913.486 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-01-27T18:41:53.486Z,1611772913.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:53.490Z,1611772913.490 [Micromodem](INFO): Nmea in: $CADRQ,184154,1,10,0,64,1*7B

2021-01-27T18:41:53.491Z,1611772913.491 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,184154,1,10,0,64,1*7B

2021-01-27T18:41:53.654Z,1611772913.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:53.888Z,1611772913.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:54.749Z,1611772914.749 [Micromodem](INFO): Nmea in: $SNTTA,0.210672,,,,184154.89*4C

2021-01-27T18:41:55.135Z,1611772915.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.839996 m, bearing: 81.579028 deg, deltaT: 15.338120 s, approachRate: -0.641539 m/s, LOS rate: 0.028904 deg/s, posRepo size: 4
2021-01-27T18:41:55.137Z,1611772915.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.839996 m,
      bearing: 81.579028 deg,
      approachRate: -0.641539 m/s,
      LOS rate: 0.028904 deg/s,
      cmd update: 0.086711 deg/s,
      cmd heading: 78.042338 deg,
      new cmd heading: 78.049008 deg.

2021-01-27T18:41:57.547Z,1611772917.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:41:58.358Z,1611772918.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:41:58.740Z,1611772918.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:41:59.564Z,1611772919.564 [Micromodem](INFO): Nmea in: $SNTTA,0.208678,,,,184159.76*42

2021-01-27T18:41:59.980Z,1611772919.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.959991 m, bearing: 80.280555 deg, deltaT: 4.833468 s, approachRate: -0.595846 m/s, LOS rate: -0.268642 deg/s, posRepo size: 4
2021-01-27T18:41:59.982Z,1611772919.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.959991 m,
      bearing: 80.280555 deg,
      approachRate: -0.595846 m/s,
      LOS rate: -0.268642 deg/s,
      cmd update: -0.805927 deg/s,
      cmd heading: 78.460784 deg,
      new cmd heading: 78.492898 deg.

2021-01-27T18:42:02.437Z,1611772922.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:03.178Z,1611772923.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:03.588Z,1611772923.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:04.424Z,1611772924.424 [Micromodem](INFO): Nmea in: $SNTTA,0.206521,,,,184204.58*44

2021-01-27T18:42:04.844Z,1611772924.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.599976 m, bearing: 80.740889 deg, deltaT: 4.863217 s, approachRate: -0.690904 m/s, LOS rate: 0.094656 deg/s, posRepo size: 4
2021-01-27T18:42:04.846Z,1611772924.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.599976 m,
      bearing: 80.740889 deg,
      approachRate: -0.690904 m/s,
      LOS rate: 0.094656 deg/s,
      cmd update: 0.283969 deg/s,
      cmd heading: 74.552872 deg,
      new cmd heading: 74.245531 deg.

2021-01-27T18:42:07.234Z,1611772927.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:08.027Z,1611772928.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:08.428Z,1611772928.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:09.284Z,1611772929.284 [Micromodem](INFO): Nmea in: $SNTTA,0.204479,,,,184209.43*4D

2021-01-27T18:42:09.738Z,1611772929.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 306.539978 m, bearing: 80.686903 deg, deltaT: 4.877195 s, approachRate: -0.627409 m/s, LOS rate: -0.011069 deg/s, posRepo size: 4
2021-01-27T18:42:09.757Z,1611772929.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.539978 m,
      bearing: 80.686903 deg,
      approachRate: -0.627409 m/s,
      LOS rate: -0.011069 deg/s,
      cmd update: -0.033207 deg/s,
      cmd heading: 75.941673 deg,
      new cmd heading: 76.051750 deg.

2021-01-27T18:42:12.096Z,1611772932.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:12.904Z,1611772932.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:13.408Z,1611772933.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:14.159Z,1611772934.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184214.31*56

2021-01-27T18:42:14.628Z,1611772934.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.600006 m, bearing: 80.534672 deg, deltaT: 4.841204 s, approachRate: -0.607281 m/s, LOS rate: -0.031445 deg/s, posRepo size: 4
2021-01-27T18:42:14.635Z,1611772934.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.600006 m,
      bearing: 80.534672 deg,
      approachRate: -0.607281 m/s,
      LOS rate: -0.031445 deg/s,
      cmd update: -0.094335 deg/s,
      cmd heading: 75.780759 deg,
      new cmd heading: 75.766501 deg.

2021-01-27T18:42:17.031Z,1611772937.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:17.798Z,1611772937.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:18.215Z,1611772938.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:19.044Z,1611772939.044 [Micromodem](INFO): Nmea in: $SNTTA,0.200577,,,,184219.20*42

2021-01-27T18:42:19.046Z,1611772939.046 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T18:42:19.437Z,1611772939.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.659973 m, bearing: 78.758980 deg, deltaT: 4.861775 s, approachRate: -0.604724 m/s, LOS rate: -0.365235 deg/s, posRepo size: 4
2021-01-27T18:42:19.439Z,1611772939.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.659973 m,
      bearing: 78.758980 deg,
      approachRate: -0.604724 m/s,
      LOS rate: -0.365235 deg/s,
      cmd update: -1.095706 deg/s,
      cmd heading: 75.321735 deg,
      new cmd heading: 75.286267 deg.

2021-01-27T18:42:21.869Z,1611772941.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:22.654Z,1611772942.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:23.044Z,1611772943.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:23.446Z,1611772943.446 [Micromodem](INFO): Nmea in: $CAERR,184224,DATA_TIMEOUT,1*47

2021-01-27T18:42:23.880Z,1611772943.880 [Micromodem](INFO): Nmea in: $SNTTA,0.198497,,,,184224.06*45

2021-01-27T18:42:24.292Z,1611772944.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.299988 m, bearing: 81.108817 deg, deltaT: 4.867198 s, approachRate: -0.690333 m/s, LOS rate: 0.482791 deg/s, posRepo size: 4
2021-01-27T18:42:24.297Z,1611772944.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.299988 m,
      bearing: 81.108817 deg,
      approachRate: -0.690333 m/s,
      LOS rate: 0.482791 deg/s,
      cmd update: 1.448372 deg/s,
      cmd heading: 69.993278 deg,
      new cmd heading: 69.589431 deg.

2021-01-27T18:42:26.762Z,1611772946.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:27.494Z,1611772947.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:27.908Z,1611772947.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:28.738Z,1611772948.738 [Micromodem](INFO): Nmea in: $SNTTA,0.196531,,,,184228.90*45

2021-01-27T18:42:29.151Z,1611772949.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.299988 m, bearing: 80.692688 deg, deltaT: 4.870602 s, approachRate: -0.615940 m/s, LOS rate: -0.085437 deg/s, posRepo size: 4
2021-01-27T18:42:29.153Z,1611772949.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.299988 m,
      bearing: 80.692688 deg,
      approachRate: -0.615940 m/s,
      LOS rate: -0.085437 deg/s,
      cmd update: -0.256311 deg/s,
      cmd heading: 77.022022 deg,
      new cmd heading: 77.542154 deg.

2021-01-27T18:42:31.562Z,1611772951.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:32.354Z,1611772952.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:32.744Z,1611772952.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:33.564Z,1611772953.564 [Micromodem](INFO): Nmea in: $SNTTA,0.194265,,,,184233.76*43

2021-01-27T18:42:33.997Z,1611772953.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.119995 m, bearing: 81.387018 deg, deltaT: 4.855590 s, approachRate: -0.654914 m/s, LOS rate: 0.142996 deg/s, posRepo size: 4
2021-01-27T18:42:33.999Z,1611772953.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.119995 m,
      bearing: 81.387018 deg,
      approachRate: -0.654914 m/s,
      LOS rate: 0.142996 deg/s,
      cmd update: 0.428988 deg/s,
      cmd heading: 75.776903 deg,
      new cmd heading: 75.684076 deg.

2021-01-27T18:42:36.426Z,1611772956.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:37.186Z,1611772957.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:37.606Z,1611772957.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:38.438Z,1611772958.438 [Micromodem](INFO): Nmea in: $SNTTA,0.192021,,,,184238.60*4B

2021-01-27T18:42:38.861Z,1611772958.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.819977 m, bearing: 81.754427 deg, deltaT: 4.808410 s, approachRate: -0.686301 m/s, LOS rate: 0.076410 deg/s, posRepo size: 4
2021-01-27T18:42:38.863Z,1611772958.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.819977 m,
      bearing: 81.754427 deg,
      approachRate: -0.686301 m/s,
      LOS rate: 0.076410 deg/s,
      cmd update: 0.229229 deg/s,
      cmd heading: 77.848079 deg,
      new cmd heading: 78.010253 deg.

2021-01-27T18:42:41.262Z,1611772961.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:41.677Z,1611772961.677 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:42:42.034Z,1611772962.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:42.446Z,1611772962.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:43.283Z,1611772963.283 [Micromodem](INFO): Nmea in: $SNTTA,0.189867,,,,184243.44*41

2021-01-27T18:42:43.754Z,1611772963.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.579987 m, bearing: 82.817676 deg, deltaT: 4.872023 s, approachRate: -0.665020 m/s, LOS rate: 0.218236 deg/s, posRepo size: 4
2021-01-27T18:42:43.760Z,1611772963.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.579987 m,
      bearing: 82.817676 deg,
      approachRate: -0.665020 m/s,
      LOS rate: 0.218236 deg/s,
      cmd update: 0.654707 deg/s,
      cmd heading: 78.958001 deg,
      new cmd heading: 79.061147 deg.

2021-01-27T18:42:46.090Z,1611772966.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:46.903Z,1611772966.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:47.292Z,1611772967.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:48.109Z,1611772968.109 [Micromodem](INFO): Nmea in: $SNTTA,0.187801,,,,184248.31*46

2021-01-27T18:42:48.537Z,1611772968.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.459991 m, bearing: 82.008162 deg, deltaT: 4.789140 s, approachRate: -0.651473 m/s, LOS rate: -0.169031 deg/s, posRepo size: 4
2021-01-27T18:42:48.539Z,1611772968.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.459991 m,
      bearing: 82.008162 deg,
      approachRate: -0.651473 m/s,
      LOS rate: -0.169031 deg/s,
      cmd update: -0.507094 deg/s,
      cmd heading: 82.113142 deg,
      new cmd heading: 82.383546 deg.

2021-01-27T18:42:50.979Z,1611772970.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:51.742Z,1611772971.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:52.161Z,1611772972.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:52.995Z,1611772972.995 [Micromodem](INFO): Nmea in: $SNTTA,0.185626,,,,184253.15*43

2021-01-27T18:42:53.424Z,1611772973.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.220001 m, bearing: 82.008647 deg, deltaT: 4.896304 s, approachRate: -0.661722 m/s, LOS rate: 0.000099 deg/s, posRepo size: 4
2021-01-27T18:42:53.426Z,1611772973.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.220001 m,
      bearing: 82.008647 deg,
      approachRate: -0.661722 m/s,
      LOS rate: 0.000099 deg/s,
      cmd update: 0.000297 deg/s,
      cmd heading: 79.630245 deg,
      new cmd heading: 79.425395 deg.

2021-01-27T18:42:55.799Z,1611772975.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:42:56.578Z,1611772976.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:42:56.982Z,1611772976.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:42:57.816Z,1611772977.816 [Micromodem](INFO): Nmea in: $SNTTA,0.183564,,,,184257.98*41

2021-01-27T18:42:58.243Z,1611772978.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.039978 m, bearing: 80.705194 deg, deltaT: 4.819861 s, approachRate: -0.659775 m/s, LOS rate: -0.270434 deg/s, posRepo size: 4
2021-01-27T18:42:58.245Z,1611772978.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.039978 m,
      bearing: 80.705194 deg,
      approachRate: -0.659775 m/s,
      LOS rate: -0.270434 deg/s,
      cmd update: -0.811301 deg/s,
      cmd heading: 79.631677 deg,
      new cmd heading: 79.631797 deg.

2021-01-27T18:43:00.722Z,1611772980.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:01.426Z,1611772981.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:01.840Z,1611772981.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:02.680Z,1611772982.680 [Micromodem](INFO): Nmea in: $SNTTA,0.181364,,,,184302.83*4E

2021-01-27T18:43:03.075Z,1611772983.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 271.859985 m, bearing: 81.463960 deg, deltaT: 4.953751 s, approachRate: -0.641936 m/s, LOS rate: 0.153170 deg/s, posRepo size: 4
2021-01-27T18:43:03.077Z,1611772983.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.859985 m,
      bearing: 81.463960 deg,
      approachRate: -0.641936 m/s,
      LOS rate: 0.153170 deg/s,
      cmd update: 0.459510 deg/s,
      cmd heading: 75.613153 deg,
      new cmd heading: 75.384080 deg.

2021-01-27T18:43:05.511Z,1611772985.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:06.274Z,1611772986.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:06.705Z,1611772986.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:07.504Z,1611772987.504 [Micromodem](INFO): Nmea in: $SNTTA,0.179318,,,,184307.68*42

2021-01-27T18:43:07.936Z,1611772987.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.739990 m, bearing: 82.250258 deg, deltaT: 4.754909 s, approachRate: -0.656163 m/s, LOS rate: 0.165366 deg/s, posRepo size: 4
2021-01-27T18:43:07.938Z,1611772987.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.739990 m,
      bearing: 82.250258 deg,
      approachRate: -0.656163 m/s,
      LOS rate: 0.165366 deg/s,
      cmd update: 0.496097 deg/s,
      cmd heading: 77.789133 deg,
      new cmd heading: 77.976413 deg.

2021-01-27T18:43:10.390Z,1611772990.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:11.130Z,1611772991.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:11.536Z,1611772991.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:12.375Z,1611772992.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184312.54*52

2021-01-27T18:43:12.798Z,1611772992.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.979980 m, bearing: 81.454152 deg, deltaT: 4.852008 s, approachRate: -0.568839 m/s, LOS rate: -0.164078 deg/s, posRepo size: 4
2021-01-27T18:43:12.800Z,1611772992.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.979980 m,
      bearing: 81.454152 deg,
      approachRate: -0.568839 m/s,
      LOS rate: -0.164078 deg/s,
      cmd update: -0.492233 deg/s,
      cmd heading: 80.206145 deg,
      new cmd heading: 80.403477 deg.

2021-01-27T18:43:15.202Z,1611772995.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:15.974Z,1611772995.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:16.392Z,1611772996.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:17.219Z,1611772997.219 [Micromodem](INFO): Nmea in: $SNTTA,0.175227,,,,184317.38*47

2021-01-27T18:43:17.675Z,1611772997.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.679993 m, bearing: 81.493173 deg, deltaT: 4.833283 s, approachRate: -0.682763 m/s, LOS rate: 0.008073 deg/s, posRepo size: 4
2021-01-27T18:43:17.678Z,1611772997.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.679993 m,
      bearing: 81.493173 deg,
      approachRate: -0.682763 m/s,
      LOS rate: 0.008073 deg/s,
      cmd update: 0.024220 deg/s,
      cmd heading: 77.827099 deg,
      new cmd heading: 77.609568 deg.

2021-01-27T18:43:20.042Z,1611773000.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:20.826Z,1611773000.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:21.228Z,1611773001.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:22.076Z,1611773002.076 [Micromodem](INFO): Nmea in: $SNTTA,0.173084,,,,184322.23*46

2021-01-27T18:43:22.485Z,1611773002.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.440002 m, bearing: 81.266875 deg, deltaT: 4.857405 s, approachRate: -0.667021 m/s, LOS rate: -0.046588 deg/s, posRepo size: 4
2021-01-27T18:43:22.487Z,1611773002.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.440002 m,
      bearing: 81.266875 deg,
      approachRate: -0.667021 m/s,
      LOS rate: -0.046588 deg/s,
      cmd update: -0.139765 deg/s,
      cmd heading: 77.944735 deg,
      new cmd heading: 77.953894 deg.

2021-01-27T18:43:24.899Z,1611773004.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:25.702Z,1611773005.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:26.099Z,1611773006.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:26.906Z,1611773006.906 [Micromodem](INFO): Nmea in: $SNTTA,0.171184,,,,184327.11*41

2021-01-27T18:43:27.361Z,1611773007.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.559998 m, bearing: 81.030188 deg, deltaT: 4.852178 s, approachRate: -0.593549 m/s, LOS rate: -0.048779 deg/s, posRepo size: 4
2021-01-27T18:43:27.363Z,1611773007.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.559998 m,
      bearing: 81.030188 deg,
      approachRate: -0.593549 m/s,
      LOS rate: -0.048779 deg/s,
      cmd update: -0.146338 deg/s,
      cmd heading: 77.266489 deg,
      new cmd heading: 77.208732 deg.

2021-01-27T18:43:29.731Z,1611773009.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:30.526Z,1611773010.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:30.932Z,1611773010.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:31.760Z,1611773011.760 [Micromodem](INFO): Nmea in: $SNTTA,0.168865,,,,184331.93*42

2021-01-27T18:43:32.171Z,1611773012.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.079987 m, bearing: 82.403692 deg, deltaT: 4.840702 s, approachRate: -0.718906 m/s, LOS rate: 0.283740 deg/s, posRepo size: 4
2021-01-27T18:43:32.173Z,1611773012.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.079987 m,
      bearing: 82.403692 deg,
      approachRate: -0.718906 m/s,
      LOS rate: 0.283740 deg/s,
      cmd update: 0.851222 deg/s,
      cmd heading: 76.558129 deg,
      new cmd heading: 76.501451 deg.

2021-01-27T18:43:34.591Z,1611773014.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:35.382Z,1611773015.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:35.772Z,1611773015.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:36.596Z,1611773016.596 [Micromodem](INFO): Nmea in: $SNTTA,0.166795,,,,184336.79*4F

2021-01-27T18:43:37.024Z,1611773017.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.019989 m, bearing: 82.163590 deg, deltaT: 4.902249 s, approachRate: -0.624203 m/s, LOS rate: -0.048978 deg/s, posRepo size: 4
2021-01-27T18:43:37.026Z,1611773017.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.019989 m,
      bearing: 82.163590 deg,
      approachRate: -0.624203 m/s,
      LOS rate: -0.048978 deg/s,
      cmd update: -0.146934 deg/s,
      cmd heading: 80.727712 deg,
      new cmd heading: 81.018715 deg.

2021-01-27T18:43:39.439Z,1611773019.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:40.214Z,1611773020.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:40.639Z,1611773020.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:41.444Z,1611773021.444 [Micromodem](INFO): Nmea in: $SNTTA,0.164513,,,,184341.62*4B

2021-01-27T18:43:41.868Z,1611773021.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.599991 m, bearing: 81.934082 deg, deltaT: 4.782202 s, approachRate: -0.715151 m/s, LOS rate: -0.047992 deg/s, posRepo size: 4
2021-01-27T18:43:41.870Z,1611773021.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.599991 m,
      bearing: 81.934082 deg,
      approachRate: -0.715151 m/s,
      LOS rate: -0.047992 deg/s,
      cmd update: -0.143976 deg/s,
      cmd heading: 80.024455 deg,
      new cmd heading: 79.965729 deg.

2021-01-27T18:43:44.276Z,1611773024.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:45.059Z,1611773025.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:45.481Z,1611773025.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:46.333Z,1611773026.333 [Micromodem](INFO): Nmea in: $SNTTA,0.162471,,,,184346.46*49

2021-01-27T18:43:46.744Z,1611773026.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.539993 m, bearing: 81.955201 deg, deltaT: 4.909169 s, approachRate: -0.623323 m/s, LOS rate: 0.004302 deg/s, posRepo size: 4
2021-01-27T18:43:46.746Z,1611773026.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.539993 m,
      bearing: 81.955201 deg,
      approachRate: -0.623323 m/s,
      LOS rate: 0.004302 deg/s,
      cmd update: 0.012906 deg/s,
      cmd heading: 79.317770 deg,
      new cmd heading: 79.264913 deg.

2021-01-27T18:43:49.138Z,1611773029.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:49.914Z,1611773029.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:50.349Z,1611773030.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:51.147Z,1611773031.147 [Micromodem](INFO): Nmea in: $SNTTA,0.160350,,,,184351.32*4A

2021-01-27T18:43:51.569Z,1611773031.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.359985 m, bearing: 81.480455 deg, deltaT: 4.824462 s, approachRate: -0.659142 m/s, LOS rate: -0.098404 deg/s, posRepo size: 4
2021-01-27T18:43:51.571Z,1611773031.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.359985 m,
      bearing: 81.480455 deg,
      approachRate: -0.659142 m/s,
      LOS rate: -0.098404 deg/s,
      cmd update: -0.295212 deg/s,
      cmd heading: 79.379993 deg,
      new cmd heading: 79.384775 deg.

2021-01-27T18:43:53.971Z,1611773033.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:54.762Z,1611773034.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:43:55.176Z,1611773035.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:43:56.005Z,1611773036.005 [Micromodem](INFO): Nmea in: $SNTTA,0.158208,,,,184356.17*4D

2021-01-27T18:43:56.427Z,1611773036.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.119995 m, bearing: 81.998805 deg, deltaT: 4.827066 s, approachRate: -0.671213 m/s, LOS rate: 0.107384 deg/s, posRepo size: 4
2021-01-27T18:43:56.429Z,1611773036.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.119995 m,
      bearing: 81.998805 deg,
      approachRate: -0.671213 m/s,
      LOS rate: 0.107384 deg/s,
      cmd update: 0.322152 deg/s,
      cmd heading: 77.953867 deg,
      new cmd heading: 77.836220 deg.

2021-01-27T18:43:58.819Z,1611773038.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:43:59.606Z,1611773039.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:00.020Z,1611773040.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:00.840Z,1611773040.840 [Micromodem](INFO): Nmea in: $SNTTA,0.156017,,,,184401.01*4D

2021-01-27T18:44:01.274Z,1611773041.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.819977 m, bearing: 81.943009 deg, deltaT: 4.854857 s, approachRate: -0.679735 m/s, LOS rate: -0.011493 deg/s, posRepo size: 4
2021-01-27T18:44:01.293Z,1611773041.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.819977 m,
      bearing: 81.943009 deg,
      approachRate: -0.679735 m/s,
      LOS rate: -0.011493 deg/s,
      cmd update: -0.034478 deg/s,
      cmd heading: 79.517936 deg,
      new cmd heading: 79.643741 deg.

2021-01-27T18:44:03.712Z,1611773043.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:04.454Z,1611773044.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:04.870Z,1611773044.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:05.709Z,1611773045.709 [Micromodem](INFO): Nmea in: $SNTTA,0.153947,,,,184405.86*4F

2021-01-27T18:44:06.099Z,1611773046.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.639999 m, bearing: 82.483571 deg, deltaT: 4.859178 s, approachRate: -0.654427 m/s, LOS rate: 0.111245 deg/s, posRepo size: 4
2021-01-27T18:44:06.101Z,1611773046.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.639999 m,
      bearing: 82.483571 deg,
      approachRate: -0.654427 m/s,
      LOS rate: 0.111245 deg/s,
      cmd update: 0.333736 deg/s,
      cmd heading: 79.350399 deg,
      new cmd heading: 79.338127 deg.

2021-01-27T18:44:08.537Z,1611773048.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:09.305Z,1611773049.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:09.712Z,1611773049.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:10.549Z,1611773050.549 [Micromodem](INFO): Nmea in: $SNTTA,0.151875,,,,184410.71*41

2021-01-27T18:44:10.967Z,1611773050.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.579987 m, bearing: 82.232623 deg, deltaT: 4.891378 s, approachRate: -0.625593 m/s, LOS rate: -0.051304 deg/s, posRepo size: 4
2021-01-27T18:44:10.969Z,1611773050.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.579987 m,
      bearing: 82.232623 deg,
      approachRate: -0.625593 m/s,
      LOS rate: -0.051304 deg/s,
      cmd update: -0.153912 deg/s,
      cmd heading: 80.975852 deg,
      new cmd heading: 81.093931 deg.

2021-01-27T18:44:13.399Z,1611773053.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:14.175Z,1611773054.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:14.560Z,1611773054.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:15.406Z,1611773055.406 [Micromodem](INFO): Nmea in: $SNTTA,0.149710,,,,184415.62*43

2021-01-27T18:44:15.818Z,1611773055.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.339981 m, bearing: 81.836055 deg, deltaT: 4.829862 s, approachRate: -0.670828 m/s, LOS rate: -0.082107 deg/s, posRepo size: 4
2021-01-27T18:44:15.820Z,1611773055.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.339981 m,
      bearing: 81.836055 deg,
      approachRate: -0.670828 m/s,
      LOS rate: -0.082107 deg/s,
      cmd update: -0.246322 deg/s,
      cmd heading: 80.229960 deg,
      new cmd heading: 80.174787 deg.

2021-01-27T18:44:18.219Z,1611773058.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:19.006Z,1611773059.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:19.404Z,1611773059.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:20.249Z,1611773060.249 [Micromodem](INFO): Nmea in: $SNTTA,0.147598,,,,184420.42*4B

2021-01-27T18:44:20.682Z,1611773060.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.220001 m, bearing: 81.192576 deg, deltaT: 4.802763 s, approachRate: -0.649622 m/s, LOS rate: -0.133981 deg/s, posRepo size: 4
2021-01-27T18:44:20.684Z,1611773060.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.220001 m,
      bearing: 81.192576 deg,
      approachRate: -0.649622 m/s,
      LOS rate: -0.133981 deg/s,
      cmd update: -0.401943 deg/s,
      cmd heading: 79.046774 deg,
      new cmd heading: 78.943621 deg.

2021-01-27T18:44:23.058Z,1611773063.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:23.842Z,1611773063.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:24.252Z,1611773064.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:25.088Z,1611773065.088 [Micromodem](INFO): Nmea in: $SNTTA,0.145372,,,,184425.25*4F

2021-01-27T18:44:25.529Z,1611773065.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.919983 m, bearing: 82.380701 deg, deltaT: 4.858791 s, approachRate: -0.679185 m/s, LOS rate: 0.244531 deg/s, posRepo size: 4
2021-01-27T18:44:25.531Z,1611773065.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.919983 m,
      bearing: 82.380701 deg,
      approachRate: -0.679185 m/s,
      LOS rate: 0.244531 deg/s,
      cmd update: 0.733593 deg/s,
      cmd heading: 77.092234 deg,
      new cmd heading: 76.936795 deg.

2021-01-27T18:44:27.911Z,1611773067.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:28.718Z,1611773068.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:29.100Z,1611773069.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:29.928Z,1611773069.928 [Micromodem](INFO): Nmea in: $SNTTA,0.143148,,,,184430.12*42

2021-01-27T18:44:30.375Z,1611773070.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.559998 m, bearing: 82.468701 deg, deltaT: 4.853910 s, approachRate: -0.692222 m/s, LOS rate: 0.018130 deg/s, posRepo size: 4
2021-01-27T18:44:30.389Z,1611773070.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.559998 m,
      bearing: 82.468701 deg,
      approachRate: -0.692222 m/s,
      LOS rate: 0.018130 deg/s,
      cmd update: 0.054389 deg/s,
      cmd heading: 80.650049 deg,
      new cmd heading: 80.942832 deg.

2021-01-27T18:44:32.769Z,1611773072.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:33.542Z,1611773073.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:33.956Z,1611773073.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:34.789Z,1611773074.789 [Micromodem](INFO): Nmea in: $SNTTA,0.141119,,,,184434.95*4F

2021-01-27T18:44:35.187Z,1611773075.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.499985 m, bearing: 82.927984 deg, deltaT: 4.833419 s, approachRate: -0.633095 m/s, LOS rate: 0.095022 deg/s, posRepo size: 4
2021-01-27T18:44:35.189Z,1611773075.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.499985 m,
      bearing: 82.927984 deg,
      approachRate: -0.633095 m/s,
      LOS rate: 0.095022 deg/s,
      cmd update: 0.285067 deg/s,
      cmd heading: 80.913132 deg,
      new cmd heading: 80.933487 deg.

2021-01-27T18:44:37.662Z,1611773077.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:38.392Z,1611773078.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:38.796Z,1611773078.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:39.634Z,1611773079.634 [Micromodem](INFO): Nmea in: $SNTTA,0.138980,,,,184439.80*40

2021-01-27T18:44:40.028Z,1611773080.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.319992 m, bearing: 82.593052 deg, deltaT: 4.897391 s, approachRate: -0.649324 m/s, LOS rate: -0.068390 deg/s, posRepo size: 4
2021-01-27T18:44:40.030Z,1611773080.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.319992 m,
      bearing: 82.593052 deg,
      approachRate: -0.649324 m/s,
      LOS rate: -0.068390 deg/s,
      cmd update: -0.205170 deg/s,
      cmd heading: 82.308197 deg,
      new cmd heading: 82.399792 deg.

2021-01-27T18:44:42.461Z,1611773082.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:43.242Z,1611773083.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:43.656Z,1611773083.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:44.482Z,1611773084.482 [Micromodem](INFO): Nmea in: $SNTTA,0.136925,,,,184444.65*40

2021-01-27T18:44:44.896Z,1611773084.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.199982 m, bearing: 81.957728 deg, deltaT: 4.831495 s, approachRate: -0.645765 m/s, LOS rate: -0.131496 deg/s, posRepo size: 4
2021-01-27T18:44:44.898Z,1611773084.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.199982 m,
      bearing: 81.957728 deg,
      approachRate: -0.645765 m/s,
      LOS rate: -0.131496 deg/s,
      cmd update: -0.394489 deg/s,
      cmd heading: 81.316104 deg,
      new cmd heading: 81.243475 deg.

2021-01-27T18:44:47.309Z,1611773087.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:48.086Z,1611773088.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:48.496Z,1611773088.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:49.343Z,1611773089.343 [Micromodem](INFO): Nmea in: $SNTTA,0.134751,,,,184449.49*4C

2021-01-27T18:44:49.744Z,1611773089.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 82.065331 deg, deltaT: 4.859473 s, approachRate: -0.679083 m/s, LOS rate: 0.022143 deg/s, posRepo size: 4
2021-01-27T18:44:49.746Z,1611773089.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.899994 m,
      bearing: 82.065331 deg,
      approachRate: -0.679083 m/s,
      LOS rate: 0.022143 deg/s,
      cmd update: 0.066429 deg/s,
      cmd heading: 79.400674 deg,
      new cmd heading: 79.264157 deg.

2021-01-27T18:44:52.150Z,1611773092.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:52.930Z,1611773092.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:53.368Z,1611773093.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:54.200Z,1611773094.200 [Micromodem](INFO): Nmea in: $SNTTA,0.132602,,0.155009,,184454.34*5D

2021-01-27T18:44:54.597Z,1611773094.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.719986 m, bearing: 83.002098 deg, deltaT: 4.842640 s, approachRate: -0.656668 m/s, LOS rate: 0.193441 deg/s, posRepo size: 4
2021-01-27T18:44:54.602Z,1611773094.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.719986 m,
      bearing: 83.002098 deg,
      approachRate: -0.656668 m/s,
      LOS rate: 0.193441 deg/s,
      cmd update: 0.580324 deg/s,
      cmd heading: 79.722351 deg,
      new cmd heading: 79.745958 deg.

2021-01-27T18:44:57.015Z,1611773097.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:44:57.786Z,1611773097.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:44:58.188Z,1611773098.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:44:59.020Z,1611773099.020 [Micromodem](INFO): Nmea in: $SNTTA,0.130326,,,,184459.19*48

2021-01-27T18:44:59.464Z,1611773099.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.300003 m, bearing: 83.188733 deg, deltaT: 4.819528 s, approachRate: -0.709610 m/s, LOS rate: 0.038725 deg/s, posRepo size: 4
2021-01-27T18:44:59.466Z,1611773099.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.300003 m,
      bearing: 83.188733 deg,
      approachRate: -0.709610 m/s,
      LOS rate: 0.038725 deg/s,
      cmd update: 0.116174 deg/s,
      cmd heading: 82.521664 deg,
      new cmd heading: 82.742426 deg.

2021-01-27T18:45:01.852Z,1611773101.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:02.657Z,1611773102.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:03.042Z,1611773103.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:03.849Z,1611773103.849 [Micromodem](INFO): Nmea in: $SNTTA,0.128422,,,,184504.06*45

2021-01-27T18:45:04.271Z,1611773104.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.539978 m, bearing: 83.627142 deg, deltaT: 4.832352 s, approachRate: -0.571156 m/s, LOS rate: 0.090724 deg/s, posRepo size: 4
2021-01-27T18:45:04.273Z,1611773104.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.539978 m,
      bearing: 83.627142 deg,
      approachRate: -0.571156 m/s,
      LOS rate: 0.090724 deg/s,
      cmd update: 0.272171 deg/s,
      cmd heading: 83.083047 deg,
      new cmd heading: 83.126660 deg.

2021-01-27T18:45:06.772Z,1611773106.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:07.474Z,1611773107.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:07.888Z,1611773107.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:08.720Z,1611773108.720 [Micromodem](INFO): Nmea in: $SNTTA,0.126192,,,,184508.88*4F

2021-01-27T18:45:09.131Z,1611773109.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.180008 m, bearing: 83.230445 deg, deltaT: 4.874487 s, approachRate: -0.689297 m/s, LOS rate: -0.081382 deg/s, posRepo size: 4
2021-01-27T18:45:09.133Z,1611773109.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.180008 m,
      bearing: 83.230445 deg,
      approachRate: -0.689297 m/s,
      LOS rate: -0.081382 deg/s,
      cmd update: -0.244147 deg/s,
      cmd heading: 84.409779 deg,
      new cmd heading: 84.507881 deg.

2021-01-27T18:45:11.572Z,1611773111.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:12.347Z,1611773112.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:12.732Z,1611773112.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:13.550Z,1611773113.550 [Micromodem](INFO): Nmea in: $SNTTA,0.124073,,,,184513.75*4B

2021-01-27T18:45:13.980Z,1611773113.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.880005 m, bearing: 82.100103 deg, deltaT: 4.834039 s, approachRate: -0.682660 m/s, LOS rate: -0.233830 deg/s, posRepo size: 4
2021-01-27T18:45:13.982Z,1611773113.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.880005 m,
      bearing: 82.100103 deg,
      approachRate: -0.682660 m/s,
      LOS rate: -0.233830 deg/s,
      cmd update: -0.701489 deg/s,
      cmd heading: 83.229564 deg,
      new cmd heading: 83.137926 deg.

2021-01-27T18:45:16.424Z,1611773116.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:17.175Z,1611773117.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:17.588Z,1611773117.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:18.426Z,1611773118.426 [Micromodem](INFO): Nmea in: $SNTTA,0.122064,,,,184518.58*4F

2021-01-27T18:45:18.473Z,1611773118.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.880005 m, bearing: 82.120983 deg, deltaT: 4.405115 s, approachRate: 0.000000 m/s, LOS rate: 0.004740 deg/s, posRepo size: 4
2021-01-27T18:45:18.474Z,1611773118.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.880005 m,
      bearing: 82.120983 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.004740 deg/s,
      cmd update: 0.014220 deg/s,
      cmd heading: 80.140516 deg,
      new cmd heading: 79.814948 deg.

2021-01-27T18:45:20.843Z,1611773120.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:21.645Z,1611773121.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:22.028Z,1611773122.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:22.837Z,1611773122.837 [Micromodem](INFO): Nmea in: $SNTTA,0.120060,,,,184523.05*49

2021-01-27T18:45:23.263Z,1611773123.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 82.461304 deg, deltaT: 4.874964 s, approachRate: -1.243089 m/s, LOS rate: 0.069810 deg/s, posRepo size: 4
2021-01-27T18:45:23.265Z,1611773123.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.819992 m,
      bearing: 82.461304 deg,
      approachRate: -1.243089 m/s,
      LOS rate: 0.069810 deg/s,
      cmd update: 0.209430 deg/s,
      cmd heading: 80.209853 deg,
      new cmd heading: 80.215241 deg.

2021-01-27T18:45:25.715Z,1611773125.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:26.474Z,1611773126.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:26.874Z,1611773126.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:27.729Z,1611773127.729 [Micromodem](INFO): Nmea in: $SNTTA,0.118027,,,,184527.88*40

2021-01-27T18:45:27.763Z,1611773127.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 82.959368 deg, deltaT: 4.463146 s, approachRate: 0.000000 m/s, LOS rate: 0.111595 deg/s, posRepo size: 4
2021-01-27T18:45:27.766Z,1611773127.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.819992 m,
      bearing: 82.959368 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.111595 deg/s,
      cmd update: 0.334785 deg/s,
      cmd heading: 81.142836 deg,
      new cmd heading: 81.231650 deg.

2021-01-27T18:45:30.127Z,1611773130.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:30.913Z,1611773130.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:31.348Z,1611773131.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:32.157Z,1611773132.157 [Micromodem](INFO): Nmea in: $SNTTA,0.116105,,,,184532.32*4A

2021-01-27T18:45:32.181Z,1611773132.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 83.314552 deg, deltaT: 4.424067 s, approachRate: 0.000000 m/s, LOS rate: 0.080284 deg/s, posRepo size: 4
2021-01-27T18:45:32.184Z,1611773132.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.819992 m,
      bearing: 83.314552 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.080284 deg/s,
      cmd update: 0.240853 deg/s,
      cmd heading: 82.625509 deg,
      new cmd heading: 82.763201 deg.

2021-01-27T18:45:34.589Z,1611773134.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:35.384Z,1611773135.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:35.760Z,1611773135.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:36.596Z,1611773136.596 [Micromodem](INFO): Nmea in: $SNTTA,0.114147,,,,184536.79*45

2021-01-27T18:45:37.007Z,1611773137.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 83.330459 deg, deltaT: 4.929664 s, approachRate: -1.776996 m/s, LOS rate: 0.003227 deg/s, posRepo size: 4
2021-01-27T18:45:37.009Z,1611773137.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 83.330459 deg,
      approachRate: -1.776996 m/s,
      LOS rate: 0.003227 deg/s,
      cmd update: 0.009681 deg/s,
      cmd heading: 83.812838 deg,
      new cmd heading: 83.887430 deg.

2021-01-27T18:45:39.435Z,1611773139.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:40.206Z,1611773140.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:40.649Z,1611773140.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:41.434Z,1611773141.434 [Micromodem](INFO): Nmea in: $SNTTA,0.112035,,,,184541.61*4E

2021-01-27T18:45:42.254Z,1611773142.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:43.838Z,1611773143.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:45:45.081Z,1611773145.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:45.854Z,1611773145.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:46.268Z,1611773146.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:47.109Z,1611773147.109 [Micromodem](INFO): Nmea in: $SNTTA,0.109607,,,,184547.26*46

2021-01-27T18:45:47.131Z,1611773147.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.220001 m, bearing: 83.050121 deg, deltaT: 10.054342 s, approachRate: -0.680303 m/s, LOS rate: -0.027882 deg/s, posRepo size: 4
2021-01-27T18:45:47.133Z,1611773147.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.220001 m,
      bearing: 83.050121 deg,
      approachRate: -0.680303 m/s,
      LOS rate: -0.027882 deg/s,
      cmd update: -0.083647 deg/s,
      cmd heading: 83.910055 deg,
      new cmd heading: 83.913843 deg.

2021-01-27T18:45:49.535Z,1611773149.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:50.325Z,1611773150.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:50.715Z,1611773150.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:51.545Z,1611773151.545 [Micromodem](INFO): Nmea in: $SNTTA,0.107647,,,,184551.73*4B

2021-01-27T18:45:51.570Z,1611773151.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.220001 m, bearing: 82.595429 deg, deltaT: 4.403173 s, approachRate: 0.000000 m/s, LOS rate: -0.103265 deg/s, posRepo size: 4
2021-01-27T18:45:51.572Z,1611773151.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.220001 m,
      bearing: 82.595429 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.103265 deg/s,
      cmd update: -0.309794 deg/s,
      cmd heading: 83.540791 deg,
      new cmd heading: 83.506028 deg.

2021-01-27T18:45:53.973Z,1611773153.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:54.746Z,1611773154.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:55.156Z,1611773155.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:45:55.989Z,1611773155.989 [Micromodem](INFO): Nmea in: $SNTTA,0.105691,,,,184556.15*45

2021-01-27T18:45:56.013Z,1611773156.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 83.025956 deg, deltaT: 4.448872 s, approachRate: -1.308195 m/s, LOS rate: 0.096772 deg/s, posRepo size: 4
2021-01-27T18:45:56.015Z,1611773156.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 83.025956 deg,
      approachRate: -1.308195 m/s,
      LOS rate: 0.096772 deg/s,
      cmd update: 0.290317 deg/s,
      cmd heading: 82.161323 deg,
      new cmd heading: 82.035680 deg.

2021-01-27T18:45:58.427Z,1611773158.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:45:59.219Z,1611773159.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:45:59.596Z,1611773159.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:00.419Z,1611773160.419 [Micromodem](INFO): Nmea in: $SNTTA,0.103715,,,,184600.63*4F

2021-01-27T18:46:00.466Z,1611773160.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 82.590846 deg, deltaT: 4.456753 s, approachRate: 0.000000 m/s, LOS rate: -0.097629 deg/s, posRepo size: 4
2021-01-27T18:46:00.473Z,1611773160.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 82.590846 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.097629 deg/s,
      cmd update: -0.292888 deg/s,
      cmd heading: 83.454209 deg,
      new cmd heading: 83.571990 deg.

2021-01-27T18:46:02.878Z,1611773162.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:03.660Z,1611773163.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:04.044Z,1611773164.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:04.869Z,1611773164.869 [Micromodem](INFO): Nmea in: $SNTTA,0.101691,,,,184605.06*46

2021-01-27T18:46:04.905Z,1611773164.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 82.707594 deg, deltaT: 4.433754 s, approachRate: 0.000000 m/s, LOS rate: 0.026332 deg/s, posRepo size: 4
2021-01-27T18:46:04.907Z,1611773164.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 82.707594 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.026332 deg/s,
      cmd update: 0.078995 deg/s,
      cmd heading: 82.155603 deg,
      new cmd heading: 82.035322 deg.

2021-01-27T18:46:07.348Z,1611773167.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:08.086Z,1611773168.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:08.496Z,1611773168.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:09.349Z,1611773169.349 [Micromodem](INFO): Nmea in: $SNTTA,0.099795,,,,184609.49*44

2021-01-27T18:46:09.394Z,1611773169.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.520004 m, bearing: 82.680294 deg, deltaT: 4.434723 s, approachRate: -2.002381 m/s, LOS rate: -0.006156 deg/s, posRepo size: 4
2021-01-27T18:46:09.400Z,1611773169.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.520004 m,
      bearing: 82.680294 deg,
      approachRate: -2.002381 m/s,
      LOS rate: -0.006156 deg/s,
      cmd update: -0.018468 deg/s,
      cmd heading: 82.506223 deg,
      new cmd heading: 82.542630 deg.

2021-01-27T18:46:11.759Z,1611773171.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:12.534Z,1611773172.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:12.928Z,1611773172.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:13.777Z,1611773173.777 [Micromodem](INFO): Nmea in: $SNTTA,0.097798,,,,184613.94*4C

2021-01-27T18:46:13.802Z,1611773173.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.580002 m, bearing: 84.002967 deg, deltaT: 4.453013 s, approachRate: -0.660228 m/s, LOS rate: 0.297029 deg/s, posRepo size: 4
2021-01-27T18:46:13.804Z,1611773173.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.580002 m,
      bearing: 84.002967 deg,
      approachRate: -0.660228 m/s,
      LOS rate: 0.297029 deg/s,
      cmd update: 0.891086 deg/s,
      cmd heading: 82.423981 deg,
      new cmd heading: 82.416298 deg.

2021-01-27T18:46:16.174Z,1611773176.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:16.966Z,1611773176.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:17.380Z,1611773177.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:18.213Z,1611773178.213 [Micromodem](INFO): Nmea in: $SNTTA,0.095879,,0.098627,,184618.37*50

2021-01-27T18:46:18.235Z,1611773178.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 83.957833 deg, deltaT: 4.461598 s, approachRate: -0.658957 m/s, LOS rate: -0.010116 deg/s, posRepo size: 4
2021-01-27T18:46:18.237Z,1611773178.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 83.957833 deg,
      approachRate: -0.658957 m/s,
      LOS rate: -0.010116 deg/s,
      cmd update: -0.030348 deg/s,
      cmd heading: 86.396077 deg,
      new cmd heading: 86.744820 deg.

2021-01-27T18:46:20.671Z,1611773180.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:21.410Z,1611773181.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:21.828Z,1611773181.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:22.669Z,1611773182.669 [Micromodem](INFO): Nmea in: $SNTTA,0.093924,,,,184622.82*44

2021-01-27T18:46:22.726Z,1611773182.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.760010 m, bearing: 83.255963 deg, deltaT: 4.404745 s, approachRate: -0.653838 m/s, LOS rate: -0.159344 deg/s, posRepo size: 4
2021-01-27T18:46:22.727Z,1611773182.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.760010 m,
      bearing: 83.255963 deg,
      approachRate: -0.653838 m/s,
      LOS rate: -0.159344 deg/s,
      cmd update: -0.478032 deg/s,
      cmd heading: 86.262279 deg,
      new cmd heading: 86.247925 deg.

2021-01-27T18:46:25.069Z,1611773185.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:25.858Z,1611773185.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:26.266Z,1611773186.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:27.101Z,1611773187.101 [Micromodem](INFO): Nmea in: $SNTTA,0.092001,,,,184627.26*40

2021-01-27T18:46:27.123Z,1611773187.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.820007 m, bearing: 83.296698 deg, deltaT: 4.489885 s, approachRate: -0.654806 m/s, LOS rate: 0.009073 deg/s, posRepo size: 4
2021-01-27T18:46:27.125Z,1611773187.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.820007 m,
      bearing: 83.296698 deg,
      approachRate: -0.654806 m/s,
      LOS rate: 0.009073 deg/s,
      cmd update: 0.027218 deg/s,
      cmd heading: 84.115968 deg,
      new cmd heading: 83.933963 deg.

2021-01-27T18:46:29.515Z,1611773189.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:30.297Z,1611773190.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:30.708Z,1611773190.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:31.546Z,1611773191.546 [Micromodem](INFO): Nmea in: $SNTTA,0.090009,,,,184631.70*4E

2021-01-27T18:46:31.629Z,1611773191.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 82.681257 deg, deltaT: 4.368223 s, approachRate: -0.686778 m/s, LOS rate: -0.140890 deg/s, posRepo size: 4
2021-01-27T18:46:31.647Z,1611773191.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.820007 m,
      bearing: 82.681257 deg,
      approachRate: -0.686778 m/s,
      LOS rate: -0.140890 deg/s,
      cmd update: -0.422671 deg/s,
      cmd heading: 84.234857 deg,
      new cmd heading: 84.248313 deg.

2021-01-27T18:46:33.978Z,1611773193.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:34.743Z,1611773194.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:35.144Z,1611773195.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:35.981Z,1611773195.981 [Micromodem](INFO): Nmea in: $SNTTA,0.088026,,,,184636.15*4E

2021-01-27T18:46:36.025Z,1611773196.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.880005 m, bearing: 83.237630 deg, deltaT: 4.488188 s, approachRate: -0.655053 m/s, LOS rate: 0.123964 deg/s, posRepo size: 4
2021-01-27T18:46:36.027Z,1611773196.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.880005 m,
      bearing: 83.237630 deg,
      approachRate: -0.655053 m/s,
      LOS rate: 0.123964 deg/s,
      cmd update: 0.371892 deg/s,
      cmd heading: 82.342826 deg,
      new cmd heading: 82.157684 deg.

2021-01-27T18:46:38.422Z,1611773198.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:39.190Z,1611773199.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:39.602Z,1611773199.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:40.425Z,1611773200.425 [Micromodem](INFO): Nmea in: $SNTTA,0.086069,,,,184640.60*48

2021-01-27T18:46:40.450Z,1611773200.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.940002 m, bearing: 83.431963 deg, deltaT: 4.454506 s, approachRate: -0.660006 m/s, LOS rate: 0.043626 deg/s, posRepo size: 4
2021-01-27T18:46:40.452Z,1611773200.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.940002 m,
      bearing: 83.431963 deg,
      approachRate: -0.660006 m/s,
      LOS rate: 0.043626 deg/s,
      cmd update: 0.130878 deg/s,
      cmd heading: 83.999771 deg,
      new cmd heading: 84.151391 deg.

2021-01-27T18:46:42.851Z,1611773202.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:43.659Z,1611773203.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:44.032Z,1611773204.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:44.851Z,1611773204.851 [Micromodem](INFO): Nmea in: $SNTTA,0.084175,,,,184645.06*43

2021-01-27T18:46:44.915Z,1611773204.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.120003 m, bearing: 83.534566 deg, deltaT: 4.417884 s, approachRate: -0.638315 m/s, LOS rate: 0.023224 deg/s, posRepo size: 4
2021-01-27T18:46:44.921Z,1611773204.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 83.534566 deg,
      approachRate: -0.638315 m/s,
      LOS rate: 0.023224 deg/s,
      cmd update: 0.069673 deg/s,
      cmd heading: 84.579379 deg,
      new cmd heading: 84.637459 deg.

2021-01-27T18:46:47.303Z,1611773207.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:48.066Z,1611773208.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:48.476Z,1611773208.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:49.361Z,1611773209.361 [Micromodem](INFO): Nmea in: $SNTTA,0.082218,,,,184649.47*44

2021-01-27T18:46:49.395Z,1611773209.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 83.492349 deg, deltaT: 4.450407 s, approachRate: -0.674097 m/s, LOS rate: -0.009486 deg/s, posRepo size: 4
2021-01-27T18:46:49.397Z,1611773209.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.119995 m,
      bearing: 83.492349 deg,
      approachRate: -0.674097 m/s,
      LOS rate: -0.009486 deg/s,
      cmd update: -0.028459 deg/s,
      cmd heading: 84.889463 deg,
      new cmd heading: 84.922452 deg.

2021-01-27T18:46:51.766Z,1611773211.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:52.510Z,1611773212.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:52.932Z,1611773212.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:53.765Z,1611773213.765 [Micromodem](INFO): Nmea in: $SNTTA,0.080390,,0.095952,,184653.91*5B

2021-01-27T18:46:53.794Z,1611773213.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.360008 m, bearing: 83.178775 deg, deltaT: 4.450995 s, approachRate: -0.620083 m/s, LOS rate: -0.070450 deg/s, posRepo size: 4
2021-01-27T18:46:53.797Z,1611773213.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.360008 m,
      bearing: 83.178775 deg,
      approachRate: -0.620083 m/s,
      LOS rate: -0.070450 deg/s,
      cmd update: -0.211351 deg/s,
      cmd heading: 84.762793 deg,
      new cmd heading: 84.750845 deg.

2021-01-27T18:46:56.169Z,1611773216.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:46:56.962Z,1611773216.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:46:57.384Z,1611773217.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:46:58.217Z,1611773218.217 [Micromodem](INFO): Nmea in: $SNTTA,0.078514,,,,184658.37*4D

2021-01-27T18:46:58.256Z,1611773218.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 82.529019 deg, deltaT: 4.422407 s, approachRate: -0.624097 m/s, LOS rate: -0.146924 deg/s, posRepo size: 4
2021-01-27T18:46:58.258Z,1611773218.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.599998 m,
      bearing: 82.529019 deg,
      approachRate: -0.624097 m/s,
      LOS rate: -0.146924 deg/s,
      cmd update: -0.440771 deg/s,
      cmd heading: 83.828113 deg,
      new cmd heading: 83.730752 deg.

2021-01-27T18:47:00.680Z,1611773220.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:01.402Z,1611773221.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:01.812Z,1611773221.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:02.661Z,1611773222.661 [Micromodem](INFO): Nmea in: $SNTTA,0.076318,,,,184702.81*4A

2021-01-27T18:47:02.765Z,1611773222.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.360008 m, bearing: 84.059828 deg, deltaT: 4.446118 s, approachRate: -0.728723 m/s, LOS rate: 0.344302 deg/s, posRepo size: 4
2021-01-27T18:47:02.808Z,1611773222.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.360008 m,
      bearing: 84.059828 deg,
      approachRate: -0.728723 m/s,
      LOS rate: 0.344302 deg/s,
      cmd update: 1.032907 deg/s,
      cmd heading: 81.868507 deg,
      new cmd heading: 81.637963 deg.

2021-01-27T18:47:05.054Z,1611773225.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:05.850Z,1611773225.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:06.256Z,1611773226.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:07.101Z,1611773227.101 [Micromodem](INFO): Nmea in: $SNTTA,0.074416,,,,184707.25*4A

2021-01-27T18:47:07.123Z,1611773227.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.540001 m, bearing: 84.432831 deg, deltaT: 4.483182 s, approachRate: -0.629019 m/s, LOS rate: 0.083201 deg/s, posRepo size: 4
2021-01-27T18:47:07.125Z,1611773227.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.540001 m,
      bearing: 84.432831 deg,
      approachRate: -0.629019 m/s,
      LOS rate: 0.083201 deg/s,
      cmd update: 0.249602 deg/s,
      cmd heading: 86.499658 deg,
      new cmd heading: 86.911591 deg.

2021-01-27T18:47:09.524Z,1611773229.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:10.323Z,1611773230.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:10.715Z,1611773230.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:11.530Z,1611773231.530 [Micromodem](INFO): Nmea in: $SNTTA,0.072504,,,,184711.73*4A

2021-01-27T18:47:11.564Z,1611773231.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.540001 m, bearing: 82.162961 deg, deltaT: 4.392464 s, approachRate: -0.682988 m/s, LOS rate: -0.516765 deg/s, posRepo size: 4
2021-01-27T18:47:11.566Z,1611773231.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.540001 m,
      bearing: 82.162961 deg,
      approachRate: -0.682988 m/s,
      LOS rate: -0.516765 deg/s,
      cmd update: -1.550294 deg/s,
      cmd heading: 87.595974 deg,
      new cmd heading: 87.707603 deg.

2021-01-27T18:47:14.009Z,1611773234.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:14.734Z,1611773234.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:15.149Z,1611773235.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:15.985Z,1611773235.985 [Micromodem](INFO): Nmea in: $SNTTA,0.070649,,,,184716.14*44

2021-01-27T18:47:16.013Z,1611773236.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 83.138381 deg, deltaT: 4.474287 s, approachRate: -0.616859 m/s, LOS rate: 0.218006 deg/s, posRepo size: 4
2021-01-27T18:47:16.015Z,1611773236.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.779999 m,
      bearing: 83.138381 deg,
      approachRate: -0.616859 m/s,
      LOS rate: 0.218006 deg/s,
      cmd update: 0.654017 deg/s,
      cmd heading: 80.659526 deg,
      new cmd heading: 80.005107 deg.

2021-01-27T18:47:18.429Z,1611773238.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:19.182Z,1611773239.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:19.584Z,1611773239.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:20.433Z,1611773240.433 [Micromodem](INFO): Nmea in: $SNTTA,0.068707,,,,184720.59*4A

2021-01-27T18:47:20.469Z,1611773240.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.900002 m, bearing: 84.133826 deg, deltaT: 4.421488 s, approachRate: -0.651364 m/s, LOS rate: 0.225138 deg/s, posRepo size: 4
2021-01-27T18:47:20.471Z,1611773240.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.900002 m,
      bearing: 84.133826 deg,
      approachRate: -0.651364 m/s,
      LOS rate: 0.225138 deg/s,
      cmd update: 0.675414 deg/s,
      cmd heading: 83.551153 deg,
      new cmd heading: 83.850177 deg.

2021-01-27T18:47:22.854Z,1611773242.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:23.650Z,1611773243.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:24.032Z,1611773244.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:24.847Z,1611773244.847 [Micromodem](INFO): Nmea in: $SNTTA,0.066889,,,,184725.05*41

2021-01-27T18:47:24.883Z,1611773244.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 83.632647 deg, deltaT: 4.463223 s, approachRate: -0.618386 m/s, LOS rate: -0.112291 deg/s, posRepo size: 4
2021-01-27T18:47:24.885Z,1611773244.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.140007 m,
      bearing: 83.632647 deg,
      approachRate: -0.618386 m/s,
      LOS rate: -0.112291 deg/s,
      cmd update: -0.336872 deg/s,
      cmd heading: 86.565924 deg,
      new cmd heading: 86.840786 deg.

2021-01-27T18:47:27.293Z,1611773247.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:28.078Z,1611773248.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:28.476Z,1611773248.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:29.353Z,1611773249.353 [Micromodem](INFO): Nmea in: $SNTTA,0.064997,,,,184729.48*48

2021-01-27T18:47:29.384Z,1611773249.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 83.095918 deg, deltaT: 4.448695 s, approachRate: -0.647382 m/s, LOS rate: -0.120649 deg/s, posRepo size: 4
2021-01-27T18:47:29.386Z,1611773249.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 83.095918 deg,
      approachRate: -0.647382 m/s,
      LOS rate: -0.120649 deg/s,
      cmd update: -0.361947 deg/s,
      cmd heading: 85.067339 deg,
      new cmd heading: 84.913960 deg.

2021-01-27T18:47:30.517Z,1611773250.517 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:47:31.751Z,1611773251.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:32.510Z,1611773252.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:32.916Z,1611773252.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:33.757Z,1611773253.757 [Micromodem](INFO): Nmea in: $SNTTA,0.063178,,,,184733.92*4A

2021-01-27T18:47:33.793Z,1611773253.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 83.229625 deg, deltaT: 4.449997 s, approachRate: -0.606741 m/s, LOS rate: 0.030047 deg/s, posRepo size: 4
2021-01-27T18:47:33.795Z,1611773253.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.560005 m,
      bearing: 83.229625 deg,
      approachRate: -0.606741 m/s,
      LOS rate: 0.030047 deg/s,
      cmd update: 0.090140 deg/s,
      cmd heading: 83.456607 deg,
      new cmd heading: 83.305223 deg.

2021-01-27T18:47:36.198Z,1611773256.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:36.955Z,1611773256.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:37.396Z,1611773257.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:38.205Z,1611773258.205 [Micromodem](INFO): Nmea in: $SNTTA,0.061215,,,,184738.36*45

2021-01-27T18:47:38.225Z,1611773258.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 83.295571 deg, deltaT: 4.429343 s, approachRate: -0.677303 m/s, LOS rate: 0.014888 deg/s, posRepo size: 4
2021-01-27T18:47:38.226Z,1611773258.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.559998 m,
      bearing: 83.295571 deg,
      approachRate: -0.677303 m/s,
      LOS rate: 0.014888 deg/s,
      cmd update: 0.044665 deg/s,
      cmd heading: 83.855866 deg,
      new cmd heading: 83.893726 deg.

2021-01-27T18:47:40.663Z,1611773260.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:41.402Z,1611773261.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:41.804Z,1611773261.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:42.660Z,1611773262.660 [Micromodem](INFO): Nmea in: $SNTTA,0.059299,,,,184742.81*4B

2021-01-27T18:47:42.713Z,1611773262.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.800003 m, bearing: 83.949678 deg, deltaT: 4.420880 s, approachRate: -0.624309 m/s, LOS rate: 0.147958 deg/s, posRepo size: 4
2021-01-27T18:47:42.715Z,1611773262.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.800003 m,
      bearing: 83.949678 deg,
      approachRate: -0.624309 m/s,
      LOS rate: 0.147958 deg/s,
      cmd update: 0.443875 deg/s,
      cmd heading: 84.053326 deg,
      new cmd heading: 84.075150 deg.

2021-01-27T18:47:44.683Z,1611773264.683 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:47:45.058Z,1611773265.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:45.847Z,1611773265.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:46.252Z,1611773266.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:47.093Z,1611773267.093 [Micromodem](INFO): Nmea in: $SNTTA,0.057348,,,,184747.25*43

2021-01-27T18:47:47.119Z,1611773267.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.920006 m, bearing: 85.286762 deg, deltaT: 4.519698 s, approachRate: -0.637210 m/s, LOS rate: 0.295835 deg/s, posRepo size: 4
2021-01-27T18:47:47.137Z,1611773267.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 85.286762 deg,
      approachRate: -0.637210 m/s,
      LOS rate: 0.295835 deg/s,
      cmd update: 0.887505 deg/s,
      cmd heading: 86.057638 deg,
      new cmd heading: 86.225682 deg.

2021-01-27T18:47:49.511Z,1611773269.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:50.290Z,1611773270.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:50.708Z,1611773270.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:51.537Z,1611773271.537 [Micromodem](INFO): Nmea in: $SNTTA,0.055365,,,,184751.69*41

2021-01-27T18:47:51.562Z,1611773271.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 83.966179 deg, deltaT: 4.380141 s, approachRate: -0.698611 m/s, LOS rate: -0.301493 deg/s, posRepo size: 4
2021-01-27T18:47:51.588Z,1611773271.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.859993 m,
      bearing: 83.966179 deg,
      approachRate: -0.698611 m/s,
      LOS rate: -0.301493 deg/s,
      cmd update: -0.904480 deg/s,
      cmd heading: 89.948757 deg,
      new cmd heading: 90.336869 deg.

2021-01-27T18:47:53.955Z,1611773273.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:54.420Z,1611773274.420 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T18:47:54.734Z,1611773274.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:55.140Z,1611773275.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:47:55.973Z,1611773275.973 [Micromodem](INFO): Nmea in: $SNTTA,0.053512,,,,184756.14*4C

2021-01-27T18:47:56.008Z,1611773276.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.100006 m, bearing: 82.923407 deg, deltaT: 4.463230 s, approachRate: -0.618383 m/s, LOS rate: -0.233636 deg/s, posRepo size: 4
2021-01-27T18:47:56.010Z,1611773276.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.100006 m,
      bearing: 82.923407 deg,
      approachRate: -0.618383 m/s,
      LOS rate: -0.233636 deg/s,
      cmd update: -0.700908 deg/s,
      cmd heading: 85.911902 deg,
      new cmd heading: 85.532094 deg.

2021-01-27T18:47:58.421Z,1611773278.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:47:59.178Z,1611773279.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:47:59.599Z,1611773279.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:00.427Z,1611773280.427 [Micromodem](INFO): Nmea in: $SNTTA,0.051577,,,,184800.58*49

2021-01-27T18:48:00.453Z,1611773280.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.160004 m, bearing: 83.504554 deg, deltaT: 4.438537 s, approachRate: -0.662381 m/s, LOS rate: 0.130932 deg/s, posRepo size: 4
2021-01-27T18:48:00.455Z,1611773280.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 83.504554 deg,
      approachRate: -0.662381 m/s,
      LOS rate: 0.130932 deg/s,
      cmd update: 0.392796 deg/s,
      cmd heading: 82.803644 deg,
      new cmd heading: 82.502135 deg.

2021-01-27T18:48:02.861Z,1611773282.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:03.645Z,1611773283.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:04.028Z,1611773284.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:04.861Z,1611773284.861 [Micromodem](INFO): Nmea in: $SNTTA,0.049734,,0.079163,,184805.05*5C

2021-01-27T18:48:04.911Z,1611773284.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.340004 m, bearing: 83.567317 deg, deltaT: 4.428023 s, approachRate: -0.636853 m/s, LOS rate: 0.014174 deg/s, posRepo size: 4
2021-01-27T18:48:04.918Z,1611773284.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.340004 m,
      bearing: 83.567317 deg,
      approachRate: -0.636853 m/s,
      LOS rate: 0.014174 deg/s,
      cmd update: 0.042522 deg/s,
      cmd heading: 84.544523 deg,
      new cmd heading: 84.724045 deg.

2021-01-27T18:48:07.274Z,1611773287.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:08.074Z,1611773288.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:08.472Z,1611773288.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:09.365Z,1611773289.365 [Micromodem](INFO): Nmea in: $SNTTA,0.047920,,,,184809.48*48

2021-01-27T18:48:09.403Z,1611773289.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.700005 m, bearing: 82.707833 deg, deltaT: 4.468027 s, approachRate: -0.590865 m/s, LOS rate: -0.192363 deg/s, posRepo size: 4
2021-01-27T18:48:09.409Z,1611773289.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.700005 m,
      bearing: 82.707833 deg,
      approachRate: -0.590865 m/s,
      LOS rate: -0.192363 deg/s,
      cmd update: -0.577089 deg/s,
      cmd heading: 84.733824 deg,
      new cmd heading: 84.754932 deg.

2021-01-27T18:48:11.727Z,1611773291.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:12.510Z,1611773292.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:12.920Z,1611773292.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:13.757Z,1611773293.757 [Micromodem](INFO): Nmea in: $SNTTA,0.046009,,,,184813.91*44

2021-01-27T18:48:13.793Z,1611773293.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 82.620591 deg, deltaT: 4.464282 s, approachRate: -0.645120 m/s, LOS rate: -0.019542 deg/s, posRepo size: 4
2021-01-27T18:48:13.795Z,1611773293.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.820007 m,
      bearing: 82.620591 deg,
      approachRate: -0.645120 m/s,
      LOS rate: -0.019542 deg/s,
      cmd update: -0.058627 deg/s,
      cmd heading: 82.148205 deg,
      new cmd heading: 81.914037 deg.

2021-01-27T18:48:16.157Z,1611773296.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:16.965Z,1611773296.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:17.392Z,1611773297.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:18.193Z,1611773298.193 [Micromodem](INFO): Nmea in: $SNTTA,0.044047,,0.062046,,184818.37*53

2021-01-27T18:48:18.231Z,1611773298.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 83.634778 deg, deltaT: 4.462319 s, approachRate: -0.658851 m/s, LOS rate: 0.227278 deg/s, posRepo size: 4
2021-01-27T18:48:18.234Z,1611773298.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.880005 m,
      bearing: 83.634778 deg,
      approachRate: -0.658851 m/s,
      LOS rate: 0.227278 deg/s,
      cmd update: 0.681834 deg/s,
      cmd heading: 81.887088 deg,
      new cmd heading: 81.864170 deg.

2021-01-27T18:48:20.671Z,1611773300.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:21.400Z,1611773301.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:21.809Z,1611773301.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:22.665Z,1611773302.665 [Micromodem](INFO): Nmea in: $SNTTA,0.042185,,,,184822.80*47

2021-01-27T18:48:22.712Z,1611773302.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.059998 m, bearing: 83.891805 deg, deltaT: 4.378526 s, approachRate: -0.644054 m/s, LOS rate: 0.058702 deg/s, posRepo size: 4
2021-01-27T18:48:22.714Z,1611773302.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.059998 m,
      bearing: 83.891805 deg,
      approachRate: -0.644054 m/s,
      LOS rate: 0.058702 deg/s,
      cmd update: 0.176105 deg/s,
      cmd heading: 84.878224 deg,
      new cmd heading: 85.208307 deg.

2021-01-27T18:48:25.061Z,1611773305.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:25.846Z,1611773305.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:26.256Z,1611773306.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:27.091Z,1611773307.091 [Micromodem](INFO): Nmea in: $SNTTA,0.040284,,,,184827.25*4D

2021-01-27T18:48:27.114Z,1611773307.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 83.578894 deg, deltaT: 4.475767 s, approachRate: -0.643465 m/s, LOS rate: -0.069912 deg/s, posRepo size: 4
2021-01-27T18:48:27.117Z,1611773307.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.179996 m,
      bearing: 83.578894 deg,
      approachRate: -0.643465 m/s,
      LOS rate: -0.069912 deg/s,
      cmd update: -0.209737 deg/s,
      cmd heading: 85.666433 deg,
      new cmd heading: 85.738636 deg.

2021-01-27T18:48:29.519Z,1611773309.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:30.313Z,1611773310.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:30.704Z,1611773310.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:31.521Z,1611773311.521 [Micromodem](INFO): Nmea in: $SNTTA,0.038343,,,,184831.72*4D

2021-01-27T18:48:31.558Z,1611773311.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 83.274356 deg, deltaT: 4.405443 s, approachRate: -0.653736 m/s, LOS rate: -0.069128 deg/s, posRepo size: 4
2021-01-27T18:48:31.560Z,1611773311.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 83.274356 deg,
      approachRate: -0.653736 m/s,
      LOS rate: -0.069128 deg/s,
      cmd update: -0.207383 deg/s,
      cmd heading: 84.742442 deg,
      new cmd heading: 84.648165 deg.

2021-01-27T18:48:33.967Z,1611773313.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:34.730Z,1611773314.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:35.140Z,1611773315.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:35.990Z,1611773315.990 [Micromodem](INFO): Nmea in: $SNTTA,0.036439,,0.039776,,184836.14*5C

2021-01-27T18:48:36.030Z,1611773316.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 83.253756 deg, deltaT: 4.501426 s, approachRate: -0.626468 m/s, LOS rate: -0.004576 deg/s, posRepo size: 4
2021-01-27T18:48:36.033Z,1611773316.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 83.253756 deg,
      approachRate: -0.626468 m/s,
      LOS rate: -0.004576 deg/s,
      cmd update: -0.013729 deg/s,
      cmd heading: 83.814471 deg,
      new cmd heading: 83.721753 deg.

2021-01-27T18:48:38.441Z,1611773318.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:39.185Z,1611773319.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:39.585Z,1611773319.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:40.441Z,1611773320.441 [Micromodem](INFO): Nmea in: $SNTTA,0.034454,,,,184840.59*4F

2021-01-27T18:48:40.485Z,1611773320.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.479996 m, bearing: 84.242139 deg, deltaT: 4.412441 s, approachRate: -0.679897 m/s, LOS rate: 0.223999 deg/s, posRepo size: 4
2021-01-27T18:48:40.487Z,1611773320.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.479996 m,
      bearing: 84.242139 deg,
      approachRate: -0.679897 m/s,
      LOS rate: 0.223999 deg/s,
      cmd update: 0.671997 deg/s,
      cmd heading: 83.753525 deg,
      new cmd heading: 83.747183 deg.

2021-01-27T18:48:42.835Z,1611773322.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:43.625Z,1611773323.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:44.024Z,1611773324.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:44.865Z,1611773324.865 [Micromodem](INFO): Nmea in: $SNTTA,0.032577,,,,184845.03*43

2021-01-27T18:48:44.902Z,1611773324.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.660000 m, bearing: 83.865263 deg, deltaT: 4.452094 s, approachRate: -0.633409 m/s, LOS rate: -0.084651 deg/s, posRepo size: 4
2021-01-27T18:48:44.904Z,1611773324.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.660000 m,
      bearing: 83.865263 deg,
      approachRate: -0.633409 m/s,
      LOS rate: -0.084651 deg/s,
      cmd update: -0.253954 deg/s,
      cmd heading: 86.734581 deg,
      new cmd heading: 87.032270 deg.

2021-01-27T18:48:47.319Z,1611773327.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:48.086Z,1611773328.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:48.488Z,1611773328.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:49.347Z,1611773329.347 [Micromodem](INFO): Nmea in: $SNTTA,0.030679,,,,184849.49*4E

2021-01-27T18:48:49.433Z,1611773329.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.840000 m, bearing: 83.207236 deg, deltaT: 4.475956 s, approachRate: -0.630033 m/s, LOS rate: -0.147014 deg/s, posRepo size: 4
2021-01-27T18:48:49.435Z,1611773329.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.840000 m,
      bearing: 83.207236 deg,
      approachRate: -0.630033 m/s,
      LOS rate: -0.147014 deg/s,
      cmd update: -0.441041 deg/s,
      cmd heading: 85.594856 deg,
      new cmd heading: 85.471516 deg.

2021-01-27T18:48:51.759Z,1611773331.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:52.528Z,1611773332.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:52.949Z,1611773332.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:53.777Z,1611773333.777 [Micromodem](INFO): Nmea in: $SNTTA,0.028849,,,,184853.93*46

2021-01-27T18:48:53.831Z,1611773333.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 82.740065 deg, deltaT: 4.472366 s, approachRate: -0.617123 m/s, LOS rate: -0.104457 deg/s, posRepo size: 4
2021-01-27T18:48:53.837Z,1611773333.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.080002 m,
      bearing: 82.740065 deg,
      approachRate: -0.617123 m/s,
      LOS rate: -0.104457 deg/s,
      cmd update: -0.313372 deg/s,
      cmd heading: 83.622363 deg,
      new cmd heading: 83.440557 deg.

2021-01-27T18:48:56.189Z,1611773336.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:48:56.978Z,1611773336.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:48:57.392Z,1611773337.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:48:58.221Z,1611773338.221 [Micromodem](INFO): Nmea in: $SNTTA,0.026886,,,,184858.38*41

2021-01-27T18:48:58.243Z,1611773338.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.080002 m, bearing: 83.273810 deg, deltaT: 4.394818 s, approachRate: -0.682622 m/s, LOS rate: 0.121449 deg/s, posRepo size: 4
2021-01-27T18:48:58.245Z,1611773338.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.080002 m,
      bearing: 83.273810 deg,
      approachRate: -0.682622 m/s,
      LOS rate: 0.121449 deg/s,
      cmd update: 0.364346 deg/s,
      cmd heading: 82.244853 deg,
      new cmd heading: 82.110619 deg.

2021-01-27T18:49:00.672Z,1611773340.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:01.426Z,1611773341.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:01.824Z,1611773341.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:02.658Z,1611773342.658 [Micromodem](INFO): Nmea in: $SNTTA,0.024971,,0.044496,,184902.83*51

2021-01-27T18:49:02.742Z,1611773342.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.259998 m, bearing: 83.135492 deg, deltaT: 4.422571 s, approachRate: -0.637639 m/s, LOS rate: -0.031276 deg/s, posRepo size: 4
2021-01-27T18:49:02.742Z,1611773342.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.26 m.
2021-01-27T18:49:02.745Z,1611773342.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.259998 m,
      bearing: 83.135492 deg,
      approachRate: -0.637639 m/s,
      LOS rate: -0.031276 deg/s,
      cmd update: -0.093827 deg/s,
      cmd heading: 83.857318 deg,
      new cmd heading: 84.040037 deg.

2021-01-27T18:49:03.082Z,1611773343.082 [PowerOnly](INFO): Powering up loadControl
2021-01-27T18:49:04.755Z,1611773344.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:05.499Z,1611773345.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:05.895Z,1611773345.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30

2021-01-27T18:49:05.895Z,1611773345.895 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30
 expected 5
2021-01-27T18:49:05.895Z,1611773345.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:05.899Z,1611773345.899 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-01-27T18:49:05.901Z,1611773345.901 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-01-27T18:49:06.327Z,1611773346.327 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,184906.909819,3,0,40,4000,14500,1,0,0,0,1,0,3,0*72

2021-01-27T18:49:06.333Z,1611773346.333 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,184906.909819,3,0,40,4000,14500,1,0,0,0,1,0,3,0*72

2021-01-27T18:49:06.341Z,1611773346.341 [Micromodem](INFO): Nmea in: $CAERR,184907,NI  ,29,Busy completing a previous request*78

2021-01-27T18:49:06.342Z,1611773346.342 [Micromodem](ERROR): Got error from modem: $CAERR,184907,NI  ,29,Busy completing a previous request*78

2021-01-27T18:49:06.749Z,1611773346.749 [Micromodem](INFO): Nmea in: $SNTTA,0.023248,,,,184906.90*44

2021-01-27T18:49:06.749Z,1611773346.749 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.023248,,,,184906.90*44

2021-01-27T18:49:06.775Z,1611773346.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 82.289559 deg, deltaT: 4.177668 s, approachRate: -0.617569 m/s, LOS rate: -0.202489 deg/s, posRepo size: 4
2021-01-27T18:49:06.776Z,1611773346.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.68 m.
2021-01-27T18:49:06.778Z,1611773346.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.680000 m,
      bearing: 82.289559 deg,
      approachRate: -0.617569 m/s,
      LOS rate: -0.202489 deg/s,
      cmd update: -0.607468 deg/s,
      cmd heading: 83.465734 deg,
      new cmd heading: 83.431838 deg.

2021-01-27T18:49:09.121Z,1611773349.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:11.951Z,1611773351.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:14.771Z,1611773354.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:17.174Z,1611773357.174 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:17.285Z,1611773357.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:17.605Z,1611773357.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:17.983Z,1611773357.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:18.419Z,1611773358.419 [Micromodem](INFO): Nmea in: $CAERR,184919,NI  ,29,Busy completing a previous request*77

2021-01-27T18:49:18.419Z,1611773358.419 [Micromodem](ERROR): Got error from modem: $CAERR,184919,NI  ,29,Busy completing a previous request*77

2021-01-27T18:49:18.421Z,1611773358.421 [Micromodem](INFO): Nmea in: $SNTTA,0.019635,0.044266,,,184918.58*54

2021-01-27T18:49:18.421Z,1611773358.421 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.019635,0.044266,,,184918.58*54

2021-01-27T18:49:20.027Z,1611773360.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:22.874Z,1611773362.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:25.730Z,1611773365.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:28.512Z,1611773368.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:29.380Z,1611773369.380 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:29.716Z,1611773369.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:30.614Z,1611773370.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 91.471888 deg, deltaT: 23.723271 s, approachRate: -0.505833 m/s, LOS rate: 0.387060 deg/s, posRepo size: 4
2021-01-27T18:49:30.614Z,1611773370.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.68 m.
2021-01-27T18:49:30.631Z,1611773370.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.679996 m,
      bearing: 91.471888 deg,
      approachRate: -0.505833 m/s,
      LOS rate: 0.387060 deg/s,
      cmd update: 1.161180 deg/s,
      cmd heading: 69.054640 deg,
      new cmd heading: 68.765047 deg.

2021-01-27T18:49:30.945Z,1611773370.945 [Micromodem](INFO): Nmea in: $SNTTA,0.015250,,,,184930.79*4A

2021-01-27T18:49:32.971Z,1611773372.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:33.337Z,1611773373.337 [DDM](FAULT): Failed to extend whisker before timeout.
2021-01-27T18:49:33.337Z,1611773373.337 [DDM] Hardware Fault, FailCount= 1
2021-01-27T18:49:33.338Z,1611773373.338 [DDM](ERROR): Hardware Fault
2021-01-27T18:49:33.468Z,1611773373.468 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T18:49:33.709Z,1611773373.709 [DDM](INFO): Powering down
2021-01-27T18:49:33.786Z,1611773373.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:34.126Z,1611773374.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:34.679Z,1611773374.679 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T18:49:34.680Z,1611773374.680 [DDM] No Fault, FailCount= 1
2021-01-27T18:49:34.959Z,1611773374.959 [Micromodem](INFO): Nmea in: $SNTTA,0.014059,,,,184935.19*43

2021-01-27T18:49:35.016Z,1611773375.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 94.946890 deg, deltaT: 4.426117 s, approachRate: -0.406676 m/s, LOS rate: 0.785113 deg/s, posRepo size: 4
2021-01-27T18:49:35.017Z,1611773375.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.88 m.
2021-01-27T18:49:35.018Z,1611773375.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.879999 m,
      bearing: 94.946890 deg,
      approachRate: -0.406676 m/s,
      LOS rate: 0.785113 deg/s,
      cmd update: 2.355339 deg/s,
      cmd heading: 74.198863 deg,
      new cmd heading: 74.701130 deg.

2021-01-27T18:49:37.382Z,1611773377.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:38.176Z,1611773378.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:38.563Z,1611773378.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:38.964Z,1611773378.964 [DDM](INFO): Powering up
2021-01-27T18:49:38.964Z,1611773378.964 [DDM](DEBUG): Initializing DDM.
2021-01-27T18:49:39.421Z,1611773379.421 [Micromodem](INFO): Nmea in: $SNTTA,0.012794,,,,184939.58*4A

2021-01-27T18:49:39.463Z,1611773379.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 98.080526 deg, deltaT: 4.466721 s, approachRate: -0.429845 m/s, LOS rate: 0.701552 deg/s, posRepo size: 4
2021-01-27T18:49:39.463Z,1611773379.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.96 m.
2021-01-27T18:49:39.465Z,1611773379.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 98.080526 deg,
      approachRate: -0.429845 m/s,
      LOS rate: 0.701552 deg/s,
      cmd update: 2.104655 deg/s,
      cmd heading: 84.710138 deg,
      new cmd heading: 85.729293 deg.

2021-01-27T18:49:42.231Z,1611773382.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1432.080078 m, bearing: 66.672427 deg, deltaT: 2.784896 s, approachRate: 507.422943 m/s, LOS rate: -11.278015 deg/s, posRepo size: 4
2021-01-27T18:49:42.233Z,1611773382.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1432.080078 m,
      bearing: 66.672427 deg,
      approachRate: 507.422943 m/s,
      LOS rate: -11.278015 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 90.579814 deg,
      new cmd heading: 91.447454 deg.

2021-01-27T18:49:44.709Z,1611773384.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:45.429Z,1611773385.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:45.855Z,1611773385.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:46.685Z,1611773386.685 [Micromodem](INFO): Nmea in: $SNTTA,0.010785,,,,184946.83*46

2021-01-27T18:49:46.733Z,1611773386.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.899998 m, bearing: 101.587535 deg, deltaT: 4.432700 s, approachRate: -319.484741 m/s, LOS rate: 7.876713 deg/s, posRepo size: 4
2021-01-27T18:49:46.734Z,1611773386.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.90 m.
2021-01-27T18:49:46.736Z,1611773386.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 101.587535 deg,
      approachRate: -319.484741 m/s,
      LOS rate: 7.876713 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 37.387424 deg,
      new cmd heading: 31.607180 deg.

2021-01-27T18:49:48.765Z,1611773388.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:49.474Z,1611773389.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:49.892Z,1611773389.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:50.709Z,1611773390.709 [Micromodem](INFO): Nmea in: $SNTTA,0.009707,,,,184950.88*48

2021-01-27T18:49:50.772Z,1611773390.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 109.502289 deg, deltaT: 4.098628 s, approachRate: -0.365975 m/s, LOS rate: 1.931074 deg/s, posRepo size: 4
2021-01-27T18:49:50.773Z,1611773390.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.40 m.
2021-01-27T18:49:50.774Z,1611773390.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 109.502289 deg,
      approachRate: -0.365975 m/s,
      LOS rate: 1.931074 deg/s,
      cmd update: 5.793223 deg/s,
      cmd heading: 86.459013 deg,
      new cmd heading: 91.437441 deg.

2021-01-27T18:49:53.548Z,1611773393.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1380.000000 m, bearing: 64.937293 deg, deltaT: 2.771150 s, approachRate: 492.791779 m/s, LOS rate: -16.081769 deg/s, posRepo size: 4
2021-01-27T18:49:53.549Z,1611773393.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.081769 deg/s. Setting heading cmd to target bearing of 64.937293deg and heading rate command to 0 deg/s.
2021-01-27T18:49:54.719Z,1611773394.719 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T18:49:56.005Z,1611773396.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:49:56.794Z,1611773396.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:49:57.181Z,1611773397.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:49:58.013Z,1611773398.013 [Micromodem](INFO): Nmea in: $SNTTA,0.008270,0.042751,,,184958.20*5D

2021-01-27T18:49:58.071Z,1611773398.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 127.122880 deg, deltaT: 4.526415 s, approachRate: -302.172913 m/s, LOS rate: 13.738375 deg/s, posRepo size: 4
2021-01-27T18:49:58.071Z,1611773398.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.24 m.
2021-01-27T18:49:58.076Z,1611773398.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 12.24 m.
2021-01-27T18:49:58.076Z,1611773398.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T18:49:58.077Z,1611773398.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.738375 deg/s. Setting heading cmd to target bearing of 127.122880deg and heading rate command to 0 deg/s.
2021-01-27T18:50:00.462Z,1611773400.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:01.219Z,1611773401.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:01.627Z,1611773401.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:02.461Z,1611773402.461 [Micromodem](INFO): Nmea in: $SNTTA,0.007460,,,,185002.63*4E

2021-01-27T18:50:02.510Z,1611773402.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.980000 m, bearing: 128.173213 deg, deltaT: 4.393122 s, approachRate: -0.286812 m/s, LOS rate: 0.239086 deg/s, posRepo size: 4
2021-01-27T18:50:02.513Z,1611773402.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 128.173213 deg,
      approachRate: -0.286812 m/s,
      LOS rate: 0.239086 deg/s,
      cmd update: 0.717257 deg/s,
      cmd heading: 127.122880 deg,
      new cmd heading: 127.122880 deg.

2021-01-27T18:50:04.883Z,1611773404.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:05.713Z,1611773405.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:06.078Z,1611773406.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:06.895Z,1611773406.895 [Micromodem](INFO): Nmea in: $SNTTA,0.007129,,,,185007.12*45

2021-01-27T18:50:06.945Z,1611773406.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 133.275678 deg, deltaT: 4.481946 s, approachRate: -0.093709 m/s, LOS rate: 1.138449 deg/s, posRepo size: 4
2021-01-27T18:50:06.947Z,1611773406.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 133.275678 deg,
      approachRate: -0.093709 m/s,
      LOS rate: 1.138449 deg/s,
      cmd update: 3.415346 deg/s,
      cmd heading: 130.334757 deg,
      new cmd heading: 130.640196 deg.

2021-01-27T18:50:08.927Z,1611773408.927 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:50:09.379Z,1611773409.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:10.106Z,1611773410.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:10.522Z,1611773410.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:11.365Z,1611773411.365 [Micromodem](INFO): Nmea in: $SNTTA,0.006659,,,,185011.51*44

2021-01-27T18:50:11.417Z,1611773411.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.839999 m, bearing: 142.874225 deg, deltaT: 4.438634 s, approachRate: -0.162212 m/s, LOS rate: 2.162500 deg/s, posRepo size: 4
2021-01-27T18:50:11.422Z,1611773411.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 142.874225 deg,
      approachRate: -0.162212 m/s,
      LOS rate: 2.162500 deg/s,
      cmd update: 6.487501 deg/s,
      cmd heading: 145.500082 deg,
      new cmd heading: 146.994196 deg.

2021-01-27T18:50:13.788Z,1611773413.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:14.550Z,1611773414.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:14.961Z,1611773414.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:15.801Z,1611773415.801 [Micromodem](INFO): Nmea in: $SNTTA,0.006057,,,,185015.95*40

2021-01-27T18:50:15.825Z,1611773415.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.880000 m, bearing: 154.586934 deg, deltaT: 4.449432 s, approachRate: -0.215758 m/s, LOS rate: 2.632405 deg/s, posRepo size: 4
2021-01-27T18:50:15.827Z,1611773415.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 154.586934 deg,
      approachRate: -0.215758 m/s,
      LOS rate: 2.632405 deg/s,
      cmd update: 7.897217 deg/s,
      cmd heading: 174.382052 deg,
      new cmd heading: 177.068993 deg.

2021-01-27T18:50:18.198Z,1611773418.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:19.002Z,1611773419.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:19.400Z,1611773419.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:20.245Z,1611773420.245 [Micromodem](INFO): Nmea in: $SNTTA,0.005552,,,,185020.41*4C

2021-01-27T18:50:20.267Z,1611773420.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.160001 m, bearing: 166.910535 deg, deltaT: 4.439912 s, approachRate: -0.162165 m/s, LOS rate: 2.775641 deg/s, posRepo size: 4
2021-01-27T18:50:20.269Z,1611773420.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 166.910535 deg,
      approachRate: -0.162165 m/s,
      LOS rate: 2.775641 deg/s,
      cmd update: 8.326923 deg/s,
      cmd heading: 209.412707 deg,
      new cmd heading: 212.730794 deg.

2021-01-27T18:50:22.713Z,1611773422.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:23.434Z,1611773423.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:23.847Z,1611773423.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:24.689Z,1611773424.689 [Micromodem](INFO): Nmea in: $SNTTA,0.004827,,,0.020639,185024.84*5F

2021-01-27T18:50:24.761Z,1611773424.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 187.586720 deg, deltaT: 4.428754 s, approachRate: -0.216766 m/s, LOS rate: 4.668623 deg/s, posRepo size: 4
2021-01-27T18:50:24.775Z,1611773424.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 187.586720 deg,
      approachRate: -0.216766 m/s,
      LOS rate: 4.668623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 246.286320 deg,
      new cmd heading: 250.294575 deg.

2021-01-27T18:50:27.086Z,1611773427.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:27.879Z,1611773427.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:28.283Z,1611773428.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:29.121Z,1611773429.121 [Micromodem](INFO): Nmea in: $SNTTA,0.004429,,,,185029.28*46

2021-01-27T18:50:29.155Z,1611773429.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 135.127739 deg, deltaT: 4.475322 s, approachRate: -0.134068 m/s, LOS rate: -11.721834 deg/s, posRepo size: 4
2021-01-27T18:50:29.156Z,1611773429.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.721834 deg/s. Setting heading cmd to target bearing of 135.127739deg and heading rate command to 0 deg/s.
2021-01-27T18:50:31.601Z,1611773431.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:32.342Z,1611773432.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:32.742Z,1611773432.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:33.557Z,1611773433.557 [Micromodem](INFO): Nmea in: $SNTTA,0.003978,,0.036897,,185033.75*56

2021-01-27T18:50:33.599Z,1611773433.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 150.407732 deg, deltaT: 4.416548 s, approachRate: -0.149438 m/s, LOS rate: 3.459714 deg/s, posRepo size: 4
2021-01-27T18:50:33.606Z,1611773433.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 150.407732 deg,
      approachRate: -0.149438 m/s,
      LOS rate: 3.459714 deg/s,
      cmd update: 10.379143 deg/s,
      cmd heading: 135.127739 deg,
      new cmd heading: 135.127739 deg.

2021-01-27T18:50:35.997Z,1611773435.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:36.770Z,1611773436.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:37.178Z,1611773437.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:37.193Z,1611773437.193 [PowerOnly](INFO): Powering down loadControl
2021-01-27T18:50:38.025Z,1611773438.025 [Micromodem](INFO): Nmea in: $SNTTA,0.003664,,,,185038.17*46

2021-01-27T18:50:38.079Z,1611773438.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 220.266620 deg, deltaT: 4.486000 s, approachRate: -0.120375 m/s, LOS rate: 15.572645 deg/s, posRepo size: 4
2021-01-27T18:50:38.084Z,1611773438.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.572645 deg/s. Setting heading cmd to target bearing of 220.266620deg and heading rate command to 0 deg/s.
2021-01-27T18:50:40.431Z,1611773440.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:41.214Z,1611773441.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:41.634Z,1611773441.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:42.461Z,1611773442.461 [Micromodem](INFO): Nmea in: $SNTTA,0.003643,,0.153532,,185042.62*51

2021-01-27T18:50:42.486Z,1611773442.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 201.407935 deg, deltaT: 4.398985 s, approachRate: 0.013640 m/s, LOS rate: -4.287054 deg/s, posRepo size: 4
2021-01-27T18:50:42.488Z,1611773442.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 201.407935 deg,
      approachRate: 0.013640 m/s,
      LOS rate: -4.287054 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 220.266620 deg,
      new cmd heading: 220.266620 deg.

2021-01-27T18:50:44.900Z,1611773444.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:45.690Z,1611773445.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:46.068Z,1611773446.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:46.901Z,1611773446.901 [Micromodem](INFO): Nmea in: $SNTTA,0.004016,,0.046166,,185047.09*58

2021-01-27T18:50:46.950Z,1611773446.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 202.921806 deg, deltaT: 4.430264 s, approachRate: 0.108346 m/s, LOS rate: 0.341711 deg/s, posRepo size: 4
2021-01-27T18:50:46.950Z,1611773446.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 5.94 m.
2021-01-27T18:50:46.956Z,1611773446.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 202.921806 deg,
      approachRate: 0.108346 m/s,
      LOS rate: 0.341711 deg/s,
      cmd update: 1.025133 deg/s,
      cmd heading: 167.055210 deg,
      new cmd heading: 161.498022 deg.

2021-01-27T18:50:49.358Z,1611773449.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:50.094Z,1611773450.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:50.508Z,1611773450.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:51.369Z,1611773451.369 [Micromodem](INFO): Nmea in: $SNTTA,0.004767,,,,185051.50*4F

2021-01-27T18:50:51.394Z,1611773451.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 196.886350 deg, deltaT: 4.443865 s, approachRate: 0.270035 m/s, LOS rate: -1.358155 deg/s, posRepo size: 4
2021-01-27T18:50:51.394Z,1611773451.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.14 m.
2021-01-27T18:50:51.396Z,1611773451.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 196.886350 deg,
      approachRate: 0.270035 m/s,
      LOS rate: -1.358155 deg/s,
      cmd update: -4.074464 deg/s,
      cmd heading: 171.610738 deg,
      new cmd heading: 172.085433 deg.

2021-01-27T18:50:53.763Z,1611773453.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:54.550Z,1611773454.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:54.960Z,1611773454.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:50:55.789Z,1611773455.789 [Micromodem](INFO): Nmea in: $SNTTA,0.006396,,,,185055.95*4A

2021-01-27T18:50:55.833Z,1611773455.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 167.035158 deg, deltaT: 4.500247 s, approachRate: 0.493306 m/s, LOS rate: -6.633234 deg/s, posRepo size: 4
2021-01-27T18:50:55.835Z,1611773455.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 167.035158 deg,
      approachRate: 0.493306 m/s,
      LOS rate: -6.633234 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.291336 deg,
      new cmd heading: 151.719388 deg.

2021-01-27T18:50:58.206Z,1611773458.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:50:58.994Z,1611773458.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:50:59.400Z,1611773459.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:00.245Z,1611773460.245 [Micromodem](INFO): Nmea in: $SNTTA,0.007341,,,,185100.40*48

2021-01-27T18:51:00.267Z,1611773460.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.800001 m, bearing: 160.273572 deg, deltaT: 4.402813 s, approachRate: 0.327064 m/s, LOS rate: -1.535742 deg/s, posRepo size: 4
2021-01-27T18:51:00.289Z,1611773460.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 160.273572 deg,
      approachRate: 0.327064 m/s,
      LOS rate: -1.535742 deg/s,
      cmd update: -4.607227 deg/s,
      cmd heading: 100.407791 deg,
      new cmd heading: 95.208395 deg.

2021-01-27T18:51:02.707Z,1611773462.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:03.434Z,1611773463.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:03.853Z,1611773463.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:04.693Z,1611773464.693 [Micromodem](INFO): Nmea in: $SNTTA,0.008175,,,,185104.84*4E

2021-01-27T18:51:04.733Z,1611773464.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 128.420397 deg, deltaT: 4.449862 s, approachRate: 0.350573 m/s, LOS rate: -7.158239 deg/s, posRepo size: 4
2021-01-27T18:51:04.733Z,1611773464.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.36 m. Rolling out.
2021-01-27T18:51:04.733Z,1611773464.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-01-27T18:51:07.106Z,1611773467.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:07.878Z,1611773467.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:08.305Z,1611773468.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:09.122Z,1611773469.122 [Micromodem](INFO): Nmea in: $SNTTA,0.009435,,,,185109.28*45

2021-01-27T18:51:09.137Z,1611773469.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 165.087680 deg, deltaT: 4.479388 s, approachRate: 0.428630 m/s, LOS rate: 8.185779 deg/s, posRepo size: 4
2021-01-27T18:51:11.551Z,1611773471.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:12.350Z,1611773472.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:12.756Z,1611773472.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:13.559Z,1611773473.559 [Micromodem](INFO): Nmea in: $SNTTA,0.010723,,0.024486,,185113.75*58

2021-01-27T18:51:13.601Z,1611773473.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.199997 m, bearing: 145.198798 deg, deltaT: 4.478086 s, approachRate: 0.428754 m/s, LOS rate: -4.441380 deg/s, posRepo size: 4
2021-01-27T18:51:15.987Z,1611773475.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:16.778Z,1611773476.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:17.185Z,1611773477.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:18.038Z,1611773478.038 [Micromodem](INFO): Nmea in: $SNTTA,0.011618,,,,185118.18*42

2021-01-27T18:51:18.073Z,1611773478.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.700001 m, bearing: 104.184092 deg, deltaT: 4.423311 s, approachRate: 0.339113 m/s, LOS rate: -9.272399 deg/s, posRepo size: 4
2021-01-27T18:51:20.432Z,1611773480.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:21.223Z,1611773481.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:21.643Z,1611773481.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:22.461Z,1611773482.461 [Micromodem](INFO): Nmea in: $SNTTA,0.012109,,,,185122.63*43

2021-01-27T18:51:22.486Z,1611773482.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 16.125479 deg, deltaT: 4.404916 s, approachRate: 0.136211 m/s, LOS rate: -19.990985 deg/s, posRepo size: 4
2021-01-27T18:51:24.877Z,1611773484.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:25.693Z,1611773485.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:26.076Z,1611773486.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:26.898Z,1611773486.898 [Micromodem](INFO): Nmea in: $SNTTA,0.012460,,,,185127.10*48

2021-01-27T18:51:26.938Z,1611773486.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 32.672637 deg, deltaT: 4.432741 s, approachRate: 0.094750 m/s, LOS rate: 3.732940 deg/s, posRepo size: 4
2021-01-27T18:51:29.358Z,1611773489.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:30.130Z,1611773490.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:30.523Z,1611773490.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:31.341Z,1611773491.341 [Micromodem](INFO): Nmea in: $SNTTA,0.013095,,,,185131.54*40

2021-01-27T18:51:31.382Z,1611773491.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 55.779170 deg, deltaT: 4.427798 s, approachRate: 0.230363 m/s, LOS rate: 5.218516 deg/s, posRepo size: 4
2021-01-27T18:51:33.783Z,1611773493.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:34.554Z,1611773494.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:34.960Z,1611773494.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:35.798Z,1611773495.798 [Micromodem](INFO): Nmea in: $SNTTA,0.013954,,,,185135.96*4E

2021-01-27T18:51:35.846Z,1611773495.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 86.427943 deg, deltaT: 4.494333 s, approachRate: 0.467256 m/s, LOS rate: 6.819426 deg/s, posRepo size: 4
2021-01-27T18:51:38.197Z,1611773498.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:39.004Z,1611773499.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:39.400Z,1611773499.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:40.229Z,1611773500.229 [Micromodem](INFO): Nmea in: $SNTTA,0.014961,,0.348362,,185140.41*51

2021-01-27T18:51:40.272Z,1611773500.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.099997 m, bearing: 63.057871 deg, deltaT: 4.397669 s, approachRate: 0.286514 m/s, LOS rate: -5.314195 deg/s, posRepo size: 4
2021-01-27T18:51:42.687Z,1611773502.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:43.434Z,1611773503.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:43.843Z,1611773503.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:44.705Z,1611773504.705 [Micromodem](INFO): Nmea in: $SNTTA,0.016187,,,,185144.84*48

2021-01-27T18:51:44.767Z,1611773504.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.420002 m, bearing: 33.243425 deg, deltaT: 4.476807 s, approachRate: 0.294854 m/s, LOS rate: -6.659757 deg/s, posRepo size: 4
2021-01-27T18:51:47.109Z,1611773507.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:47.887Z,1611773507.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:48.301Z,1611773508.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:49.137Z,1611773509.137 [Micromodem](INFO): Nmea in: $SNTTA,0.017453,,,,185149.29*4F

2021-01-27T18:51:49.152Z,1611773509.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.399998 m, bearing: 87.662070 deg, deltaT: 4.443579 s, approachRate: 0.445586 m/s, LOS rate: 12.246580 deg/s, posRepo size: 4
2021-01-27T18:51:51.554Z,1611773511.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:52.342Z,1611773512.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:52.776Z,1611773512.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:53.581Z,1611773513.581 [Micromodem](INFO): Nmea in: $SNTTA,0.018808,,,,185153.75*40

2021-01-27T18:51:53.626Z,1611773513.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 92.342874 deg, deltaT: 4.440606 s, approachRate: 0.459397 m/s, LOS rate: 1.054091 deg/s, posRepo size: 4
2021-01-27T18:51:56.031Z,1611773516.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:51:56.790Z,1611773516.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:51:57.205Z,1611773517.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:51:58.027Z,1611773518.027 [Micromodem](INFO): Nmea in: $SNTTA,0.020350,,,,185158.19*4C

2021-01-27T18:51:58.101Z,1611773518.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 44.353572 deg, deltaT: 4.491162 s, approachRate: 0.521023 m/s, LOS rate: -10.685275 deg/s, posRepo size: 4
2021-01-27T18:52:00.463Z,1611773520.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:01.235Z,1611773521.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:01.652Z,1611773521.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:02.481Z,1611773522.481 [Micromodem](INFO): Nmea in: $SNTTA,0.021878,,0.373925,,185202.64*5D

2021-01-27T18:52:02.506Z,1611773522.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.119999 m, bearing: 36.723526 deg, deltaT: 4.394640 s, approachRate: 0.532467 m/s, LOS rate: -1.736216 deg/s, posRepo size: 4
2021-01-27T18:52:04.897Z,1611773524.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:05.674Z,1611773525.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:06.092Z,1611773526.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:06.921Z,1611773526.921 [Micromodem](INFO): Nmea in: $SNTTA,0.023453,,,,185207.08*42

2021-01-27T18:52:06.947Z,1611773526.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.520000 m, bearing: 34.345142 deg, deltaT: 4.479297 s, approachRate: 0.535799 m/s, LOS rate: -0.530973 deg/s, posRepo size: 4
2021-01-27T18:52:09.366Z,1611773529.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:10.118Z,1611773530.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:10.524Z,1611773530.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:11.391Z,1611773531.391 [Micromodem](INFO): Nmea in: $SNTTA,0.025060,,,,185211.52*48

2021-01-27T18:52:11.416Z,1611773531.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.739998 m, bearing: 29.468284 deg, deltaT: 4.391356 s, approachRate: 0.505538 m/s, LOS rate: -1.110558 deg/s, posRepo size: 4
2021-01-27T18:52:13.794Z,1611773533.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:14.580Z,1611773534.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:14.964Z,1611773534.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:15.805Z,1611773535.805 [Micromodem](INFO): Nmea in: $SNTTA,0.026796,,,,185215.98*47

2021-01-27T18:52:15.836Z,1611773535.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 27.233631 deg, deltaT: 4.489273 s, approachRate: 0.574703 m/s, LOS rate: -0.497776 deg/s, posRepo size: 4
2021-01-27T18:52:18.238Z,1611773538.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:19.014Z,1611773539.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:19.420Z,1611773539.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:20.253Z,1611773540.253 [Micromodem](INFO): Nmea in: $SNTTA,0.028337,,,,185220.42*47

2021-01-27T18:52:20.329Z,1611773540.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.660000 m, bearing: 23.471440 deg, deltaT: 4.437593 s, approachRate: 0.527314 m/s, LOS rate: -0.847800 deg/s, posRepo size: 4
2021-01-27T18:52:22.706Z,1611773542.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:23.454Z,1611773543.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:23.856Z,1611773543.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:24.717Z,1611773544.717 [Micromodem](INFO): Nmea in: $SNTTA,0.030149,,,0.032624,185224.86*56

2021-01-27T18:52:24.775Z,1611773544.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.360001 m, bearing: 94.781463 deg, deltaT: 4.402858 s, approachRate: 0.613238 m/s, LOS rate: 16.196303 deg/s, posRepo size: 4
2021-01-27T18:52:25.899Z,1611773545.899 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:52:27.108Z,1611773547.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:27.887Z,1611773547.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:28.329Z,1611773548.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:29.133Z,1611773549.133 [Micromodem](INFO): Nmea in: $SNTTA,0.031791,,,,185229.29*43

2021-01-27T18:52:29.166Z,1611773549.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.820000 m, bearing: 96.924715 deg, deltaT: 4.476716 s, approachRate: 0.549510 m/s, LOS rate: 0.478755 deg/s, posRepo size: 4
2021-01-27T18:52:31.565Z,1611773551.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:32.350Z,1611773552.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:32.752Z,1611773552.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:33.581Z,1611773553.581 [Micromodem](INFO): Nmea in: $SNTTA,0.033625,,,,185233.76*4E

2021-01-27T18:52:33.610Z,1611773553.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 92.099295 deg, deltaT: 4.438736 s, approachRate: 0.621799 m/s, LOS rate: -1.087116 deg/s, posRepo size: 4
2021-01-27T18:52:36.003Z,1611773556.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:36.782Z,1611773556.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:37.188Z,1611773557.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:38.029Z,1611773558.029 [Micromodem](INFO): Nmea in: $SNTTA,0.035377,,,,185238.19*48

2021-01-27T18:52:38.053Z,1611773558.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.220001 m, bearing: 94.913443 deg, deltaT: 4.486646 s, approachRate: 0.588413 m/s, LOS rate: 0.627227 deg/s, posRepo size: 4
2021-01-27T18:52:40.476Z,1611773560.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:41.237Z,1611773561.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:41.661Z,1611773561.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:42.473Z,1611773562.473 [Micromodem](INFO): Nmea in: $SNTTA,0.037368,,,,185242.64*43

2021-01-27T18:52:42.509Z,1611773562.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.219994 m, bearing: 97.581820 deg, deltaT: 4.377542 s, approachRate: 0.685314 m/s, LOS rate: 0.609561 deg/s, posRepo size: 4
2021-01-27T18:52:44.887Z,1611773564.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:45.702Z,1611773565.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:46.080Z,1611773566.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:46.917Z,1611773566.917 [Micromodem](INFO): Nmea in: $SNTTA,0.039230,,,,185247.11*46

2021-01-27T18:52:46.956Z,1611773566.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 99.219119 deg, deltaT: 4.462216 s, approachRate: 0.618528 m/s, LOS rate: 0.366925 deg/s, posRepo size: 4
2021-01-27T18:52:49.355Z,1611773569.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:50.123Z,1611773570.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:50.536Z,1611773570.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:51.381Z,1611773571.381 [Micromodem](INFO): Nmea in: $SNTTA,0.041140,,0.068347,,185251.53*5C

2021-01-27T18:52:51.430Z,1611773571.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 101.214319 deg, deltaT: 4.460365 s, approachRate: 0.645687 m/s, LOS rate: 0.447318 deg/s, posRepo size: 4
2021-01-27T18:52:53.783Z,1611773573.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:54.576Z,1611773574.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:54.964Z,1611773574.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:52:55.790Z,1611773575.790 [Micromodem](INFO): Nmea in: $SNTTA,0.043018,,,,185255.98*41

2021-01-27T18:52:55.814Z,1611773575.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.680008 m, bearing: 74.338358 deg, deltaT: 4.479127 s, approachRate: 0.629589 m/s, LOS rate: -6.000268 deg/s, posRepo size: 4
2021-01-27T18:52:58.210Z,1611773578.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:52:59.002Z,1611773579.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:52:59.412Z,1611773579.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:00.241Z,1611773580.241 [Micromodem](INFO): Nmea in: $SNTTA,0.044976,,,,185300.41*42

2021-01-27T18:53:00.263Z,1611773580.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 69.738335 deg, deltaT: 4.383770 s, approachRate: 0.670653 m/s, LOS rate: -1.049330 deg/s, posRepo size: 4
2021-01-27T18:53:02.767Z,1611773582.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:03.446Z,1611773583.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:03.856Z,1611773583.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:04.713Z,1611773584.713 [Micromodem](INFO): Nmea in: $SNTTA,0.046949,,,,185304.85*40

2021-01-27T18:53:04.771Z,1611773584.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.559998 m, bearing: 71.194818 deg, deltaT: 4.434944 s, approachRate: 0.662918 m/s, LOS rate: 0.328411 deg/s, posRepo size: 4
2021-01-27T18:53:07.108Z,1611773587.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:07.894Z,1611773587.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:08.326Z,1611773588.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:09.149Z,1611773589.149 [Micromodem](INFO): Nmea in: $SNTTA,0.048945,,,,185309.30*41

2021-01-27T18:53:09.171Z,1611773589.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.560005 m, bearing: 75.956109 deg, deltaT: 4.473890 s, approachRate: 0.670559 m/s, LOS rate: 1.064240 deg/s, posRepo size: 4
2021-01-27T18:53:11.556Z,1611773591.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:12.363Z,1611773592.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:12.784Z,1611773592.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:13.624Z,1611773593.624 [Micromodem](INFO): Nmea in: $SNTTA,0.050962,,,,185313.77*45

2021-01-27T18:53:13.713Z,1611773593.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 75.352143 deg, deltaT: 4.453472 s, approachRate: 0.660158 m/s, LOS rate: -0.135617 deg/s, posRepo size: 4
2021-01-27T18:53:16.030Z,1611773596.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:16.814Z,1611773596.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:17.220Z,1611773597.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:18.057Z,1611773598.057 [Micromodem](INFO): Nmea in: $SNTTA,0.053084,,,,185318.22*4C

2021-01-27T18:53:18.092Z,1611773598.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.160004 m, bearing: 65.102331 deg, deltaT: 4.522256 s, approachRate: 0.809331 m/s, LOS rate: -2.266526 deg/s, posRepo size: 4
2021-01-27T18:53:20.493Z,1611773600.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:21.278Z,1611773601.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:21.692Z,1611773601.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:22.493Z,1611773602.493 [Micromodem](INFO): Nmea in: $SNTTA,0.055076,,0.069069,,185322.68*5E

2021-01-27T18:53:22.530Z,1611773602.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 65.667652 deg, deltaT: 4.362561 s, approachRate: 0.673915 m/s, LOS rate: 0.129585 deg/s, posRepo size: 4
2021-01-27T18:53:24.932Z,1611773604.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:25.710Z,1611773605.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:26.116Z,1611773606.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:26.957Z,1611773606.957 [Micromodem](INFO): Nmea in: $SNTTA,0.057201,,,,185327.11*4B

2021-01-27T18:53:26.981Z,1611773606.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.920006 m, bearing: 67.791615 deg, deltaT: 4.486076 s, approachRate: 0.628613 m/s, LOS rate: 0.473457 deg/s, posRepo size: 4
2021-01-27T18:53:29.783Z,1611773609.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1432.200073 m, bearing: 69.001631 deg, deltaT: 2.839411 s, approachRate: 474.140594 m/s, LOS rate: 0.426150 deg/s, posRepo size: 4
2021-01-27T18:53:29.784Z,1611773609.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1432.20 m. Resuming terminal guidance.
2021-01-27T18:53:29.784Z,1611773609.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-01-27T18:53:32.182Z,1611773612.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:32.980Z,1611773612.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:33.397Z,1611773613.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:34.229Z,1611773614.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185334.39*5C

2021-01-27T18:53:34.699Z,1611773614.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:36.231Z,1611773616.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1580.939941 m, bearing: 71.117268 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-01-27T18:53:36.232Z,1611773616.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 71.117268deg and heading rate command to 0 deg/s.
2021-01-27T18:53:38.700Z,1611773618.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:39.438Z,1611773619.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:39.863Z,1611773619.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:40.709Z,1611773620.709 [Micromodem](INFO): Nmea in: $SNTTA,0.063392,,,,185340.84*4A

2021-01-27T18:53:40.771Z,1611773620.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.220009 m, bearing: 55.897445 deg, deltaT: 4.431021 s, approachRate: -335.299683 m/s, LOS rate: -3.434834 deg/s, posRepo size: 2
2021-01-27T18:53:40.778Z,1611773620.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.220009 m,
      bearing: 55.897445 deg,
      approachRate: -335.299683 m/s,
      LOS rate: -3.434834 deg/s,
      cmd update: -10.304503 deg/s,
      cmd heading: 71.117268 deg,
      new cmd heading: 71.117268 deg.

2021-01-27T18:53:43.013Z,1611773623.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:43.538Z,1611773623.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:43.948Z,1611773623.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:44.789Z,1611773624.789 [Micromodem](INFO): Nmea in: $SNTTA,0.065155,,,,185344.94*40

2021-01-27T18:53:44.795Z,1611773624.795 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:53:44.834Z,1611773624.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.860008 m, bearing: 76.179149 deg, deltaT: 4.156748 s, approachRate: 0.635112 m/s, LOS rate: 4.879224 deg/s, posRepo size: 3
2021-01-27T18:53:44.836Z,1611773624.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.860008 m,
      bearing: 76.179149 deg,
      approachRate: 0.635112 m/s,
      LOS rate: 4.879224 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 28.336908 deg,
      new cmd heading: 24.037065 deg.

2021-01-27T18:53:47.185Z,1611773627.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:47.979Z,1611773627.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:48.388Z,1611773628.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:49.237Z,1611773629.237 [Micromodem](INFO): Nmea in: $SNTTA,0.066807,,,,185349.39*47

2021-01-27T18:53:49.284Z,1611773629.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 45.116289 deg, deltaT: 4.407782 s, approachRate: 0.585327 m/s, LOS rate: -7.047277 deg/s, posRepo size: 4
2021-01-27T18:53:49.286Z,1611773629.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.440002 m,
      bearing: 45.116289 deg,
      approachRate: 0.585327 m/s,
      LOS rate: -7.047277 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 81.294553 deg,
      new cmd heading: 86.749526 deg.

2021-01-27T18:53:51.709Z,1611773631.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:52.423Z,1611773632.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:52.836Z,1611773632.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:53.713Z,1611773633.713 [Micromodem](INFO): Nmea in: $SNTTA,0.010977,,0.071103,,185353.83*50

2021-01-27T18:53:53.748Z,1611773633.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.199997 m, bearing: 78.832425 deg, deltaT: 4.423613 s, approachRate: -19.043259 m/s, LOS rate: 7.621855 deg/s, posRepo size: 4
2021-01-27T18:53:53.749Z,1611773633.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.20 m.
2021-01-27T18:53:53.751Z,1611773633.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 78.832425 deg,
      approachRate: -19.043259 m/s,
      LOS rate: 7.621855 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 28.213896 deg,
      new cmd heading: 22.271472 deg.

2021-01-27T18:53:54.086Z,1611773634.086 [PowerOnly](INFO): Powering up loadControl
2021-01-27T18:53:55.782Z,1611773635.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:56.463Z,1611773636.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:53:56.880Z,1611773636.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:53:57.706Z,1611773637.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185357.87*5C

2021-01-27T18:53:58.530Z,1611773638.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:53:59.785Z,1611773639.785 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:53:59.802Z,1611773639.802 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:54:01.386Z,1611773641.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:02.131Z,1611773642.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:02.532Z,1611773642.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:03.370Z,1611773643.370 [Micromodem](INFO): Nmea in: $SNTTA,0.071388,,,,185403.53*48

2021-01-27T18:54:04.162Z,1611773644.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:04.956Z,1611773644.956 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T18:54:05.757Z,1611773645.757 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-01-27T18:54:06.995Z,1611773646.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:07.810Z,1611773647.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:08.211Z,1611773648.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:09.015Z,1611773649.015 [Micromodem](INFO): Nmea in: $SNTTA,0.073025,,,,185409.22*42

2021-01-27T18:54:09.056Z,1611773649.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.680000 m, bearing: 56.967657 deg, deltaT: 15.382937 s, approachRate: 6.076863 m/s, LOS rate: -1.421365 deg/s, posRepo size: 4
2021-01-27T18:54:09.058Z,1611773649.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.680000 m,
      bearing: 56.967657 deg,
      approachRate: 6.076863 m/s,
      LOS rate: -1.421365 deg/s,
      cmd update: -4.264095 deg/s,
      cmd heading: 212.567825 deg,
      new cmd heading: 217.803737 deg.

2021-01-27T18:54:09.810Z,1611773649.810 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T18:54:11.460Z,1611773651.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:12.230Z,1611773652.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:12.634Z,1611773652.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:13.461Z,1611773653.461 [Micromodem](INFO): Nmea in: $SNTTA,0.074327,,,,185413.63*4A

2021-01-27T18:54:13.486Z,1611773653.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 87.987166 deg, deltaT: 4.424922 s, approachRate: 0.433906 m/s, LOS rate: 7.010182 deg/s, posRepo size: 4
2021-01-27T18:54:13.504Z,1611773653.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.599998 m,
      bearing: 87.987166 deg,
      approachRate: 0.433906 m/s,
      LOS rate: 7.010182 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 193.613638 deg,
      new cmd heading: 191.799598 deg.

2021-01-27T18:54:14.698Z,1611773654.698 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:54:15.915Z,1611773655.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:16.694Z,1611773656.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:17.068Z,1611773657.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:17.909Z,1611773657.909 [Micromodem](INFO): Nmea in: $SNTTA,0.075692,,,,185418.10*4F

2021-01-27T18:54:17.963Z,1611773657.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 107.720669 deg, deltaT: 4.438321 s, approachRate: 0.446117 m/s, LOS rate: 4.446164 deg/s, posRepo size: 4
2021-01-27T18:54:17.966Z,1611773657.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 107.720669 deg,
      approachRate: 0.446117 m/s,
      LOS rate: 4.446164 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 246.873072 deg,
      new cmd heading: 252.379320 deg.

2021-01-27T18:54:20.364Z,1611773660.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:21.110Z,1611773661.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:21.520Z,1611773661.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:22.369Z,1611773662.369 [Micromodem](INFO): Nmea in: $SNTTA,0.076934,,,,185422.51*43

2021-01-27T18:54:22.414Z,1611773662.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.440010 m, bearing: 96.249352 deg, deltaT: 4.458916 s, approachRate: 0.417142 m/s, LOS rate: -2.572669 deg/s, posRepo size: 4
2021-01-27T18:54:22.416Z,1611773662.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.440010 m,
      bearing: 96.249352 deg,
      approachRate: 0.417142 m/s,
      LOS rate: -2.572669 deg/s,
      cmd update: -7.718008 deg/s,
      cmd heading: 300.382861 deg,
      new cmd heading: 305.853602 deg.

2021-01-27T18:54:24.773Z,1611773664.773 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-01-27T18:54:24.787Z,1611773664.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:25.558Z,1611773665.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:25.960Z,1611773665.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:26.814Z,1611773666.814 [Micromodem](INFO): Nmea in: $SNTTA,0.077936,,,,185426.96*4F

2021-01-27T18:54:26.838Z,1611773666.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.119995 m, bearing: 78.852731 deg, deltaT: 4.465081 s, approachRate: 0.376250 m/s, LOS rate: -3.896149 deg/s, posRepo size: 4
2021-01-27T18:54:26.841Z,1611773666.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.119995 m,
      bearing: 78.852731 deg,
      approachRate: 0.376250 m/s,
      LOS rate: -3.896149 deg/s,
      cmd update: -11.688447 deg/s,
      cmd heading: 265.922844 deg,
      new cmd heading: 262.722009 deg.

2021-01-27T18:54:29.210Z,1611773669.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:29.999Z,1611773669.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:30.404Z,1611773670.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:31.237Z,1611773671.237 [Micromodem](INFO): Nmea in: $SNTTA,0.079620,,,,185431.40*44

2021-01-27T18:54:31.272Z,1611773671.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.100006 m, bearing: 82.589719 deg, deltaT: 4.429346 s, approachRate: 0.447021 m/s, LOS rate: 0.843688 deg/s, posRepo size: 4
2021-01-27T18:54:31.274Z,1611773671.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.100006 m,
      bearing: 82.589719 deg,
      approachRate: 0.447021 m/s,
      LOS rate: 0.843688 deg/s,
      cmd update: 2.531065 deg/s,
      cmd heading: 214.173308 deg,
      new cmd heading: 209.246955 deg.

2021-01-27T18:54:33.699Z,1611773673.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:34.442Z,1611773674.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:34.866Z,1611773674.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:34.890Z,1611773674.890 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:54:35.701Z,1611773675.701 [Micromodem](INFO): Nmea in: $SNTTA,0.080640,,,,185435.85*49

2021-01-27T18:54:35.755Z,1611773675.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.900002 m, bearing: 106.268359 deg, deltaT: 4.441868 s, approachRate: 0.405234 m/s, LOS rate: 5.330784 deg/s, posRepo size: 4
2021-01-27T18:54:35.762Z,1611773675.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.900002 m,
      bearing: 106.268359 deg,
      approachRate: 0.405234 m/s,
      LOS rate: 5.330784 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 225.412692 deg,
      new cmd heading: 226.587491 deg.

2021-01-27T18:54:38.110Z,1611773678.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:38.894Z,1611773678.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:39.309Z,1611773679.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:40.133Z,1611773680.133 [Micromodem](INFO): Nmea in: $SNTTA,0.081827,,,,185440.30*4B

2021-01-27T18:54:40.158Z,1611773680.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.820007 m, bearing: 151.980083 deg, deltaT: 4.477805 s, approachRate: 0.428783 m/s, LOS rate: 10.208512 deg/s, posRepo size: 4
2021-01-27T18:54:40.184Z,1611773680.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 151.980083 deg,
      approachRate: 0.428783 m/s,
      LOS rate: 10.208512 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 279.187082 deg,
      new cmd heading: 283.817522 deg.

2021-01-27T18:54:42.559Z,1611773682.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:43.348Z,1611773683.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:43.736Z,1611773683.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:44.577Z,1611773684.577 [Micromodem](INFO): Nmea in: $SNTTA,0.082727,,,,185444.75*42

2021-01-27T18:54:44.624Z,1611773684.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.200005 m, bearing: 184.381230 deg, deltaT: 4.384798 s, approachRate: 0.314723 m/s, LOS rate: 7.389427 deg/s, posRepo size: 4
2021-01-27T18:54:44.631Z,1611773684.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.200005 m,
      bearing: 184.381230 deg,
      approachRate: 0.314723 m/s,
      LOS rate: 7.389427 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.802235 deg,
      new cmd heading: 337.361607 deg.

2021-01-27T18:54:46.661Z,1611773686.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:47.383Z,1611773687.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:47.776Z,1611773687.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:48.609Z,1611773688.609 [Micromodem](INFO): Nmea in: $SNTTA,0.083251,,,,185448.79*47

2021-01-27T18:54:48.692Z,1611773688.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.920006 m, bearing: 168.903188 deg, deltaT: 4.036507 s, approachRate: 0.178372 m/s, LOS rate: -3.834514 deg/s, posRepo size: 4
2021-01-27T18:54:48.697Z,1611773688.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.920006 m,
      bearing: 168.903188 deg,
      approachRate: 0.178372 m/s,
      LOS rate: -3.834514 deg/s,
      cmd update: -11.503541 deg/s,
      cmd heading: 20.240705 deg,
      new cmd heading: 26.213909 deg.

2021-01-27T18:54:50.708Z,1611773690.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:51.410Z,1611773691.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:51.828Z,1611773691.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:52.661Z,1611773692.661 [Micromodem](INFO): Nmea in: $SNTTA,0.084285,,,,185452.81*45

2021-01-27T18:54:52.667Z,1611773692.667 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:54:52.689Z,1611773692.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 163.919554 deg, deltaT: 4.064276 s, approachRate: 0.354307 m/s, LOS rate: -1.226205 deg/s, posRepo size: 4
2021-01-27T18:54:52.691Z,1611773692.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.360008 m,
      bearing: 163.919554 deg,
      approachRate: 0.354307 m/s,
      LOS rate: -1.226205 deg/s,
      cmd update: -3.678614 deg/s,
      cmd heading: 333.487208 deg,
      new cmd heading: 328.526524 deg.

2021-01-27T18:54:55.090Z,1611773695.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:54:55.854Z,1611773695.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:54:56.271Z,1611773696.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:54:57.101Z,1611773697.101 [Micromodem](INFO): Nmea in: $SNTTA,0.085313,,,0.088183,185457.26*56

2021-01-27T18:54:57.123Z,1611773697.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 77.531793 deg, deltaT: 4.486468 s, approachRate: 0.401205 m/s, LOS rate: -19.255183 deg/s, posRepo size: 4
2021-01-27T18:54:57.124Z,1611773697.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.255183 deg/s. Setting heading cmd to target bearing of 77.531793deg and heading rate command to 0 deg/s.
2021-01-27T18:54:59.523Z,1611773699.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:00.290Z,1611773700.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:00.704Z,1611773700.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:01.545Z,1611773701.545 [Micromodem](INFO): Nmea in: $SNTTA,0.007877,,,,185501.69*48

2021-01-27T18:55:01.582Z,1611773701.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.640002 m, bearing: 74.546720 deg, deltaT: 4.388785 s, approachRate: -26.549490 m/s, LOS rate: -0.680159 deg/s, posRepo size: 4
2021-01-27T18:55:01.582Z,1611773701.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.64 m.
2021-01-27T18:55:01.583Z,1611773701.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 11.64 m.
2021-01-27T18:55:01.583Z,1611773701.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-01-27T18:55:01.585Z,1611773701.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 74.546720 deg,
      approachRate: -26.549490 m/s,
      LOS rate: -0.680159 deg/s,
      cmd update: -2.040478 deg/s,
      cmd heading: 77.531793 deg,
      new cmd heading: 77.531793 deg.

2021-01-27T18:55:03.976Z,1611773703.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:04.745Z,1611773704.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:05.159Z,1611773705.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:05.993Z,1611773705.993 [Micromodem](INFO): Nmea in: $SNTTA,0.087815,,,,185506.15*48

2021-01-27T18:55:06.018Z,1611773706.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.880005 m, bearing: 48.836180 deg, deltaT: 4.469355 s, approachRate: 26.903212 m/s, LOS rate: -5.752629 deg/s, posRepo size: 4
2021-01-27T18:55:06.020Z,1611773706.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.880005 m,
      bearing: 48.836180 deg,
      approachRate: 26.903212 m/s,
      LOS rate: -5.752629 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.420123 deg,
      new cmd heading: 67.563583 deg.

2021-01-27T18:55:08.854Z,1611773708.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1390.380005 m, bearing: 74.090013 deg, deltaT: 2.824773 s, approachRate: 445.522522 m/s, LOS rate: 8.940128 deg/s, posRepo size: 4
2021-01-27T18:55:08.857Z,1611773708.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1390.380005 m,
      bearing: 74.090013 deg,
      approachRate: 445.522522 m/s,
      LOS rate: 8.940128 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 34.473922 deg,
      new cmd heading: 29.358826 deg.

2021-01-27T18:55:11.246Z,1611773711.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:12.032Z,1611773712.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:12.420Z,1611773712.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:13.261Z,1611773713.261 [Micromodem](INFO): Nmea in: $SNTTA,0.089713,,,,185513.44*4F

2021-01-27T18:55:13.335Z,1611773713.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 56.493437 deg, deltaT: 4.427571 s, approachRate: -283.577637 m/s, LOS rate: -3.974318 deg/s, posRepo size: 4
2021-01-27T18:55:13.344Z,1611773713.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.820007 m,
      bearing: 56.493437 deg,
      approachRate: -283.577637 m/s,
      LOS rate: -3.974318 deg/s,
      cmd update: -11.922954 deg/s,
      cmd heading: 87.604931 deg,
      new cmd heading: 93.269879 deg.

2021-01-27T18:55:15.725Z,1611773715.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:16.462Z,1611773716.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:16.876Z,1611773716.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:17.781Z,1611773717.781 [Micromodem](INFO): Nmea in: $SNTTA,0.090962,,,,185517.87*44

2021-01-27T18:55:17.816Z,1611773717.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.680008 m, bearing: 45.938514 deg, deltaT: 4.467864 s, approachRate: 0.416306 m/s, LOS rate: -2.362409 deg/s, posRepo size: 4
2021-01-27T18:55:17.818Z,1611773717.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.680008 m,
      bearing: 45.938514 deg,
      approachRate: 0.416306 m/s,
      LOS rate: -2.362409 deg/s,
      cmd update: -7.087228 deg/s,
      cmd heading: 34.684100 deg,
      new cmd heading: 28.455001 deg.

2021-01-27T18:55:20.114Z,1611773720.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:20.914Z,1611773720.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:21.337Z,1611773721.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:22.157Z,1611773722.157 [Micromodem](INFO): Nmea in: $SNTTA,0.091751,,,,185522.32*43

2021-01-27T18:55:22.179Z,1611773722.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.880005 m, bearing: 62.172043 deg, deltaT: 4.440415 s, approachRate: 0.270244 m/s, LOS rate: 3.655859 deg/s, posRepo size: 4
2021-01-27T18:55:22.181Z,1611773722.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.880005 m,
      bearing: 62.172043 deg,
      approachRate: 0.270244 m/s,
      LOS rate: 3.655859 deg/s,
      cmd update: 10.967576 deg/s,
      cmd heading: 3.036262 deg,
      new cmd heading: 0.057443 deg.

2021-01-27T18:55:24.569Z,1611773724.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:25.385Z,1611773725.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:25.764Z,1611773725.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:26.967Z,1611773726.967 [Micromodem](INFO): Nmea in: $SNTTA,0.092925,,,,185526.83*43

2021-01-27T18:55:27.428Z,1611773727.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:28.209Z,1611773728.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1131.180054 m, bearing: 79.158894 deg, deltaT: 6.049409 s, approachRate: 164.197861 m/s, LOS rate: 2.808018 deg/s, posRepo size: 4
2021-01-27T18:55:28.211Z,1611773728.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1131.180054 m,
      bearing: 79.158894 deg,
      approachRate: 164.197861 m/s,
      LOS rate: 2.808018 deg/s,
      cmd update: 8.424055 deg/s,
      cmd heading: 69.429900 deg,
      new cmd heading: 73.776394 deg.

2021-01-27T18:55:30.677Z,1611773730.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:31.414Z,1611773731.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:31.827Z,1611773731.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:32.673Z,1611773732.673 [Micromodem](INFO): Nmea in: $SNTTA,0.094026,,,,185532.82*4B

2021-01-27T18:55:32.725Z,1611773732.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.420013 m, bearing: 15.726336 deg, deltaT: 4.441250 s, approachRate: -222.856186 m/s, LOS rate: -14.282591 deg/s, posRepo size: 4
2021-01-27T18:55:32.726Z,1611773732.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.282591 deg/s. Setting heading cmd to target bearing of 15.726336deg and heading rate command to 0 deg/s.
2021-01-27T18:55:34.683Z,1611773734.683 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T18:55:35.094Z,1611773735.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:35.858Z,1611773735.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:36.277Z,1611773736.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:37.109Z,1611773737.109 [Micromodem](INFO): Nmea in: $SNTTA,0.094913,,,,185537.26*4F

2021-01-27T18:55:37.131Z,1611773737.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.740005 m, bearing: 56.398672 deg, deltaT: 4.494856 s, approachRate: 0.293667 m/s, LOS rate: 9.048641 deg/s, posRepo size: 4
2021-01-27T18:55:37.133Z,1611773737.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.740005 m,
      bearing: 56.398672 deg,
      approachRate: 0.293667 m/s,
      LOS rate: 9.048641 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.726336 deg,
      new cmd heading: 15.726336 deg.

2021-01-27T18:55:39.530Z,1611773739.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:40.313Z,1611773740.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:40.712Z,1611773740.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:41.541Z,1611773741.541 [Micromodem](INFO): Nmea in: $SNTTA,0.095993,,,,185541.72*46

2021-01-27T18:55:41.566Z,1611773741.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.120010 m, bearing: 67.024687 deg, deltaT: 4.398389 s, approachRate: 0.313752 m/s, LOS rate: 2.415888 deg/s, posRepo size: 4
2021-01-27T18:55:41.588Z,1611773741.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.120010 m,
      bearing: 67.024687 deg,
      approachRate: 0.313752 m/s,
      LOS rate: 2.415888 deg/s,
      cmd update: 7.247664 deg/s,
      cmd heading: 68.653597 deg,
      new cmd heading: 73.727293 deg.

2021-01-27T18:55:43.975Z,1611773743.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:44.762Z,1611773744.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:45.163Z,1611773745.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:45.972Z,1611773745.972 [Micromodem](INFO): Nmea in: $SNTTA,0.097355,,,,185546.17*40

2021-01-27T18:55:46.783Z,1611773746.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:47.615Z,1611773747.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1147.859985 m, bearing: 87.890867 deg, deltaT: 6.034215 s, approachRate: 166.341431 m/s, LOS rate: 3.457978 deg/s, posRepo size: 4
2021-01-27T18:55:47.622Z,1611773747.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1147.859985 m,
      bearing: 87.890867 deg,
      approachRate: 166.341431 m/s,
      LOS rate: 3.457978 deg/s,
      cmd update: 10.373932 deg/s,
      cmd heading: 112.413709 deg,
      new cmd heading: 115.541236 deg.

2021-01-27T18:55:50.035Z,1611773750.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:50.806Z,1611773750.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:51.208Z,1611773751.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:52.053Z,1611773752.053 [Micromodem](INFO): Nmea in: $SNTTA,0.099083,,,,185552.21*46

2021-01-27T18:55:52.075Z,1611773752.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.740005 m, bearing: 57.979898 deg, deltaT: 4.523442 s, approachRate: -220.876053 m/s, LOS rate: -6.612435 deg/s, posRepo size: 4
2021-01-27T18:55:52.077Z,1611773752.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.740005 m,
      bearing: 57.979898 deg,
      approachRate: -220.876053 m/s,
      LOS rate: -6.612435 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 159.340958 deg,
      new cmd heading: 163.184396 deg.

2021-01-27T18:55:54.487Z,1611773754.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:55.250Z,1611773755.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:55:55.672Z,1611773755.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:55:56.496Z,1611773756.496 [Micromodem](INFO): Nmea in: $SNTTA,0.100383,,,,185556.65*40

2021-01-27T18:55:56.521Z,1611773756.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 45.112597 deg, deltaT: 4.383928 s, approachRate: 0.520081 m/s, LOS rate: -2.935108 deg/s, posRepo size: 4
2021-01-27T18:55:56.523Z,1611773756.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.020004 m,
      bearing: 45.112597 deg,
      approachRate: 0.520081 m/s,
      LOS rate: -2.935108 deg/s,
      cmd update: -8.805323 deg/s,
      cmd heading: 106.921932 deg,
      new cmd heading: 101.545044 deg.

2021-01-27T18:55:58.919Z,1611773758.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:55:59.702Z,1611773759.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:00.104Z,1611773760.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:00.925Z,1611773760.925 [Micromodem](INFO): Nmea in: $SNTTA,0.102275,,,,185601.11*48

2021-01-27T18:56:00.979Z,1611773760.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 100.379855 deg, deltaT: 4.458002 s, approachRate: 0.000000 m/s, LOS rate: 12.397316 deg/s, posRepo size: 4
2021-01-27T18:56:00.980Z,1611773760.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.397316 deg/s. Setting heading cmd to target bearing of 100.379855deg and heading rate command to 0 deg/s.
2021-01-27T18:56:03.385Z,1611773763.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:04.138Z,1611773764.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:04.536Z,1611773764.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:05.393Z,1611773765.393 [Micromodem](INFO): Nmea in: $SNTTA,0.103145,,,,185605.54*4C

2021-01-27T18:56:05.419Z,1611773765.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 94.194927 deg, deltaT: 4.456221 s, approachRate: 0.794394 m/s, LOS rate: -1.387931 deg/s, posRepo size: 4
2021-01-27T18:56:05.421Z,1611773765.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.559998 m,
      bearing: 94.194927 deg,
      approachRate: 0.794394 m/s,
      LOS rate: -1.387931 deg/s,
      cmd update: -4.163793 deg/s,
      cmd heading: 100.379855 deg,
      new cmd heading: 100.379855 deg.

2021-01-27T18:56:07.926Z,1611773767.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:08.586Z,1611773768.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:08.984Z,1611773768.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:09.842Z,1611773769.842 [Micromodem](INFO): Nmea in: $SNTTA,0.104208,,,,185609.99*4C

2021-01-27T18:56:10.671Z,1611773770.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:12.261Z,1611773772.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2120.640137 m, bearing: 79.018049 deg, deltaT: 6.860629 s, approachRate: 286.574310 m/s, LOS rate: -2.212170 deg/s, posRepo size: 4
2021-01-27T18:56:12.263Z,1611773772.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2120.640137 m,
      bearing: 79.018049 deg,
      approachRate: 286.574310 m/s,
      LOS rate: -2.212170 deg/s,
      cmd update: -6.636511 deg/s,
      cmd heading: 71.815756 deg,
      new cmd heading: 70.160290 deg.

2021-01-27T18:56:14.703Z,1611773774.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:15.442Z,1611773775.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:15.848Z,1611773775.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:16.710Z,1611773776.710 [Micromodem](INFO): Nmea in: $SNTTA,0.106425,,,,185616.84*45

2021-01-27T18:56:16.780Z,1611773776.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 74.150002 deg, deltaT: 4.412874 s, approachRate: -444.349884 m/s, LOS rate: -1.103147 deg/s, posRepo size: 4
2021-01-27T18:56:16.782Z,1611773776.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 74.150002 deg,
      approachRate: -444.349884 m/s,
      LOS rate: -1.103147 deg/s,
      cmd update: -3.309440 deg/s,
      cmd heading: 42.526087 deg,
      new cmd heading: 39.187066 deg.

2021-01-27T18:56:19.114Z,1611773779.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:19.900Z,1611773779.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:20.321Z,1611773780.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:21.133Z,1611773781.133 [Micromodem](INFO): Nmea in: $SNTTA,0.107748,,,,185621.30*47

2021-01-27T18:56:21.167Z,1611773781.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 62.835391 deg, deltaT: 4.474930 s, approachRate: 0.000000 m/s, LOS rate: -2.528444 deg/s, posRepo size: 4
2021-01-27T18:56:21.169Z,1611773781.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 62.835391 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.528444 deg/s,
      cmd update: -7.585333 deg/s,
      cmd heading: 27.729976 deg,
      new cmd heading: 26.339753 deg.

2021-01-27T18:56:23.564Z,1611773783.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:24.345Z,1611773784.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:24.767Z,1611773784.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:25.580Z,1611773785.580 [Micromodem](INFO): Nmea in: $SNTTA,0.108841,,,,185625.75*4B

2021-01-27T18:56:25.654Z,1611773785.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 51.207205 deg, deltaT: 4.442903 s, approachRate: 0.000000 m/s, LOS rate: -2.617250 deg/s, posRepo size: 4
2021-01-27T18:56:25.656Z,1611773785.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 51.207205 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.617250 deg/s,
      cmd update: -7.851748 deg/s,
      cmd heading: 354.076932 deg,
      new cmd heading: 350.772229 deg.

2021-01-27T18:56:28.003Z,1611773788.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:28.778Z,1611773788.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:29.188Z,1611773789.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:29.600Z,1611773789.600 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-01-27T18:56:30.029Z,1611773790.029 [Micromodem](INFO): Nmea in: $SNTTA,0.109563,,,,185630.18*48

2021-01-27T18:56:30.857Z,1611773790.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:32.017Z,1611773792.017 [PowerOnly](INFO): Powering down loadControl
2021-01-27T18:56:33.702Z,1611773793.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:34.442Z,1611773794.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:34.844Z,1611773794.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:35.242Z,1611773795.242 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-01-27T18:56:35.693Z,1611773795.693 [Micromodem](INFO): Nmea in: $SNTTA,0.110504,,,,185635.85*40

2021-01-27T18:56:36.501Z,1611773796.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:39.353Z,1611773799.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:40.094Z,1611773800.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:40.509Z,1611773800.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:40.898Z,1611773800.898 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-01-27T18:56:41.361Z,1611773801.361 [Micromodem](INFO): Nmea in: $SNTTA,0.110548,,,,185641.50*43

2021-01-27T18:56:42.179Z,1611773802.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:44.967Z,1611773804.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:45.746Z,1611773805.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:46.148Z,1611773806.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:46.981Z,1611773806.981 [Micromodem](INFO): Nmea in: $SNTTA,0.109817,,,,185647.15*4B

2021-01-27T18:56:47.015Z,1611773807.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 311.176424 deg, deltaT: 21.412104 s, approachRate: 0.224172 m/s, LOS rate: -4.671694 deg/s, posRepo size: 4
2021-01-27T18:56:47.017Z,1611773807.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 311.176424 deg,
      approachRate: 0.224172 m/s,
      LOS rate: -4.671694 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 185.953063 deg,
      new cmd heading: 182.662867 deg.

2021-01-27T18:56:49.435Z,1611773809.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:50.190Z,1611773810.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:50.597Z,1611773810.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:51.441Z,1611773811.441 [Micromodem](INFO): Nmea in: $SNTTA,0.108871,,,,185651.59*45

2021-01-27T18:56:51.478Z,1611773811.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.619995 m, bearing: 238.005209 deg, deltaT: 4.412181 s, approachRate: -0.217581 m/s, LOS rate: -16.583911 deg/s, posRepo size: 4
2021-01-27T18:56:51.479Z,1611773811.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.583911 deg/s. Setting heading cmd to target bearing of 238.005209deg and heading rate command to 0 deg/s.
2021-01-27T18:56:53.872Z,1611773813.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:54.649Z,1611773814.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:55.036Z,1611773815.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:56:55.873Z,1611773815.873 [Micromodem](INFO): Nmea in: $SNTTA,0.107461,,,,185656.05*49

2021-01-27T18:56:55.923Z,1611773815.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.619995 m, bearing: 241.562453 deg, deltaT: 4.481742 s, approachRate: 0.000000 m/s, LOS rate: 0.793719 deg/s, posRepo size: 4
2021-01-27T18:56:55.930Z,1611773815.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.619995 m,
      bearing: 241.562453 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.793719 deg/s,
      cmd update: 2.381157 deg/s,
      cmd heading: 238.005209 deg,
      new cmd heading: 238.005209 deg.

2021-01-27T18:56:58.290Z,1611773818.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:56:59.074Z,1611773819.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:56:59.480Z,1611773819.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:00.321Z,1611773820.321 [Micromodem](INFO): Nmea in: $SNTTA,0.106096,,,,185700.48*4F

2021-01-27T18:57:00.364Z,1611773820.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.940002 m, bearing: 242.310605 deg, deltaT: 4.440260 s, approachRate: -1.053991 m/s, LOS rate: 0.168493 deg/s, posRepo size: 4
2021-01-27T18:57:00.366Z,1611773820.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.940002 m,
      bearing: 242.310605 deg,
      approachRate: -1.053991 m/s,
      LOS rate: 0.168493 deg/s,
      cmd update: 0.505478 deg/s,
      cmd heading: 248.578177 deg,
      new cmd heading: 249.595614 deg.

2021-01-27T18:57:02.735Z,1611773822.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:03.526Z,1611773823.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:03.928Z,1611773823.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:04.773Z,1611773824.773 [Micromodem](INFO): Nmea in: $SNTTA,0.104420,,,,185704.93*46

2021-01-27T18:57:04.836Z,1611773824.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.479996 m, bearing: 240.842551 deg, deltaT: 4.446224 s, approachRate: -0.553280 m/s, LOS rate: -0.330180 deg/s, posRepo size: 4
2021-01-27T18:57:04.838Z,1611773824.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.479996 m,
      bearing: 240.842551 deg,
      approachRate: -0.553280 m/s,
      LOS rate: -0.330180 deg/s,
      cmd update: -0.990540 deg/s,
      cmd heading: 250.825627 deg,
      new cmd heading: 251.046591 deg.

2021-01-27T18:57:07.192Z,1611773827.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:07.974Z,1611773827.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:08.397Z,1611773828.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:09.213Z,1611773829.213 [Micromodem](INFO): Nmea in: $SNTTA,0.102552,,,,185709.38*48

2021-01-27T18:57:09.242Z,1611773829.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.660004 m, bearing: 241.095897 deg, deltaT: 4.443501 s, approachRate: -0.634633 m/s, LOS rate: 0.057015 deg/s, posRepo size: 4
2021-01-27T18:57:09.245Z,1611773829.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.660004 m,
      bearing: 241.095897 deg,
      approachRate: -0.634633 m/s,
      LOS rate: 0.057015 deg/s,
      cmd update: 0.171044 deg/s,
      cmd heading: 246.420354 deg,
      new cmd heading: 246.011820 deg.

2021-01-27T18:57:11.673Z,1611773831.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:12.410Z,1611773832.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:12.816Z,1611773832.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:13.673Z,1611773833.673 [Micromodem](INFO): Nmea in: $SNTTA,0.100807,,,,185713.81*4E

2021-01-27T18:57:13.707Z,1611773833.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 240.293158 deg, deltaT: 4.406373 s, approachRate: -0.599132 m/s, LOS rate: -0.182177 deg/s, posRepo size: 4
2021-01-27T18:57:13.709Z,1611773833.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.020004 m,
      bearing: 240.293158 deg,
      approachRate: -0.599132 m/s,
      LOS rate: -0.182177 deg/s,
      cmd update: -0.546530 deg/s,
      cmd heading: 247.174042 deg,
      new cmd heading: 247.254511 deg.

2021-01-27T18:57:16.107Z,1611773836.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:16.854Z,1611773836.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:17.260Z,1611773837.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:18.121Z,1611773838.121 [Micromodem](INFO): Nmea in: $SNTTA,0.098819,,,,185718.26*47

2021-01-27T18:57:18.143Z,1611773838.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 239.720952 deg, deltaT: 4.686708 s, approachRate: -0.640108 m/s, LOS rate: -0.122091 deg/s, posRepo size: 4
2021-01-27T18:57:18.145Z,1611773838.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.020004 m,
      bearing: 239.720952 deg,
      approachRate: -0.640108 m/s,
      LOS rate: -0.122091 deg/s,
      cmd update: -0.366274 deg/s,
      cmd heading: 244.612517 deg,
      new cmd heading: 244.492317 deg.

2021-01-27T18:57:20.563Z,1611773840.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:21.345Z,1611773841.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:21.741Z,1611773841.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:22.553Z,1611773842.553 [Micromodem](INFO): Nmea in: $SNTTA,0.096786,,,,185722.75*4F

2021-01-27T18:57:22.587Z,1611773842.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 239.326168 deg, deltaT: 4.252039 s, approachRate: -0.719658 m/s, LOS rate: -0.092846 deg/s, posRepo size: 4
2021-01-27T18:57:22.589Z,1611773842.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 239.326168 deg,
      approachRate: -0.719658 m/s,
      LOS rate: -0.092846 deg/s,
      cmd update: -0.278538 deg/s,
      cmd heading: 243.055106 deg,
      new cmd heading: 242.904471 deg.

2021-01-27T18:57:24.993Z,1611773844.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:25.770Z,1611773845.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:26.176Z,1611773846.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:27.021Z,1611773847.021 [Micromodem](INFO): Nmea in: $SNTTA,0.094853,,,,185727.17*4B

2021-01-27T18:57:27.045Z,1611773847.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 238.642110 deg, deltaT: 4.507477 s, approachRate: -0.652247 m/s, LOS rate: -0.151761 deg/s, posRepo size: 4
2021-01-27T18:57:27.047Z,1611773847.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 238.642110 deg,
      approachRate: -0.652247 m/s,
      LOS rate: -0.151761 deg/s,
      cmd update: -0.455282 deg/s,
      cmd heading: 241.802604 deg,
      new cmd heading: 241.698803 deg.

2021-01-27T18:57:29.448Z,1611773849.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:30.214Z,1611773850.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:30.650Z,1611773850.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:31.463Z,1611773851.463 [Micromodem](INFO): Nmea in: $SNTTA,0.092890,,,,185731.62*47

2021-01-27T18:57:31.537Z,1611773851.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.139999 m, bearing: 239.286962 deg, deltaT: 4.390370 s, approachRate: -0.655982 m/s, LOS rate: 0.146879 deg/s, posRepo size: 4
2021-01-27T18:57:31.539Z,1611773851.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.139999 m,
      bearing: 239.286962 deg,
      approachRate: -0.655982 m/s,
      LOS rate: 0.146879 deg/s,
      cmd update: 0.440636 deg/s,
      cmd heading: 239.813521 deg,
      new cmd heading: 239.600499 deg.

2021-01-27T18:57:33.901Z,1611773853.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:34.691Z,1611773854.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:35.056Z,1611773855.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:35.892Z,1611773855.892 [Micromodem](INFO): Nmea in: $SNTTA,0.091110,,,,185736.09*4F

2021-01-27T18:57:35.967Z,1611773855.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.559998 m, bearing: 239.418238 deg, deltaT: 4.469982 s, approachRate: -0.577184 m/s, LOS rate: 0.029368 deg/s, posRepo size: 4
2021-01-27T18:57:35.978Z,1611773855.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 239.418238 deg,
      approachRate: -0.577184 m/s,
      LOS rate: 0.029368 deg/s,
      cmd update: 0.088105 deg/s,
      cmd heading: 241.795517 deg,
      new cmd heading: 241.984346 deg.

2021-01-27T18:57:38.405Z,1611773858.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:39.099Z,1611773859.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:39.516Z,1611773859.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:40.349Z,1611773860.349 [Micromodem](INFO): Nmea in: $SNTTA,0.089307,,,,185740.50*4F

2021-01-27T18:57:40.385Z,1611773860.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.740005 m, bearing: 238.479251 deg, deltaT: 4.391111 s, approachRate: -0.642205 m/s, LOS rate: -0.213838 deg/s, posRepo size: 4
2021-01-27T18:57:40.387Z,1611773860.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.740005 m,
      bearing: 238.479251 deg,
      approachRate: -0.642205 m/s,
      LOS rate: -0.213838 deg/s,
      cmd update: -0.641514 deg/s,
      cmd heading: 242.182750 deg,
      new cmd heading: 242.222471 deg.

2021-01-27T18:57:42.778Z,1611773862.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:43.550Z,1611773863.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:43.952Z,1611773863.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:44.801Z,1611773864.801 [Micromodem](INFO): Nmea in: $SNTTA,0.087443,,,,185744.95*4B

2021-01-27T18:57:44.873Z,1611773864.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 238.019716 deg, deltaT: 4.480473 s, approachRate: -0.616009 m/s, LOS rate: -0.102564 deg/s, posRepo size: 4
2021-01-27T18:57:44.875Z,1611773864.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.979996 m,
      bearing: 238.019716 deg,
      approachRate: -0.616009 m/s,
      LOS rate: -0.102564 deg/s,
      cmd update: -0.307692 deg/s,
      cmd heading: 239.308346 deg,
      new cmd heading: 239.017305 deg.

2021-01-27T18:57:47.205Z,1611773867.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:47.994Z,1611773867.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:48.400Z,1611773868.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:49.241Z,1611773869.241 [Micromodem](INFO): Nmea in: $SNTTA,0.085432,,,,185749.40*4A

2021-01-27T18:57:49.285Z,1611773869.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.980003 m, bearing: 237.568268 deg, deltaT: 4.411573 s, approachRate: -0.680028 m/s, LOS rate: -0.102333 deg/s, posRepo size: 4
2021-01-27T18:57:49.287Z,1611773869.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 237.568268 deg,
      approachRate: -0.680028 m/s,
      LOS rate: -0.102333 deg/s,
      cmd update: -0.306998 deg/s,
      cmd heading: 237.950927 deg,
      new cmd heading: 237.809845 deg.

2021-01-27T18:57:51.711Z,1611773871.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:52.446Z,1611773872.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:52.869Z,1611773872.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:53.713Z,1611773873.713 [Micromodem](INFO): Nmea in: $SNTTA,0.083440,,0.084683,,185753.85*54

2021-01-27T18:57:53.763Z,1611773873.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 238.237900 deg, deltaT: 4.459733 s, approachRate: -0.645778 m/s, LOS rate: 0.150151 deg/s, posRepo size: 4
2021-01-27T18:57:53.765Z,1611773873.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 238.237900 deg,
      approachRate: -0.645778 m/s,
      LOS rate: 0.150151 deg/s,
      cmd update: 0.450452 deg/s,
      cmd heading: 236.581797 deg,
      new cmd heading: 236.435275 deg.

2021-01-27T18:57:56.167Z,1611773876.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:57:56.886Z,1611773876.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:57:57.283Z,1611773877.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:57:58.125Z,1611773878.125 [Micromodem](INFO): Nmea in: $SNTTA,0.081479,,,,185758.29*4E

2021-01-27T18:57:58.147Z,1611773878.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 238.300410 deg, deltaT: 4.482533 s, approachRate: -0.682649 m/s, LOS rate: 0.013945 deg/s, posRepo size: 4
2021-01-27T18:57:58.149Z,1611773878.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 238.300410 deg,
      approachRate: -0.682649 m/s,
      LOS rate: 0.013945 deg/s,
      cmd update: 0.041836 deg/s,
      cmd heading: 238.599106 deg,
      new cmd heading: 238.771493 deg.

2021-01-27T18:58:00.544Z,1611773880.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:01.334Z,1611773881.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:01.739Z,1611773881.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:02.569Z,1611773882.569 [Micromodem](INFO): Nmea in: $SNTTA,0.079388,,,,185802.74*48

2021-01-27T18:58:02.594Z,1611773882.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.860001 m, bearing: 236.854705 deg, deltaT: 4.399900 s, approachRate: -0.722745 m/s, LOS rate: -0.328577 deg/s, posRepo size: 4
2021-01-27T18:58:02.596Z,1611773882.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.860001 m,
      bearing: 236.854705 deg,
      approachRate: -0.722745 m/s,
      LOS rate: -0.328577 deg/s,
      cmd update: -0.985730 deg/s,
      cmd heading: 238.783183 deg,
      new cmd heading: 238.801154 deg.

2021-01-27T18:58:04.978Z,1611773884.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:05.763Z,1611773885.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:06.176Z,1611773886.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:07.017Z,1611773887.017 [Micromodem](INFO): Nmea in: $SNTTA,0.077386,,,,185807.17*48

2021-01-27T18:58:07.041Z,1611773887.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 236.635811 deg, deltaT: 4.479914 s, approachRate: -0.669654 m/s, LOS rate: -0.048861 deg/s, posRepo size: 4
2021-01-27T18:58:07.043Z,1611773887.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.860008 m,
      bearing: 236.635811 deg,
      approachRate: -0.669654 m/s,
      LOS rate: -0.048861 deg/s,
      cmd update: -0.146584 deg/s,
      cmd heading: 234.389957 deg,
      new cmd heading: 233.976476 deg.

2021-01-27T18:58:09.444Z,1611773889.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:10.214Z,1611773890.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:10.616Z,1611773890.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:11.449Z,1611773891.449 [Micromodem](INFO): Nmea in: $SNTTA,0.075438,,,,185811.62*4D

2021-01-27T18:58:11.493Z,1611773891.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.979996 m, bearing: 237.586792 deg, deltaT: 4.384812 s, approachRate: -0.656816 m/s, LOS rate: 0.216881 deg/s, posRepo size: 4
2021-01-27T18:58:11.495Z,1611773891.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.979996 m,
      bearing: 237.586792 deg,
      approachRate: -0.656816 m/s,
      LOS rate: 0.216881 deg/s,
      cmd update: 0.650642 deg/s,
      cmd heading: 233.743247 deg,
      new cmd heading: 233.675781 deg.

2021-01-27T18:58:13.884Z,1611773893.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:14.670Z,1611773894.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:15.060Z,1611773895.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:15.893Z,1611773895.893 [Micromodem](INFO): Nmea in: $SNTTA,0.073603,,,,185816.07*45

2021-01-27T18:58:15.938Z,1611773895.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.339996 m, bearing: 237.362898 deg, deltaT: 4.479151 s, approachRate: -0.589397 m/s, LOS rate: -0.049986 deg/s, posRepo size: 4
2021-01-27T18:58:15.939Z,1611773895.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.339996 m,
      bearing: 237.362898 deg,
      approachRate: -0.589397 m/s,
      LOS rate: -0.049986 deg/s,
      cmd update: -0.149957 deg/s,
      cmd heading: 236.647204 deg,
      new cmd heading: 236.934258 deg.

2021-01-27T18:58:18.360Z,1611773898.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:19.098Z,1611773899.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:19.509Z,1611773899.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:20.361Z,1611773900.361 [Micromodem](INFO): Nmea in: $SNTTA,0.071739,,,,185820.50*48

2021-01-27T18:58:20.386Z,1611773900.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.459999 m, bearing: 236.863939 deg, deltaT: 4.447184 s, approachRate: -0.647600 m/s, LOS rate: -0.112197 deg/s, posRepo size: 4
2021-01-27T18:58:20.387Z,1611773900.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.459999 m,
      bearing: 236.863939 deg,
      approachRate: -0.647600 m/s,
      LOS rate: -0.112197 deg/s,
      cmd update: -0.336590 deg/s,
      cmd heading: 235.977928 deg,
      new cmd heading: 235.914039 deg.

2021-01-27T18:58:22.786Z,1611773902.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:23.542Z,1611773903.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:23.971Z,1611773903.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:24.801Z,1611773904.801 [Micromodem](INFO): Nmea in: $SNTTA,0.069751,,,,185824.94*43

2021-01-27T18:58:24.825Z,1611773904.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 236.944508 deg, deltaT: 4.451780 s, approachRate: -0.673886 m/s, LOS rate: 0.018098 deg/s, posRepo size: 4
2021-01-27T18:58:24.827Z,1611773904.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.460007 m,
      bearing: 236.944508 deg,
      approachRate: -0.673886 m/s,
      LOS rate: 0.018098 deg/s,
      cmd update: 0.054294 deg/s,
      cmd heading: 234.479511 deg,
      new cmd heading: 234.340117 deg.

2021-01-27T18:58:27.201Z,1611773907.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:27.997Z,1611773907.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:28.404Z,1611773908.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:29.234Z,1611773909.234 [Micromodem](INFO): Nmea in: $SNTTA,0.067973,,,,185829.40*47

2021-01-27T18:58:29.270Z,1611773909.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.879997 m, bearing: 236.109258 deg, deltaT: 4.430573 s, approachRate: -0.582320 m/s, LOS rate: -0.188520 deg/s, posRepo size: 4
2021-01-27T18:58:29.272Z,1611773909.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.879997 m,
      bearing: 236.109258 deg,
      approachRate: -0.582320 m/s,
      LOS rate: -0.188520 deg/s,
      cmd update: -0.565559 deg/s,
      cmd heading: 234.719194 deg,
      new cmd heading: 234.743288 deg.

2021-01-27T18:58:31.691Z,1611773911.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:32.443Z,1611773912.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:32.844Z,1611773912.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:33.697Z,1611773913.697 [Micromodem](INFO): Nmea in: $SNTTA,0.066165,,,,185833.85*4B

2021-01-27T18:58:33.731Z,1611773913.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 235.764470 deg, deltaT: 4.414855 s, approachRate: -0.638751 m/s, LOS rate: -0.078097 deg/s, posRepo size: 4
2021-01-27T18:58:33.733Z,1611773913.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.060005 m,
      bearing: 235.764470 deg,
      approachRate: -0.638751 m/s,
      LOS rate: -0.078097 deg/s,
      cmd update: -0.234292 deg/s,
      cmd heading: 232.213212 deg,
      new cmd heading: 231.945051 deg.

2021-01-27T18:58:36.101Z,1611773916.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:36.874Z,1611773916.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:37.291Z,1611773917.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:38.121Z,1611773918.121 [Micromodem](INFO): Nmea in: $SNTTA,0.064266,,,,185838.28*45

2021-01-27T18:58:38.136Z,1611773918.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.180000 m, bearing: 235.194313 deg, deltaT: 4.523486 s, approachRate: -0.636678 m/s, LOS rate: -0.126044 deg/s, posRepo size: 4
2021-01-27T18:58:38.138Z,1611773918.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.180000 m,
      bearing: 235.194313 deg,
      approachRate: -0.636678 m/s,
      LOS rate: -0.126044 deg/s,
      cmd update: -0.378131 deg/s,
      cmd heading: 231.154347 deg,
      new cmd heading: 231.070123 deg.

2021-01-27T18:58:40.539Z,1611773920.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:41.336Z,1611773921.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:41.737Z,1611773921.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:42.565Z,1611773922.565 [Micromodem](INFO): Nmea in: $SNTTA,0.062510,,,,185842.74*41

2021-01-27T18:58:42.590Z,1611773922.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 235.168768 deg, deltaT: 4.380346 s, approachRate: -0.588995 m/s, LOS rate: -0.005832 deg/s, posRepo size: 4
2021-01-27T18:58:42.592Z,1611773922.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.599998 m,
      bearing: 235.168768 deg,
      approachRate: -0.588995 m/s,
      LOS rate: -0.005832 deg/s,
      cmd update: -0.017495 deg/s,
      cmd heading: 229.502532 deg,
      new cmd heading: 229.334060 deg.

2021-01-27T18:58:44.989Z,1611773924.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:45.759Z,1611773925.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:46.178Z,1611773926.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:47.013Z,1611773927.013 [Micromodem](INFO): Nmea in: $SNTTA,0.060708,,,,185847.16*49

2021-01-27T18:58:47.037Z,1611773927.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 234.620905 deg, deltaT: 4.461573 s, approachRate: -0.618615 m/s, LOS rate: -0.122796 deg/s, posRepo size: 4
2021-01-27T18:58:47.038Z,1611773927.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.840004 m,
      bearing: 234.620905 deg,
      approachRate: -0.618615 m/s,
      LOS rate: -0.122796 deg/s,
      cmd update: -0.368388 deg/s,
      cmd heading: 229.424288 deg,
      new cmd heading: 229.416950 deg.

2021-01-27T18:58:49.445Z,1611773929.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:50.202Z,1611773930.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:50.630Z,1611773930.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:51.465Z,1611773931.465 [Micromodem](INFO): Nmea in: $SNTTA,0.058843,,,,185851.61*45

2021-01-27T18:58:51.528Z,1611773931.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.080002 m, bearing: 234.309940 deg, deltaT: 4.430955 s, approachRate: -0.622891 m/s, LOS rate: -0.070180 deg/s, posRepo size: 4
2021-01-27T18:58:51.530Z,1611773931.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.080002 m,
      bearing: 234.309940 deg,
      approachRate: -0.622891 m/s,
      LOS rate: -0.070180 deg/s,
      cmd update: -0.210540 deg/s,
      cmd heading: 227.797487 deg,
      new cmd heading: 227.616691 deg.

2021-01-27T18:58:53.894Z,1611773933.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:54.676Z,1611773934.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:55.067Z,1611773935.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:55.897Z,1611773935.897 [Micromodem](INFO): Nmea in: $SNTTA,0.057021,,,,185856.08*4E

2021-01-27T18:58:55.955Z,1611773935.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.320007 m, bearing: 234.363079 deg, deltaT: 4.457506 s, approachRate: -0.619179 m/s, LOS rate: 0.011921 deg/s, posRepo size: 4
2021-01-27T18:58:55.965Z,1611773935.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.320007 m,
      bearing: 234.363079 deg,
      approachRate: -0.619179 m/s,
      LOS rate: 0.011921 deg/s,
      cmd update: 0.035764 deg/s,
      cmd heading: 226.855599 deg,
      new cmd heading: 226.761257 deg.

2021-01-27T18:58:58.369Z,1611773938.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:58:59.106Z,1611773939.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:58:59.507Z,1611773939.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:58:59.958Z,1611773939.958 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T18:59:00.361Z,1611773940.361 [Micromodem](INFO): Nmea in: $SNTTA,0.055366,0.064503,,,185900.51*58

2021-01-27T18:59:00.406Z,1611773940.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 234.378843 deg, deltaT: 4.487412 s, approachRate: -0.548203 m/s, LOS rate: 0.003513 deg/s, posRepo size: 4
2021-01-27T18:59:00.412Z,1611773940.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.859993 m,
      bearing: 234.378843 deg,
      approachRate: -0.548203 m/s,
      LOS rate: 0.003513 deg/s,
      cmd update: 0.010539 deg/s,
      cmd heading: 227.016040 deg,
      new cmd heading: 227.030810 deg.

2021-01-27T18:59:02.933Z,1611773942.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:03.542Z,1611773943.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:03.956Z,1611773943.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:04.793Z,1611773944.793 [Micromodem](INFO): Nmea in: $SNTTA,0.053308,,,,185904.94*41

2021-01-27T18:59:04.828Z,1611773944.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.740005 m, bearing: 234.394607 deg, deltaT: 4.419288 s, approachRate: -0.705993 m/s, LOS rate: 0.003567 deg/s, posRepo size: 4
2021-01-27T18:59:04.830Z,1611773944.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.740005 m,
      bearing: 234.394607 deg,
      approachRate: -0.705993 m/s,
      LOS rate: 0.003567 deg/s,
      cmd update: 0.010701 deg/s,
      cmd heading: 227.062670 deg,
      new cmd heading: 227.066994 deg.

2021-01-27T18:59:07.208Z,1611773947.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:08.002Z,1611773948.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:08.400Z,1611773948.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:09.226Z,1611773949.226 [Micromodem](INFO): Nmea in: $SNTTA,0.051455,,,,185909.40*48

2021-01-27T18:59:09.241Z,1611773949.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.040009 m, bearing: 234.146043 deg, deltaT: 4.420642 s, approachRate: -0.610770 m/s, LOS rate: -0.056228 deg/s, posRepo size: 4
2021-01-27T18:59:09.243Z,1611773949.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.040009 m,
      bearing: 234.146043 deg,
      approachRate: -0.610770 m/s,
      LOS rate: -0.056228 deg/s,
      cmd update: -0.168684 deg/s,
      cmd heading: 227.109977 deg,
      new cmd heading: 227.114286 deg.

2021-01-27T18:59:11.708Z,1611773951.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:12.442Z,1611773952.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:12.848Z,1611773952.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:13.693Z,1611773953.693 [Micromodem](INFO): Nmea in: $SNTTA,0.049380,,,,185913.84*4D

2021-01-27T18:59:13.771Z,1611773953.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.920006 m, bearing: 234.046513 deg, deltaT: 4.440262 s, approachRate: -0.702662 m/s, LOS rate: -0.022415 deg/s, posRepo size: 4
2021-01-27T18:59:13.777Z,1611773953.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 234.046513 deg,
      approachRate: -0.702662 m/s,
      LOS rate: -0.022415 deg/s,
      cmd update: -0.067246 deg/s,
      cmd heading: 226.361888 deg,
      new cmd heading: 226.277940 deg.

2021-01-27T18:59:16.085Z,1611773956.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:16.874Z,1611773956.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:17.285Z,1611773957.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:18.117Z,1611773958.117 [Micromodem](INFO): Nmea in: $SNTTA,0.047717,,,,185918.28*44

2021-01-27T18:59:18.155Z,1611773958.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.339996 m, bearing: 235.125902 deg, deltaT: 4.526445 s, approachRate: -0.569986 m/s, LOS rate: 0.238463 deg/s, posRepo size: 4
2021-01-27T18:59:18.157Z,1611773958.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.339996 m,
      bearing: 235.125902 deg,
      approachRate: -0.569986 m/s,
      LOS rate: 0.238463 deg/s,
      cmd update: 0.715388 deg/s,
      cmd heading: 226.057157 deg,
      new cmd heading: 226.033587 deg.

2021-01-27T18:59:20.539Z,1611773960.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:21.349Z,1611773961.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:21.724Z,1611773961.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:22.561Z,1611773962.561 [Micromodem](INFO): Nmea in: $SNTTA,0.045938,,,,185922.75*44

2021-01-27T18:59:22.617Z,1611773962.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.699997 m, bearing: 234.550035 deg, deltaT: 4.339831 s, approachRate: -0.608319 m/s, LOS rate: -0.132693 deg/s, posRepo size: 4
2021-01-27T18:59:22.627Z,1611773962.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.699997 m,
      bearing: 234.550035 deg,
      approachRate: -0.608319 m/s,
      LOS rate: -0.132693 deg/s,
      cmd update: -0.398080 deg/s,
      cmd heading: 229.161936 deg,
      new cmd heading: 229.490647 deg.

2021-01-27T18:59:25.020Z,1611773965.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:25.770Z,1611773965.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:26.172Z,1611773966.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:27.013Z,1611773967.013 [Micromodem](INFO): Nmea in: $SNTTA,0.044135,,0.047584,,185927.18*5A

2021-01-27T18:59:27.037Z,1611773967.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.000000 m, bearing: 235.765781 deg, deltaT: 4.509058 s, approachRate: -0.598794 m/s, LOS rate: 0.269623 deg/s, posRepo size: 4
2021-01-27T18:59:27.039Z,1611773967.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 235.765781 deg,
      approachRate: -0.598794 m/s,
      LOS rate: 0.269623 deg/s,
      cmd update: 0.808869 deg/s,
      cmd heading: 227.380159 deg,
      new cmd heading: 227.214299 deg.

2021-01-27T18:59:29.429Z,1611773969.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:30.210Z,1611773970.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:30.633Z,1611773970.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:31.461Z,1611773971.461 [Micromodem](INFO): Nmea in: $SNTTA,0.042437,,,,185931.61*46

2021-01-27T18:59:31.486Z,1611773971.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.479996 m, bearing: 235.392580 deg, deltaT: 4.407729 s, approachRate: -0.571724 m/s, LOS rate: -0.084670 deg/s, posRepo size: 4
2021-01-27T18:59:31.487Z,1611773971.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.479996 m,
      bearing: 235.392580 deg,
      approachRate: -0.571724 m/s,
      LOS rate: -0.084670 deg/s,
      cmd update: -0.254009 deg/s,
      cmd heading: 230.972292 deg,
      new cmd heading: 231.315509 deg.

2021-01-27T18:59:33.897Z,1611773973.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:34.674Z,1611773974.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:35.073Z,1611773975.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:35.879Z,1611773975.879 [Micromodem](INFO): Nmea in: $SNTTA,0.040204,,,,185936.08*4A

2021-01-27T18:59:35.915Z,1611773975.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 234.066430 deg, deltaT: 4.438405 s, approachRate: -0.757026 m/s, LOS rate: -0.298790 deg/s, posRepo size: 4
2021-01-27T18:59:35.917Z,1611773975.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 234.066430 deg,
      approachRate: -0.757026 m/s,
      LOS rate: -0.298790 deg/s,
      cmd update: -0.896369 deg/s,
      cmd heading: 229.844893 deg,
      new cmd heading: 229.739433 deg.

2021-01-27T18:59:38.346Z,1611773978.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:39.102Z,1611773979.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:39.504Z,1611773979.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:40.357Z,1611773980.357 [Micromodem](INFO): Nmea in: $SNTTA,0.038261,,,,185940.51*4B

2021-01-27T18:59:40.401Z,1611773980.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 233.768361 deg, deltaT: 4.480355 s, approachRate: -0.642806 m/s, LOS rate: -0.066528 deg/s, posRepo size: 4
2021-01-27T18:59:40.403Z,1611773980.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.240005 m,
      bearing: 233.768361 deg,
      approachRate: -0.642806 m/s,
      LOS rate: -0.066528 deg/s,
      cmd update: -0.199584 deg/s,
      cmd heading: 225.832424 deg,
      new cmd heading: 225.451156 deg.

2021-01-27T18:59:42.779Z,1611773982.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:43.546Z,1611773983.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:43.988Z,1611773983.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:44.805Z,1611773984.805 [Micromodem](INFO): Nmea in: $SNTTA,0.036273,,,,185944.95*4A

2021-01-27T18:59:44.829Z,1611773984.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.239998 m, bearing: 233.698911 deg, deltaT: 4.434650 s, approachRate: -0.676493 m/s, LOS rate: -0.015661 deg/s, posRepo size: 4
2021-01-27T18:59:44.831Z,1611773984.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.239998 m,
      bearing: 233.698911 deg,
      approachRate: -0.676493 m/s,
      LOS rate: -0.015661 deg/s,
      cmd update: -0.046982 deg/s,
      cmd heading: 224.946534 deg,
      new cmd heading: 224.863899 deg.

2021-01-27T18:59:47.226Z,1611773987.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:48.022Z,1611773988.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:48.424Z,1611773988.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:49.269Z,1611773989.269 [Micromodem](INFO): Nmea in: $SNTTA,0.034273,,,,185949.42*4F

2021-01-27T18:59:49.289Z,1611773989.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.180000 m, bearing: 235.830968 deg, deltaT: 4.459501 s, approachRate: -0.686175 m/s, LOS rate: 0.478093 deg/s, posRepo size: 4
2021-01-27T18:59:49.291Z,1611773989.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.180000 m,
      bearing: 235.830968 deg,
      approachRate: -0.686175 m/s,
      LOS rate: 0.478093 deg/s,
      cmd update: 1.434280 deg/s,
      cmd heading: 224.737208 deg,
      new cmd heading: 224.717557 deg.

2021-01-27T18:59:51.713Z,1611773991.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:52.458Z,1611773992.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:52.875Z,1611773992.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:53.713Z,1611773993.713 [Micromodem](INFO): Nmea in: $SNTTA,0.032347,,,,185953.86*4C

2021-01-27T18:59:53.747Z,1611773993.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 235.943475 deg, deltaT: 4.428408 s, approachRate: -0.650346 m/s, LOS rate: 0.025406 deg/s, posRepo size: 4
2021-01-27T18:59:53.749Z,1611773993.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.300003 m,
      bearing: 235.943475 deg,
      approachRate: -0.650346 m/s,
      LOS rate: 0.025406 deg/s,
      cmd update: 0.076217 deg/s,
      cmd heading: 231.063203 deg,
      new cmd heading: 231.732043 deg.

2021-01-27T18:59:56.122Z,1611773996.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T18:59:56.914Z,1611773996.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T18:59:57.344Z,1611773997.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T18:59:58.149Z,1611773998.149 [Micromodem](INFO): Nmea in: $SNTTA,0.030444,,,,185958.32*4E

2021-01-27T18:59:58.187Z,1611773998.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.479996 m, bearing: 235.610818 deg, deltaT: 4.455843 s, approachRate: -0.632879 m/s, LOS rate: -0.074656 deg/s, posRepo size: 4
2021-01-27T18:59:58.190Z,1611773998.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.479996 m,
      bearing: 235.610818 deg,
      approachRate: -0.632879 m/s,
      LOS rate: -0.074656 deg/s,
      cmd update: -0.223969 deg/s,
      cmd heading: 231.404173 deg,
      new cmd heading: 231.437181 deg.

2021-01-27T19:00:00.573Z,1611774000.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:01.394Z,1611774001.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:01.764Z,1611774001.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:02.591Z,1611774002.591 [Micromodem](INFO): Nmea in: $SNTTA,0.028500,,,,190002.80*4D

2021-01-27T19:00:02.666Z,1611774002.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.540001 m, bearing: 235.602348 deg, deltaT: 4.433035 s, approachRate: -0.663201 m/s, LOS rate: -0.001911 deg/s, posRepo size: 4
2021-01-27T19:00:02.667Z,1611774002.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.540001 m,
      bearing: 235.602348 deg,
      approachRate: -0.663201 m/s,
      LOS rate: -0.001911 deg/s,
      cmd update: -0.005732 deg/s,
      cmd heading: 230.410414 deg,
      new cmd heading: 230.304222 deg.

2021-01-27T19:00:05.042Z,1611774005.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:05.790Z,1611774005.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:06.204Z,1611774006.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:07.045Z,1611774007.045 [Micromodem](INFO): Nmea in: $SNTTA,0.026428,,0.035114,,190007.19*51

2021-01-27T19:00:07.067Z,1611774007.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.419998 m, bearing: 234.689289 deg, deltaT: 4.495963 s, approachRate: -0.693956 m/s, LOS rate: -0.203084 deg/s, posRepo size: 4
2021-01-27T19:00:07.069Z,1611774007.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 234.689289 deg,
      approachRate: -0.693956 m/s,
      LOS rate: -0.203084 deg/s,
      cmd update: -0.609253 deg/s,
      cmd heading: 230.384645 deg,
      new cmd heading: 230.382468 deg.

2021-01-27T19:00:09.459Z,1611774009.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:10.242Z,1611774010.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:10.665Z,1611774010.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:11.489Z,1611774011.489 [Micromodem](INFO): Nmea in: $SNTTA,0.024914,,,,190011.65*41

2021-01-27T19:00:11.514Z,1611774011.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.600002 m, bearing: 235.059130 deg, deltaT: 4.398528 s, approachRate: -0.641123 m/s, LOS rate: 0.084083 deg/s, posRepo size: 4
2021-01-27T19:00:11.516Z,1611774011.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.600002 m,
      bearing: 235.059130 deg,
      approachRate: -0.641123 m/s,
      LOS rate: 0.084083 deg/s,
      cmd update: 0.252249 deg/s,
      cmd heading: 227.704811 deg,
      new cmd heading: 227.444154 deg.

2021-01-27T19:00:13.669Z,1611774013.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:14.394Z,1611774014.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:14.800Z,1611774014.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:15.653Z,1611774015.653 [Micromodem](INFO): Nmea in: $SNTTA,0.022619,,,,190015.80*4A

2021-01-27T19:00:15.698Z,1611774015.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 234.634647 deg, deltaT: 4.146533 s, approachRate: -0.694557 m/s, LOS rate: -0.102370 deg/s, posRepo size: 4
2021-01-27T19:00:15.701Z,1611774015.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 234.634647 deg,
      approachRate: -0.694557 m/s,
      LOS rate: -0.102370 deg/s,
      cmd update: -0.307111 deg/s,
      cmd heading: 228.749957 deg,
      new cmd heading: 228.868281 deg.

2021-01-27T19:00:18.062Z,1611774018.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:18.835Z,1611774018.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:19.249Z,1611774019.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:20.082Z,1611774020.082 [Micromodem](INFO): Nmea in: $SNTTA,0.020678,0.240570,,,190020.24*5D

2021-01-27T19:00:20.103Z,1611774020.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 234.011433 deg, deltaT: 4.466396 s, approachRate: -0.644815 m/s, LOS rate: -0.139534 deg/s, posRepo size: 4
2021-01-27T19:00:20.110Z,1611774020.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.839998 m,
      bearing: 234.011433 deg,
      approachRate: -0.644815 m/s,
      LOS rate: -0.139534 deg/s,
      cmd update: -0.418602 deg/s,
      cmd heading: 227.377288 deg,
      new cmd heading: 227.253131 deg.

2021-01-27T19:00:22.512Z,1611774022.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:23.290Z,1611774023.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:23.711Z,1611774023.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:24.526Z,1611774024.526 [Micromodem](INFO): Nmea in: $SNTTA,0.018706,,,,190024.70*41

2021-01-27T19:00:24.551Z,1611774024.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 233.542828 deg, deltaT: 4.417026 s, approachRate: -0.665606 m/s, LOS rate: -0.106091 deg/s, posRepo size: 4
2021-01-27T19:00:24.581Z,1611774024.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.900000 m,
      bearing: 233.542828 deg,
      approachRate: -0.665606 m/s,
      LOS rate: -0.106091 deg/s,
      cmd update: -0.318272 deg/s,
      cmd heading: 225.529016 deg,
      new cmd heading: 225.346159 deg.

2021-01-27T19:00:26.951Z,1611774026.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:27.723Z,1611774027.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:28.136Z,1611774028.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:28.969Z,1611774028.969 [Micromodem](INFO): Nmea in: $SNTTA,0.017180,,,,190029.13*4E

2021-01-27T19:00:29.009Z,1611774029.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 233.276341 deg, deltaT: 4.459071 s, approachRate: -0.699697 m/s, LOS rate: -0.059763 deg/s, posRepo size: 4
2021-01-27T19:00:29.011Z,1611774029.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.779999 m,
      bearing: 233.276341 deg,
      approachRate: -0.699697 m/s,
      LOS rate: -0.059763 deg/s,
      cmd update: -0.179288 deg/s,
      cmd heading: 224.110065 deg,
      new cmd heading: 223.971805 deg.

2021-01-27T19:00:31.432Z,1611774031.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:32.172Z,1611774032.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:32.576Z,1611774032.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:33.431Z,1611774033.431 [Micromodem](INFO): Nmea in: $SNTTA,0.014578,,,,190033.58*4A

2021-01-27T19:00:33.456Z,1611774033.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 234.553887 deg, deltaT: 4.422451 s, approachRate: -0.691923 m/s, LOS rate: 0.288877 deg/s, posRepo size: 4
2021-01-27T19:00:33.458Z,1611774033.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 234.553887 deg,
      approachRate: -0.691923 m/s,
      LOS rate: 0.288877 deg/s,
      cmd update: 0.866632 deg/s,
      cmd heading: 223.316730 deg,
      new cmd heading: 223.234503 deg.

2021-01-27T19:00:35.843Z,1611774035.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:36.616Z,1611774036.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:37.020Z,1611774037.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:37.857Z,1611774037.857 [Micromodem](INFO): Nmea in: $SNTTA,0.012718,,,,190038.02*4C

2021-01-27T19:00:37.897Z,1611774037.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 235.449243 deg, deltaT: 4.479115 s, approachRate: -0.629589 m/s, LOS rate: 0.199896 deg/s, posRepo size: 4
2021-01-27T19:00:37.898Z,1611774037.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.899998 m,
      bearing: 235.449243 deg,
      approachRate: -0.629589 m/s,
      LOS rate: 0.199896 deg/s,
      cmd update: 0.599687 deg/s,
      cmd heading: 227.188132 deg,
      new cmd heading: 227.562201 deg.

2021-01-27T19:00:40.266Z,1611774040.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:41.067Z,1611774041.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:41.460Z,1611774041.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:42.329Z,1611774042.329 [Micromodem](INFO): Nmea in: $SNTTA,0.010690,,0.061846,,190042.47*50

2021-01-27T19:00:42.398Z,1611774042.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 236.797905 deg, deltaT: 4.409580 s, approachRate: -0.693943 m/s, LOS rate: 0.305848 deg/s, posRepo size: 4
2021-01-27T19:00:42.399Z,1611774042.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.840000 m,
      bearing: 236.797905 deg,
      approachRate: -0.693943 m/s,
      LOS rate: 0.305848 deg/s,
      cmd update: 0.917544 deg/s,
      cmd heading: 229.839660 deg,
      new cmd heading: 230.146387 deg.

2021-01-27T19:00:44.751Z,1611774044.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:45.506Z,1611774045.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:45.908Z,1611774045.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:46.741Z,1611774046.741 [Micromodem](INFO): Nmea in: $SNTTA,0.008812,,,,190046.91*41

2021-01-27T19:00:46.788Z,1611774046.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 236.875250 deg, deltaT: 4.482024 s, approachRate: -0.629180 m/s, LOS rate: 0.017257 deg/s, posRepo size: 4
2021-01-27T19:00:46.790Z,1611774046.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 236.875250 deg,
      approachRate: -0.629180 m/s,
      LOS rate: 0.017257 deg/s,
      cmd update: 0.051770 deg/s,
      cmd heading: 233.951580 deg,
      new cmd heading: 234.337169 deg.

2021-01-27T19:00:49.163Z,1611774049.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:49.954Z,1611774049.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:50.387Z,1611774050.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:51.185Z,1611774051.185 [Micromodem](INFO): Nmea in: $SNTTA,0.006937,,,,190051.36*42

2021-01-27T19:00:51.229Z,1611774051.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 236.945628 deg, deltaT: 4.409911 s, approachRate: -0.639468 m/s, LOS rate: 0.015959 deg/s, posRepo size: 4
2021-01-27T19:00:51.231Z,1611774051.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 236.945628 deg,
      approachRate: -0.639468 m/s,
      LOS rate: 0.015959 deg/s,
      cmd update: 0.047877 deg/s,
      cmd heading: 234.179912 deg,
      new cmd heading: 234.202211 deg.

2021-01-27T19:00:53.668Z,1611774053.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:54.390Z,1611774054.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:54.805Z,1611774054.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:00:55.654Z,1611774055.654 [Micromodem](INFO): Nmea in: $SNTTA,0.005003,,,,190055.80*46

2021-01-27T19:00:55.698Z,1611774055.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.320000 m, bearing: 235.218847 deg, deltaT: 4.454367 s, approachRate: -0.646557 m/s, LOS rate: -0.387660 deg/s, posRepo size: 4
2021-01-27T19:00:55.700Z,1611774055.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 235.218847 deg,
      approachRate: -0.646557 m/s,
      LOS rate: -0.387660 deg/s,
      cmd update: -1.162981 deg/s,
      cmd heading: 234.392217 deg,
      new cmd heading: 234.415457 deg.

2021-01-27T19:00:58.064Z,1611774058.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:00:58.834Z,1611774058.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:00:59.243Z,1611774059.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:00.089Z,1611774060.089 [Micromodem](INFO): Nmea in: $SNTTA,0.002878,,,,190100.27*49

2021-01-27T19:01:00.117Z,1611774060.117 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T19:01:00.117Z,1611774060.117 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:01:00.117Z,1611774060.117 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T19:01:00.117Z,1611774060.117 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:01:00.117Z,1611774060.117 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T19:01:00.118Z,1611774060.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-01-27T19:01:00.118Z,1611774060.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T19:01:00.118Z,1611774060.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T19:01:00.118Z,1611774060.118 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T19:01:00.120Z,1611774060.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 229.847859 deg, deltaT: 4.479168 s, approachRate: -0.723348 m/s, LOS rate: -1.199104 deg/s, posRepo size: 4
2021-01-27T19:01:00.122Z,1611774060.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 229.847859 deg,
      approachRate: -0.723348 m/s,
      LOS rate: -1.199104 deg/s,
      cmd update: -3.597312 deg/s,
      cmd heading: 229.159785 deg,
      new cmd heading: 228.684697 deg.

2021-01-27T19:01:00.494Z,1611774060.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T190100: (41.551998, -70.709610)
2021-01-27T19:01:00.494Z,1611774060.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T19:01:00.494Z,1611774060.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T19:01:00.495Z,1611774060.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:01:00.495Z,1611774060.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T19:01:00.495Z,1611774060.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:01:00.495Z,1611774060.495 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T19:01:00.495Z,1611774060.495 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T19:01:00.495Z,1611774060.495 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:01:00.890Z,1611774060.890 [UniversalFixResidualReporter](INFO): Fix residual: 4.6 %DT, over the last 1430.8 m. Residual distance 66.1 m at bearing -3.4 degrees. Fix at (41.5513, -70.7140) with 0.0 m made good.
2021-01-27T19:01:02.497Z,1611774062.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:03.279Z,1611774063.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:03.692Z,1611774063.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:04.539Z,1611774064.539 [Micromodem](INFO): Nmea in: $SNTTA,0.001677,,0.002846,,190104.68*52

2021-01-27T19:01:04.585Z,1611774064.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 219.259564 deg, deltaT: 4.403891 s, approachRate: -0.395106 m/s, LOS rate: -2.404305 deg/s, posRepo size: 4
2021-01-27T19:01:04.586Z,1611774064.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 219.259564 deg,
      approachRate: -0.395106 m/s,
      LOS rate: -2.404305 deg/s,
      cmd update: -7.212914 deg/s,
      cmd heading: 213.317955 deg,
      new cmd heading: 211.631172 deg.

2021-01-27T19:01:06.969Z,1611774066.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:07.728Z,1611774067.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:08.137Z,1611774068.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:08.972Z,1611774068.972 [Micromodem](INFO): Nmea in: $SNTTA,0.001454,,,,190109.13*46

2021-01-27T19:01:08.998Z,1611774068.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.099999 m, bearing: 197.938267 deg, deltaT: 4.459003 s, approachRate: -0.053823 m/s, LOS rate: -4.781628 deg/s, posRepo size: 4
2021-01-27T19:01:09.001Z,1611774069.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.099999 m,
      bearing: 197.938267 deg,
      approachRate: -0.053823 m/s,
      LOS rate: -4.781628 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.183472 deg,
      new cmd heading: 178.097045 deg.

2021-01-27T19:01:11.454Z,1611774071.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:12.166Z,1611774072.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:12.576Z,1611774072.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:13.417Z,1611774073.417 [Micromodem](INFO): Nmea in: $SNTTA,0.001506,,,,190113.57*4B

2021-01-27T19:01:13.470Z,1611774073.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.160000 m, bearing: 184.464271 deg, deltaT: 4.434112 s, approachRate: 0.013532 m/s, LOS rate: -3.038714 deg/s, posRepo size: 4
2021-01-27T19:01:13.478Z,1611774073.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.160000 m,
      bearing: 184.464271 deg,
      approachRate: 0.013532 m/s,
      LOS rate: -3.038714 deg/s,
      cmd update: -9.116141 deg/s,
      cmd heading: 127.926186 deg,
      new cmd heading: 122.392182 deg.

2021-01-27T19:01:15.823Z,1611774075.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:16.624Z,1611774076.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:17.012Z,1611774077.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:17.849Z,1611774077.849 [Micromodem](INFO): Nmea in: $SNTTA,0.001603,,,,190118.03*47

2021-01-27T19:01:17.899Z,1611774077.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 177.356462 deg, deltaT: 4.454463 s, approachRate: 0.040409 m/s, LOS rate: -1.595660 deg/s, posRepo size: 4
2021-01-27T19:01:17.905Z,1611774077.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 177.356462 deg,
      approachRate: 0.040409 m/s,
      LOS rate: -1.595660 deg/s,
      cmd update: -4.786980 deg/s,
      cmd heading: 87.464560 deg,
      new cmd heading: 83.343627 deg.

2021-01-27T19:01:20.270Z,1611774080.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:21.066Z,1611774081.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:21.470Z,1611774081.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:22.289Z,1611774082.289 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,,0.102732,,190122.47*54

2021-01-27T19:01:22.362Z,1611774082.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 124.487793 deg, deltaT: 4.440905 s, approachRate: 0.027022 m/s, LOS rate: -11.904932 deg/s, posRepo size: 4
2021-01-27T19:01:22.362Z,1611774082.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.46 m.
2021-01-27T19:01:22.363Z,1611774082.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.904932 deg/s. Setting heading cmd to target bearing of 124.487793deg and heading rate command to 0 deg/s.
2021-01-27T19:01:24.745Z,1611774084.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:25.494Z,1611774085.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:25.913Z,1611774085.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:26.745Z,1611774086.745 [Micromodem](INFO): Nmea in: $SNTTA,0.001612,,,,190126.90*40

2021-01-27T19:01:26.769Z,1611774086.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 114.639097 deg, deltaT: 4.487907 s, approachRate: -0.013369 m/s, LOS rate: -2.194496 deg/s, posRepo size: 4
2021-01-27T19:01:26.771Z,1611774086.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 114.639097 deg,
      approachRate: -0.013369 m/s,
      LOS rate: -2.194496 deg/s,
      cmd update: -6.583490 deg/s,
      cmd heading: 124.487793 deg,
      new cmd heading: 124.487793 deg.

2021-01-27T19:01:29.145Z,1611774089.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:29.942Z,1611774089.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:30.385Z,1611774090.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:31.185Z,1611774091.185 [Micromodem](INFO): Nmea in: $SNTTA,0.001548,,,,190131.35*45

2021-01-27T19:01:31.219Z,1611774091.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 97.246116 deg, deltaT: 4.377730 s, approachRate: 0.000000 m/s, LOS rate: -3.973059 deg/s, posRepo size: 4
2021-01-27T19:01:31.221Z,1611774091.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 97.246116 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.973059 deg/s,
      cmd update: -11.919177 deg/s,
      cmd heading: 95.593469 deg,
      new cmd heading: 92.633072 deg.

2021-01-27T19:01:33.679Z,1611774093.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:34.390Z,1611774094.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:34.800Z,1611774094.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:35.665Z,1611774095.665 [Micromodem](INFO): Nmea in: $SNTTA,0.001448,,,,190135.79*48

2021-01-27T19:01:35.709Z,1611774095.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.160000 m, bearing: 120.604571 deg, deltaT: 4.458886 s, approachRate: -0.053825 m/s, LOS rate: 5.238630 deg/s, posRepo size: 4
2021-01-27T19:01:35.711Z,1611774095.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.160000 m,
      bearing: 120.604571 deg,
      approachRate: -0.053825 m/s,
      LOS rate: 5.238630 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 42.686686 deg,
      new cmd heading: 36.718504 deg.

2021-01-27T19:01:38.037Z,1611774098.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:38.838Z,1611774098.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:39.236Z,1611774099.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:40.121Z,1611774100.121 [Micromodem](INFO): Nmea in: $SNTTA,0.001576,,,,190140.24*4E

2021-01-27T19:01:40.155Z,1611774100.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 118.552618 deg, deltaT: 4.474343 s, approachRate: 0.026820 m/s, LOS rate: -0.458604 deg/s, posRepo size: 4
2021-01-27T19:01:40.157Z,1611774100.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 118.552618 deg,
      approachRate: 0.026820 m/s,
      LOS rate: -0.458604 deg/s,
      cmd update: -1.375813 deg/s,
      cmd heading: 96.619428 deg,
      new cmd heading: 102.043248 deg.

2021-01-27T19:01:42.491Z,1611774102.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:43.306Z,1611774103.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:43.711Z,1611774103.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:44.521Z,1611774104.521 [Micromodem](INFO): Nmea in: $SNTTA,0.001477,,,,190144.71*4A

2021-01-27T19:01:44.558Z,1611774104.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 112.296424 deg, deltaT: 4.402468 s, approachRate: -0.013629 m/s, LOS rate: -1.421065 deg/s, posRepo size: 4
2021-01-27T19:01:44.560Z,1611774104.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 112.296424 deg,
      approachRate: -0.013629 m/s,
      LOS rate: -1.421065 deg/s,
      cmd update: -4.263195 deg/s,
      cmd heading: 90.563525 deg,
      new cmd heading: 89.939897 deg.

2021-01-27T19:01:46.559Z,1611774106.559 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T19:01:46.559Z,1611774106.559 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T19:01:46.559Z,1611774106.559 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T19:01:46.559Z,1611774106.559 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T19:01:46.559Z,1611774106.559 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T19:01:47.154Z,1611774107.154 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A811600D0000005D00000400320000000000000000151D80030C5669C010EC11D1909CBE14BE161E62B9509FFE73CDC770B8AD91B31DB3266A8008E5CB8968
2021-01-27T19:01:47.155Z,1611774107.155 [Micromodem](INFO): Outgoing frame #2, 5 bytes: E5DD5BCC40
2021-01-27T19:01:47.155Z,1611774107.155 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T19:01:47.229Z,1611774107.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:47.516Z,1611774107.516 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T19:01:47.894Z,1611774107.894 [Micromodem](INFO): Nmea in: $CADRQ,190148,1,10,0,64,1*73

2021-01-27T19:01:47.895Z,1611774107.895 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A811600D0000005D00000400320000000000000000151D80030C5669C010EC11D1909CBE14BE161E62B9509FFE73CDC770B8AD91B31DB3266A8008E5CB8968*34

2021-01-27T19:01:48.298Z,1611774108.298 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T19:01:48.299Z,1611774108.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:48.381Z,1611774108.381 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:01:48.730Z,1611774108.730 [Micromodem](INFO): Nmea in: $CADRQ,190149,1,10,0,64,2*71

2021-01-27T19:01:48.730Z,1611774108.730 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,190149,1,10,0,64,2*71

2021-01-27T19:01:49.105Z,1611774109.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:49.533Z,1611774109.533 [Micromodem](INFO): Nmea in: $SNTTA,0.001513,,,,190149.72*47

2021-01-27T19:01:49.613Z,1611774109.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 113.400818 deg, deltaT: 5.050152 s, approachRate: 0.000000 m/s, LOS rate: 0.218685 deg/s, posRepo size: 4
2021-01-27T19:01:49.623Z,1611774109.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 113.400818 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.218685 deg/s,
      cmd update: 0.656056 deg/s,
      cmd heading: 69.101568 deg,
      new cmd heading: 67.119391 deg.

2021-01-27T19:01:52.411Z,1611774112.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1373.700073 m, bearing: 91.663024 deg, deltaT: 2.829169 s, approachRate: 484.764282 m/s, LOS rate: -7.683456 deg/s, posRepo size: 4
2021-01-27T19:01:52.411Z,1611774112.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 1373.70 m.
2021-01-27T19:01:52.413Z,1611774112.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1373.700073 m,
      bearing: 91.663024 deg,
      approachRate: 484.764282 m/s,
      LOS rate: -7.683456 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 70.968543 deg,
      new cmd heading: 71.248138 deg.

2021-01-27T19:01:54.817Z,1611774114.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:01:55.566Z,1611774115.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:01:55.984Z,1611774115.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:01:56.829Z,1611774116.829 [Micromodem](INFO): Nmea in: $SNTTA,0.001463,,,,190156.97*44

2021-01-27T19:01:56.853Z,1611774116.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.099999 m, bearing: 110.817552 deg, deltaT: 4.466407 s, approachRate: -307.092499 m/s, LOS rate: 4.288576 deg/s, posRepo size: 4
2021-01-27T19:01:56.855Z,1611774116.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.099999 m,
      bearing: 110.817552 deg,
      approachRate: -307.092499 m/s,
      LOS rate: 4.288576 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 17.370637 deg,
      new cmd heading: 12.551149 deg.

2021-01-27T19:01:59.261Z,1611774119.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:00.018Z,1611774120.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:00.420Z,1611774120.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:01.258Z,1611774121.258 [Micromodem](INFO): Nmea in: $SNTTA,0.001573,,,,190201.42*4D

2021-01-27T19:02:01.347Z,1611774121.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 129.790902 deg, deltaT: 4.439073 s, approachRate: 0.054065 m/s, LOS rate: 4.274169 deg/s, posRepo size: 4
2021-01-27T19:02:01.353Z,1611774121.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 129.790902 deg,
      approachRate: 0.054065 m/s,
      LOS rate: 4.274169 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 70.639731 deg,
      new cmd heading: 76.113627 deg.

2021-01-27T19:02:03.749Z,1611774123.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:04.460Z,1611774124.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:04.860Z,1611774124.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:05.700Z,1611774125.700 [Micromodem](INFO): Nmea in: $SNTTA,0.001504,,,,190205.86*41

2021-01-27T19:02:05.765Z,1611774125.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 96.967772 deg, deltaT: 4.413550 s, approachRate: 0.000000 m/s, LOS rate: -7.436900 deg/s, posRepo size: 4
2021-01-27T19:02:05.767Z,1611774125.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 96.967772 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.436900 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 123.388253 deg,
      new cmd heading: 129.131537 deg.

2021-01-27T19:02:08.204Z,1611774128.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:08.898Z,1611774128.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:09.311Z,1611774129.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:10.182Z,1611774130.182 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,0.005461,,190210.30*55

2021-01-27T19:02:10.203Z,1611774130.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 94.426716 deg, deltaT: 4.494416 s, approachRate: 0.040050 m/s, LOS rate: -0.565381 deg/s, posRepo size: 4
2021-01-27T19:02:10.205Z,1611774130.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 94.426716 deg,
      approachRate: 0.040050 m/s,
      LOS rate: -0.565381 deg/s,
      cmd update: -1.696142 deg/s,
      cmd heading: 69.289119 deg,
      new cmd heading: 64.385403 deg.

2021-01-27T19:02:11.729Z,1611774131.729 [CTD_Seabird](ERROR): Failed to parse device response: .83780,6386.65
2021-01-27T19:02:12.618Z,1611774132.618 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T19:02:12.675Z,1611774132.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:13.382Z,1611774133.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:13.752Z,1611774133.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:14.587Z,1611774134.587 [Micromodem](INFO): Nmea in: $SNTTA,0.001562,,,,190214.79*41

2021-01-27T19:02:14.734Z,1611774134.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 121.098721 deg, deltaT: 4.384757 s, approachRate: -0.041052 m/s, LOS rate: 6.082892 deg/s, posRepo size: 4
2021-01-27T19:02:14.734Z,1611774134.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.34 m.
2021-01-27T19:02:14.736Z,1611774134.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 121.098721 deg,
      approachRate: -0.041052 m/s,
      LOS rate: 6.082892 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.845168 deg,
      new cmd heading: 60.910733 deg.

2021-01-27T19:02:17.023Z,1611774137.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:17.806Z,1611774137.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:18.193Z,1611774138.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:19.106Z,1611774139.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 101.839835 deg, deltaT: 4.512483 s, approachRate: 0.039890 m/s, LOS rate: -4.267913 deg/s, posRepo size: 4
2021-01-27T19:02:19.107Z,1611774139.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 101.839835 deg,
      approachRate: 0.039890 m/s,
      LOS rate: -4.267913 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 115.938529 deg,
      new cmd heading: 120.917041 deg.

2021-01-27T19:02:20.213Z,1611774140.213 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-01-27T19:02:20.652Z,1611774140.652 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,190219.350502,3,0,200,4000,14500,1,1,10,1,2,1,3,64*44

2021-01-27T19:02:21.025Z,1611774141.025 [Micromodem](INFO): Nmea in: $SNTTA,0.001605,,,,190219.21*43

2021-01-27T19:02:21.481Z,1611774141.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:22.227Z,1611774142.227 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T19:02:22.228Z,1611774142.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:22.671Z,1611774142.671 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127190222.091280,06,11495,40,0297,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,25.3,8.00,19,-5.00,-01,0.00,40,14500,4000*67

2021-01-27T19:02:22.671Z,1611774142.671 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127190222.091280,06,11495,40,0297,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,25.3,8.00,19,-5.00,-01,0.00,40,14500,4000*67

2021-01-27T19:02:23.530Z,1611774143.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 119.590766 deg, deltaT: 4.396835 s, approachRate: -0.013646 m/s, LOS rate: 4.037207 deg/s, posRepo size: 4
2021-01-27T19:02:23.548Z,1611774143.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 119.590766 deg,
      approachRate: -0.013646 m/s,
      LOS rate: 4.037207 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 63.121187 deg,
      new cmd heading: 57.869351 deg.

2021-01-27T19:02:23.879Z,1611774143.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:25.913Z,1611774145.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:26.719Z,1611774146.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:27.090Z,1611774147.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:27.928Z,1611774147.928 [Micromodem](INFO): Nmea in: $SNTTA,0.001619,0.019264,,,190228.12*5A

2021-01-27T19:02:27.963Z,1611774147.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 128.931213 deg, deltaT: 4.518805 s, approachRate: -0.013278 m/s, LOS rate: 2.067017 deg/s, posRepo size: 4
2021-01-27T19:02:27.981Z,1611774147.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 128.931213 deg,
      approachRate: -0.013278 m/s,
      LOS rate: 2.067017 deg/s,
      cmd update: 6.201051 deg/s,
      cmd heading: 117.155365 deg,
      new cmd heading: 121.571917 deg.

2021-01-27T19:02:30.366Z,1611774150.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:31.130Z,1611774151.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:31.532Z,1611774151.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:32.369Z,1611774152.369 [Micromodem](INFO): Nmea in: $SNTTA,0.001600,,,,190232.53*4A

2021-01-27T19:02:32.411Z,1611774152.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 94.580273 deg, deltaT: 4.434998 s, approachRate: 0.027058 m/s, LOS rate: -7.745424 deg/s, posRepo size: 4
2021-01-27T19:02:32.414Z,1611774152.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 94.580273 deg,
      approachRate: 0.027058 m/s,
      LOS rate: -7.745424 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 144.756772 deg,
      new cmd heading: 147.022884 deg.

2021-01-27T19:02:34.806Z,1611774154.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:35.570Z,1611774155.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:35.968Z,1611774155.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:36.809Z,1611774156.809 [Micromodem](INFO): Nmea in: $SNTTA,0.001621,,,,190236.97*45

2021-01-27T19:02:36.847Z,1611774156.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 72.235336 deg, deltaT: 4.390620 s, approachRate: -0.027331 m/s, LOS rate: -5.089244 deg/s, posRepo size: 4
2021-01-27T19:02:36.850Z,1611774156.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 72.235336 deg,
      approachRate: -0.027331 m/s,
      LOS rate: -5.089244 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 92.069799 deg,
      new cmd heading: 87.139587 deg.

2021-01-27T19:02:39.210Z,1611774159.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:40.006Z,1611774160.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:40.408Z,1611774160.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:41.257Z,1611774161.257 [Micromodem](INFO): Nmea in: $SNTTA,0.001631,,,,190241.41*4F

2021-01-27T19:02:41.337Z,1611774161.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 99.484335 deg, deltaT: 4.410650 s, approachRate: 0.040811 m/s, LOS rate: 6.178001 deg/s, posRepo size: 4
2021-01-27T19:02:41.339Z,1611774161.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 99.484335 deg,
      approachRate: 0.040811 m/s,
      LOS rate: 6.178001 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 39.188449 deg,
      new cmd heading: 33.409393 deg.

2021-01-27T19:02:43.728Z,1611774163.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:44.446Z,1611774164.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:44.848Z,1611774164.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:45.705Z,1611774165.705 [Micromodem](INFO): Nmea in: $SNTTA,0.001631,,,0.013849,190245.85*5A

2021-01-27T19:02:45.785Z,1611774165.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 98.827359 deg, deltaT: 4.461081 s, approachRate: 0.000000 m/s, LOS rate: -0.147268 deg/s, posRepo size: 4
2021-01-27T19:02:45.792Z,1611774165.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 98.827359 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.147268 deg/s,
      cmd update: -0.441805 deg/s,
      cmd heading: 92.651451 deg,
      new cmd heading: 98.428431 deg.

2021-01-27T19:02:48.149Z,1611774168.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:48.915Z,1611774168.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:49.303Z,1611774169.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:50.137Z,1611774170.137 [Micromodem](INFO): Nmea in: $SNTTA,0.001618,,,,190250.32*40

2021-01-27T19:02:50.159Z,1611774170.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 89.246175 deg, deltaT: 4.450077 s, approachRate: 0.000000 m/s, LOS rate: -2.153038 deg/s, posRepo size: 4
2021-01-27T19:02:50.166Z,1611774170.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 89.246175 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.153038 deg/s,
      cmd update: -6.459114 deg/s,
      cmd heading: 90.682854 deg,
      new cmd heading: 90.503933 deg.

2021-01-27T19:02:52.526Z,1611774172.526 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T19:02:52.593Z,1611774172.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:53.017Z,1611774173.017 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A811600D0000005D00000400320000000000000000151D80030C5669C010EC11D1909CBE14BE161E62B9509FFE73CDC770B8AD91B31DB3266A8008E5CB8968
2021-01-27T19:02:53.018Z,1611774173.018 [Micromodem](INFO): Outgoing frame #2, 5 bytes: E5DD5BCC40
2021-01-27T19:02:53.018Z,1611774173.018 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T19:02:53.075Z,1611774173.075 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T19:02:53.362Z,1611774173.362 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T19:02:53.363Z,1611774173.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:53.766Z,1611774173.766 [Micromodem](INFO): Nmea in: $CADRQ,190254,1,10,0,64,1*7D

2021-01-27T19:02:53.767Z,1611774173.767 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,190254,1,10,0,64,1*7D

2021-01-27T19:02:54.162Z,1611774174.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:54.606Z,1611774174.606 [Micromodem](INFO): Nmea in: $SNTTA,0.001534,,,,190254.77*48

2021-01-27T19:02:54.690Z,1611774174.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 109.829893 deg, deltaT: 4.454240 s, approachRate: -0.080822 m/s, LOS rate: 4.621151 deg/s, posRepo size: 4
2021-01-27T19:02:54.692Z,1611774174.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 109.829893 deg,
      approachRate: -0.080822 m/s,
      LOS rate: 4.621151 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.995237 deg,
      new cmd heading: 58.803951 deg.

2021-01-27T19:02:57.038Z,1611774177.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:02:57.798Z,1611774177.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:02:58.212Z,1611774178.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:02:59.066Z,1611774179.066 [Micromodem](INFO): Nmea in: $SNTTA,0.001522,,,,190259.20*40

2021-01-27T19:02:59.137Z,1611774179.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 103.910694 deg, deltaT: 4.477602 s, approachRate: 0.000000 m/s, LOS rate: -1.321957 deg/s, posRepo size: 4
2021-01-27T19:02:59.139Z,1611774179.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 103.910694 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.321957 deg/s,
      cmd update: -3.965872 deg/s,
      cmd heading: 115.880027 deg,
      new cmd heading: 121.292699 deg.

2021-01-27T19:03:01.459Z,1611774181.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:02.243Z,1611774182.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:02.684Z,1611774182.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:03.501Z,1611774183.501 [Micromodem](INFO): Nmea in: $SNTTA,0.001518,,,,190303.64*47

2021-01-27T19:03:03.526Z,1611774183.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 106.214052 deg, deltaT: 4.382989 s, approachRate: 0.013689 m/s, LOS rate: 0.525522 deg/s, posRepo size: 4
2021-01-27T19:03:03.528Z,1611774183.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 106.214052 deg,
      approachRate: 0.013689 m/s,
      LOS rate: 0.525522 deg/s,
      cmd update: 1.576567 deg/s,
      cmd heading: 98.483281 deg,
      new cmd heading: 96.686796 deg.

2021-01-27T19:03:06.439Z,1611774186.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1504.260010 m, bearing: 98.943561 deg, deltaT: 2.893089 s, approachRate: 519.161316 m/s, LOS rate: -2.513055 deg/s, posRepo size: 4
2021-01-27T19:03:06.440Z,1611774186.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 1504.26 m.
2021-01-27T19:03:06.442Z,1611774186.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1504.260010 m,
      bearing: 98.943561 deg,
      approachRate: 519.161316 m/s,
      LOS rate: -2.513055 deg/s,
      cmd update: -7.539164 deg/s,
      cmd heading: 103.019633 deg,
      new cmd heading: 103.790273 deg.

2021-01-27T19:03:08.741Z,1611774188.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:09.519Z,1611774189.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:09.929Z,1611774189.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:10.761Z,1611774190.761 [Micromodem](INFO): Nmea in: $SNTTA,0.001532,,,,190310.92*44

2021-01-27T19:03:10.875Z,1611774190.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 117.113948 deg, deltaT: 4.444951 s, approachRate: -337.906982 m/s, LOS rate: 4.087871 deg/s, posRepo size: 4
2021-01-27T19:03:10.877Z,1611774190.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 117.113948 deg,
      approachRate: -337.906982 m/s,
      LOS rate: 4.087871 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 69.417551 deg,
      new cmd heading: 65.889222 deg.

2021-01-27T19:03:13.185Z,1611774193.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:13.963Z,1611774193.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:14.390Z,1611774194.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:15.210Z,1611774195.210 [Micromodem](INFO): Nmea in: $SNTTA,0.001633,0.056308,0.055433,,190315.36*41

2021-01-27T19:03:15.234Z,1611774195.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 132.567879 deg, deltaT: 4.415327 s, approachRate: 0.027178 m/s, LOS rate: 3.500065 deg/s, posRepo size: 4
2021-01-27T19:03:15.235Z,1611774195.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 132.567879 deg,
      approachRate: 0.027178 m/s,
      LOS rate: 3.500065 deg/s,
      cmd update: 10.500195 deg/s,
      cmd heading: 122.401693 deg,
      new cmd heading: 127.320529 deg.

2021-01-27T19:03:17.675Z,1611774197.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:18.406Z,1611774198.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:18.824Z,1611774198.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:19.665Z,1611774199.665 [Micromodem](INFO): Nmea in: $SNTTA,0.001546,,,,190319.81*4C

2021-01-27T19:03:19.756Z,1611774199.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 92.563816 deg, deltaT: 4.524205 s, approachRate: 0.000000 m/s, LOS rate: -8.842231 deg/s, posRepo size: 4
2021-01-27T19:03:19.758Z,1611774199.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 92.563816 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.842231 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 169.708841 deg,
      new cmd heading: 174.160776 deg.

2021-01-27T19:03:22.074Z,1611774202.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:22.856Z,1611774202.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:23.264Z,1611774203.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:24.113Z,1611774204.113 [Micromodem](INFO): Nmea in: $SNTTA,0.001645,,,,190324.26*4F

2021-01-27T19:03:24.138Z,1611774204.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 125.545366 deg, deltaT: 4.453419 s, approachRate: 0.000000 m/s, LOS rate: 7.405894 deg/s, posRepo size: 4
2021-01-27T19:03:24.164Z,1611774204.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 125.545366 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.405894 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 115.993743 deg,
      new cmd heading: 111.991239 deg.

2021-01-27T19:03:26.527Z,1611774206.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:27.317Z,1611774207.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:27.705Z,1611774207.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:28.519Z,1611774208.519 [Micromodem](INFO): Nmea in: $SNTTA,0.001641,,,,190328.72*46

2021-01-27T19:03:28.555Z,1611774208.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 127.210579 deg, deltaT: 4.327746 s, approachRate: 0.013864 m/s, LOS rate: 0.384776 deg/s, posRepo size: 4
2021-01-27T19:03:28.555Z,1611774208.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.46 m.
2021-01-27T19:03:28.557Z,1611774208.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 127.210579 deg,
      approachRate: 0.013864 m/s,
      LOS rate: 0.384776 deg/s,
      cmd update: 1.154329 deg/s,
      cmd heading: 167.877881 deg,
      new cmd heading: 173.002181 deg.

2021-01-27T19:03:30.956Z,1611774210.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:31.738Z,1611774211.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:32.148Z,1611774212.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:32.977Z,1611774212.977 [Micromodem](INFO): Nmea in: $SNTTA,0.001508,,0.046052,,190333.14*59

2021-01-27T19:03:33.021Z,1611774213.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 124.639396 deg, deltaT: 4.444718 s, approachRate: -0.053996 m/s, LOS rate: -0.578481 deg/s, posRepo size: 4
2021-01-27T19:03:33.023Z,1611774213.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 124.639396 deg,
      approachRate: -0.053996 m/s,
      LOS rate: -0.578481 deg/s,
      cmd update: -1.735442 deg/s,
      cmd heading: 173.013285 deg,
      new cmd heading: 173.503014 deg.

2021-01-27T19:03:35.426Z,1611774215.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:36.179Z,1611774216.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:36.588Z,1611774216.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:37.421Z,1611774217.421 [Micromodem](INFO): Nmea in: $SNTTA,0.001617,,,,190337.58*43

2021-01-27T19:03:37.457Z,1611774217.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 97.534248 deg, deltaT: 4.432379 s, approachRate: 0.067684 m/s, LOS rate: -6.115260 deg/s, posRepo size: 4
2021-01-27T19:03:37.459Z,1611774217.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 97.534248 deg,
      approachRate: 0.067684 m/s,
      LOS rate: -6.115260 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 165.321508 deg,
      new cmd heading: 164.543016 deg.

2021-01-27T19:03:39.875Z,1611774219.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:40.641Z,1611774220.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:41.032Z,1611774221.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:41.877Z,1611774221.877 [Micromodem](INFO): Nmea in: $SNTTA,0.001655,,,,190342.04*4E

2021-01-27T19:03:41.915Z,1611774221.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 141.224844 deg, deltaT: 4.474137 s, approachRate: -0.013411 m/s, LOS rate: 9.765145 deg/s, posRepo size: 4
2021-01-27T19:03:41.918Z,1611774221.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 141.224844 deg,
      approachRate: -0.013411 m/s,
      LOS rate: 9.765145 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 111.869763 deg,
      new cmd heading: 106.473231 deg.

2021-01-27T19:03:44.381Z,1611774224.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:45.099Z,1611774225.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:45.669Z,1611774225.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:46.457Z,1611774226.457 [Micromodem](INFO): Nmea in: $SNTTA,0.001621,,,,190346.51*49

2021-01-27T19:03:46.514Z,1611774226.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 98.536878 deg, deltaT: 4.577355 s, approachRate: 0.013108 m/s, LOS rate: -9.325902 deg/s, posRepo size: 4
2021-01-27T19:03:46.516Z,1611774226.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 98.536878 deg,
      approachRate: 0.013108 m/s,
      LOS rate: -9.325902 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 167.038517 deg,
      new cmd heading: 172.478177 deg.

2021-01-27T19:03:48.895Z,1611774228.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:49.714Z,1611774229.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:50.088Z,1611774230.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:50.927Z,1611774230.927 [Micromodem](INFO): Nmea in: $SNTTA,0.001633,,,,190351.12*4B

2021-01-27T19:03:50.983Z,1611774230.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 133.968410 deg, deltaT: 4.486043 s, approachRate: -0.026750 m/s, LOS rate: 7.898170 deg/s, posRepo size: 4
2021-01-27T19:03:50.985Z,1611774230.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 133.968410 deg,
      approachRate: -0.026750 m/s,
      LOS rate: 7.898170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 113.254071 deg,
      new cmd heading: 107.966619 deg.

2021-01-27T19:03:53.369Z,1611774233.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:54.140Z,1611774234.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:54.528Z,1611774234.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:55.369Z,1611774235.369 [Micromodem](INFO): Nmea in: $SNTTA,0.001635,,,,190355.54*4B

2021-01-27T19:03:55.409Z,1611774235.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 97.797408 deg, deltaT: 4.428588 s, approachRate: 0.040645 m/s, LOS rate: -8.167615 deg/s, posRepo size: 4
2021-01-27T19:03:55.411Z,1611774235.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 97.797408 deg,
      approachRate: 0.040645 m/s,
      LOS rate: -8.167615 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 166.439956 deg,
      new cmd heading: 171.650296 deg.

2021-01-27T19:03:57.506Z,1611774237.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:03:58.218Z,1611774238.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:03:58.596Z,1611774238.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:03:58.608Z,1611774238.608 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T19:03:59.057Z,1611774239.057 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A811600D0000005D00000400320000000000000000151D80030C5669C010EC11D1909CBE14BE161E62B9509FFE73CDC770B8AD91B31DB3266A8008E5CB8968
2021-01-27T19:03:59.057Z,1611774239.057 [Micromodem](INFO): Outgoing frame #2, 5 bytes: E5DD5BCC40
2021-01-27T19:03:59.058Z,1611774239.058 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T19:03:59.399Z,1611774239.399 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T19:03:59.474Z,1611774239.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 94.009091 deg, deltaT: 4.154589 s, approachRate: 0.000000 m/s, LOS rate: -0.911839 deg/s, posRepo size: 4
2021-01-27T19:03:59.475Z,1611774239.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 94.009091 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.911839 deg/s,
      cmd update: -2.735517 deg/s,
      cmd heading: 116.579498 deg,
      new cmd heading: 112.452758 deg.

2021-01-27T19:03:59.793Z,1611774239.793 [Micromodem](INFO): Nmea in: $CADRQ,190400,1,10,0,64,1*7A

2021-01-27T19:03:59.794Z,1611774239.794 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A811600D0000005D00000400320000000000000000151D80030C5669C010EC11D1909CBE14BE161E62B9509FFE73CDC770B8AD91B31DB3266A8008E5CB8968*34

2021-01-27T19:04:00.225Z,1611774240.225 [Micromodem](INFO): Nmea in: $SNTTA,0.001640,,,,190359.62*40

2021-01-27T19:04:00.225Z,1611774240.225 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.001640,,,,190359.62*40

2021-01-27T19:04:01.413Z,1611774241.413 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T19:04:01.798Z,1611774241.798 [Micromodem](INFO): Nmea in: $CADRQ,190401,1,10,0,64,2*78

2021-01-27T19:04:01.799Z,1611774241.799 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E5DD5BCC40*4A

2021-01-27T19:04:01.893Z,1611774241.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:02.214Z,1611774242.214 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,5*7E

2021-01-27T19:04:02.606Z,1611774242.606 [Micromodem](INFO): Nmea in: $CATXP,69*7D

2021-01-27T19:04:02.607Z,1611774242.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:04.763Z,1611774244.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:05.046Z,1611774245.046 [Micromodem](INFO): Nmea in: $CATXF,69*6B

2021-01-27T19:04:05.046Z,1611774245.046 [Micromodem](ERROR): Response from modem unexpected: $CATXF,69*6B

2021-01-27T19:04:05.439Z,1611774245.439 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,190403.228301,3,0,200,4000,14500,1,1,10,1,2,2,3,69*4C

2021-01-27T19:04:05.439Z,1611774245.439 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,190403.228301,3,0,200,4000,14500,1,1,10,1,2,2,3,69*4C

2021-01-27T19:04:07.478Z,1611774247.478 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T19:04:07.518Z,1611774247.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:07.866Z,1611774247.866 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T19:04:07.867Z,1611774247.867 [Micromodem](INFO): Sent 61 bytes from file Logs/20210127T175400/Courier0013.lzma.parts
2021-01-27T19:04:07.867Z,1611774247.867 [Micromodem](INFO): Packets left to send: 0
2021-01-27T19:04:08.285Z,1611774248.285 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127190407.731577,06,8414,39,0222,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,26.0,7.00,16,-4.00,-01,-0.11,40,14500,4000*79

2021-01-27T19:04:08.285Z,1611774248.285 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127190407.731577,06,8414,39,0222,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,26.0,7.00,16,-4.00,-01,-0.11,40,14500,4000*79

2021-01-27T19:04:08.427Z,1611774248.427 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T19:04:08.427Z,1611774248.427 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T19:04:08.427Z,1611774248.427 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T19:04:08.444Z,1611774248.444 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T19:04:08.444Z,1611774248.444 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T19:04:10.337Z,1611774250.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:13.143Z,1611774253.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:13.917Z,1611774253.917 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:14.342Z,1611774254.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:15.181Z,1611774255.181 [Micromodem](INFO): Nmea in: $SNTTA,0.001636,,,,190415.32*4B

2021-01-27T19:04:15.238Z,1611774255.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 101.797187 deg, deltaT: 15.633993 s, approachRate: 0.000000 m/s, LOS rate: 0.498151 deg/s, posRepo size: 4
2021-01-27T19:04:15.244Z,1611774255.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 101.797187 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.498151 deg/s,
      cmd update: 1.494454 deg/s,
      cmd heading: 73.812525 deg,
      new cmd heading: 72.515176 deg.

2021-01-27T19:04:17.584Z,1611774257.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:18.390Z,1611774258.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:18.768Z,1611774258.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:19.609Z,1611774259.609 [Micromodem](INFO): Nmea in: $SNTTA,0.001645,,,,190419.79*4C

2021-01-27T19:04:19.693Z,1611774259.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 135.483223 deg, deltaT: 4.424593 s, approachRate: -0.040682 m/s, LOS rate: 7.613363 deg/s, posRepo size: 4
2021-01-27T19:04:19.695Z,1611774259.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 135.483223 deg,
      approachRate: -0.040682 m/s,
      LOS rate: 7.613363 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 80.424914 deg,
      new cmd heading: 81.178219 deg.

2021-01-27T19:04:22.041Z,1611774262.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:22.807Z,1611774262.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:23.318Z,1611774263.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:24.072Z,1611774264.072 [Micromodem](INFO): Nmea in: $SNTTA,0.001522,,,,190424.21*4D

2021-01-27T19:04:24.091Z,1611774264.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 95.235513 deg, deltaT: 4.520860 s, approachRate: 0.000000 m/s, LOS rate: -8.902667 deg/s, posRepo size: 4
2021-01-27T19:04:24.093Z,1611774264.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 95.235513 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.902667 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 134.574532 deg,
      new cmd heading: 139.255492 deg.

2021-01-27T19:04:26.525Z,1611774266.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:27.306Z,1611774267.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:27.713Z,1611774267.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:28.514Z,1611774268.514 [Micromodem](INFO): Nmea in: $SNTTA,0.001667,,,,190428.71*46

2021-01-27T19:04:28.551Z,1611774268.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 90.736222 deg, deltaT: 4.423078 s, approachRate: 0.054261 m/s, LOS rate: -1.017231 deg/s, posRepo size: 4
2021-01-27T19:04:28.559Z,1611774268.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 90.736222 deg,
      approachRate: 0.054261 m/s,
      LOS rate: -1.017231 deg/s,
      cmd update: -3.051693 deg/s,
      cmd heading: 81.589010 deg,
      new cmd heading: 76.371518 deg.

2021-01-27T19:04:30.945Z,1611774270.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:31.722Z,1611774271.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:32.132Z,1611774272.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:32.977Z,1611774272.977 [Micromodem](INFO): Nmea in: $SNTTA,0.001658,,,,190433.12*45

2021-01-27T19:04:33.001Z,1611774273.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 130.513877 deg, deltaT: 4.436332 s, approachRate: -0.040574 m/s, LOS rate: 8.966339 deg/s, posRepo size: 4
2021-01-27T19:04:33.003Z,1611774273.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 130.513877 deg,
      approachRate: -0.040574 m/s,
      LOS rate: 8.966339 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 68.002026 deg,
      new cmd heading: 66.683374 deg.

2021-01-27T19:04:35.425Z,1611774275.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:36.170Z,1611774276.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:36.572Z,1611774276.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:37.437Z,1611774277.437 [Micromodem](INFO): Nmea in: $SNTTA,0.001534,,,,190437.57*49

2021-01-27T19:04:37.462Z,1611774277.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 117.786093 deg, deltaT: 4.453227 s, approachRate: -0.053893 m/s, LOS rate: -2.858104 deg/s, posRepo size: 4
2021-01-27T19:04:37.464Z,1611774277.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 117.786093 deg,
      approachRate: -0.053893 m/s,
      LOS rate: -2.858104 deg/s,
      cmd update: -8.574310 deg/s,
      cmd heading: 121.392067 deg,
      new cmd heading: 126.720740 deg.

2021-01-27T19:04:39.874Z,1611774279.874 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T19:04:39.921Z,1611774279.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:40.698Z,1611774280.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:41.080Z,1611774281.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:41.913Z,1611774281.913 [Micromodem](INFO): Nmea in: $SNTTA,0.001565,,,,190442.10*4C

2021-01-27T19:04:41.957Z,1611774281.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 111.885124 deg, deltaT: 4.484658 s, approachRate: 0.013379 m/s, LOS rate: -1.315813 deg/s, posRepo size: 4
2021-01-27T19:04:41.959Z,1611774281.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 111.885124 deg,
      approachRate: 0.013379 m/s,
      LOS rate: -1.315813 deg/s,
      cmd update: -3.947438 deg/s,
      cmd heading: 82.905315 deg,
      new cmd heading: 79.046189 deg.

2021-01-27T19:04:44.365Z,1611774284.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:45.126Z,1611774285.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:45.531Z,1611774285.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:45.940Z,1611774285.940 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:04:46.381Z,1611774286.381 [Micromodem](INFO): Nmea in: $SNTTA,0.001527,,,,190446.53*49

2021-01-27T19:04:46.422Z,1611774286.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 115.663311 deg, deltaT: 4.453668 s, approachRate: 0.000000 m/s, LOS rate: 0.848332 deg/s, posRepo size: 4
2021-01-27T19:04:46.431Z,1611774286.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 115.663311 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.848332 deg/s,
      cmd update: 2.544995 deg/s,
      cmd heading: 65.340977 deg,
      new cmd heading: 63.500528 deg.

2021-01-27T19:04:48.796Z,1611774288.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:49.563Z,1611774289.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:49.964Z,1611774289.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:50.805Z,1611774290.805 [Micromodem](INFO): Nmea in: $SNTTA,0.001513,,,,190450.97*41

2021-01-27T19:04:50.862Z,1611774290.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 90.733107 deg, deltaT: 4.475982 s, approachRate: 0.013404 m/s, LOS rate: -5.569773 deg/s, posRepo size: 4
2021-01-27T19:04:50.866Z,1611774290.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 90.733107 deg,
      approachRate: 0.013404 m/s,
      LOS rate: -5.569773 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 76.742760 deg,
      new cmd heading: 77.824373 deg.

2021-01-27T19:04:53.243Z,1611774293.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:54.028Z,1611774294.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:54.408Z,1611774294.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:55.285Z,1611774295.285 [Micromodem](INFO): Nmea in: $SNTTA,0.001524,,,,190455.43*49

2021-01-27T19:04:55.357Z,1611774295.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 116.520172 deg, deltaT: 4.404929 s, approachRate: -0.013621 m/s, LOS rate: 5.854138 deg/s, posRepo size: 4
2021-01-27T19:04:55.359Z,1611774295.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 116.520172 deg,
      approachRate: -0.013621 m/s,
      LOS rate: 5.854138 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 23.885963 deg,
      new cmd heading: 17.747723 deg.

2021-01-27T19:04:57.829Z,1611774297.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:04:58.466Z,1611774298.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:04:58.860Z,1611774298.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:04:59.713Z,1611774299.713 [Micromodem](INFO): Nmea in: $SNTTA,0.001523,,,,190459.87*4A

2021-01-27T19:04:59.737Z,1611774299.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 112.368879 deg, deltaT: 4.539083 s, approachRate: -0.013219 m/s, LOS rate: -0.914566 deg/s, posRepo size: 4
2021-01-27T19:04:59.739Z,1611774299.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 112.368879 deg,
      approachRate: -0.013219 m/s,
      LOS rate: -0.914566 deg/s,
      cmd update: -2.743699 deg/s,
      cmd heading: 78.356293 deg,
      new cmd heading: 82.635805 deg.

2021-01-27T19:05:02.101Z,1611774302.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:02.902Z,1611774302.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:03.327Z,1611774303.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:03.671Z,1611774303.671 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:05:03.671Z,1611774303.671 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:05:03.671Z,1611774303.671 [DDM](ERROR): Hardware Fault
2021-01-27T19:05:03.813Z,1611774303.813 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:05:04.102Z,1611774304.102 [DDM](INFO): Powering down
2021-01-27T19:05:04.185Z,1611774304.185 [Micromodem](INFO): Nmea in: $SNTTA,0.001546,,0.053454,,190504.30*51

2021-01-27T19:05:04.224Z,1611774304.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 110.929280 deg, deltaT: 4.351312 s, approachRate: 0.013789 m/s, LOS rate: -0.330843 deg/s, posRepo size: 4
2021-01-27T19:05:04.227Z,1611774304.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 110.929280 deg,
      approachRate: 0.013789 m/s,
      LOS rate: -0.330843 deg/s,
      cmd update: -0.992528 deg/s,
      cmd heading: 66.439438 deg,
      new cmd heading: 65.069017 deg.

2021-01-27T19:05:05.072Z,1611774305.072 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:05:05.072Z,1611774305.072 [DDM] No Fault, FailCount= 1
2021-01-27T19:05:06.590Z,1611774306.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:07.355Z,1611774307.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:07.723Z,1611774307.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:08.559Z,1611774308.559 [Micromodem](INFO): Nmea in: $SNTTA,0.001542,,,,190508.76*46

2021-01-27T19:05:08.593Z,1611774308.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 107.546629 deg, deltaT: 4.425677 s, approachRate: 0.000000 m/s, LOS rate: -0.764324 deg/s, posRepo size: 4
2021-01-27T19:05:08.595Z,1611774308.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 107.546629 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.764324 deg/s,
      cmd update: -2.292972 deg/s,
      cmd heading: 62.039033 deg,
      new cmd heading: 61.606415 deg.

2021-01-27T19:05:09.347Z,1611774309.347 [DDM](INFO): Powering up
2021-01-27T19:05:09.347Z,1611774309.347 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:05:10.989Z,1611774310.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:11.766Z,1611774311.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:12.161Z,1611774312.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:12.993Z,1611774312.993 [Micromodem](INFO): Nmea in: $SNTTA,0.001574,,,0.171685,190513.17*5C

2021-01-27T19:05:13.017Z,1611774313.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 101.307374 deg, deltaT: 4.431005 s, approachRate: 0.013540 m/s, LOS rate: -1.408090 deg/s, posRepo size: 4
2021-01-27T19:05:13.019Z,1611774313.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 101.307374 deg,
      approachRate: 0.013540 m/s,
      LOS rate: -1.408090 deg/s,
      cmd update: -4.224271 deg/s,
      cmd heading: 51.878725 deg,
      new cmd heading: 50.895641 deg.

2021-01-27T19:05:15.835Z,1611774315.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1500.780029 m, bearing: 109.348993 deg, deltaT: 2.855099 s, approachRate: 524.829468 m/s, LOS rate: 2.816581 deg/s, posRepo size: 4
2021-01-27T19:05:15.835Z,1611774315.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 1500.78 m.
2021-01-27T19:05:15.837Z,1611774315.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1500.780029 m,
      bearing: 109.348993 deg,
      approachRate: 524.829468 m/s,
      LOS rate: 2.816581 deg/s,
      cmd update: 8.449744 deg/s,
      cmd heading: 39.834574 deg,
      new cmd heading: 38.163047 deg.

2021-01-27T19:05:18.311Z,1611774318.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:19.038Z,1611774319.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:19.450Z,1611774319.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:20.373Z,1611774320.373 [Micromodem](INFO): Nmea in: $SNTTA,0.001537,,,,190520.44*4F

2021-01-27T19:05:20.400Z,1611774320.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 110.487681 deg, deltaT: 4.426516 s, approachRate: -338.528076 m/s, LOS rate: 0.257243 deg/s, posRepo size: 4
2021-01-27T19:05:20.402Z,1611774320.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 110.487681 deg,
      approachRate: -338.528076 m/s,
      LOS rate: 0.257243 deg/s,
      cmd update: 0.771728 deg/s,
      cmd heading: 77.272347 deg,
      new cmd heading: 81.752207 deg.

2021-01-27T19:05:22.723Z,1611774322.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:23.466Z,1611774323.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:23.871Z,1611774323.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:24.701Z,1611774324.701 [Micromodem](INFO): Nmea in: $SNTTA,0.001561,,0.030833,,190524.87*52

2021-01-27T19:05:24.786Z,1611774324.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 119.599672 deg, deltaT: 4.448792 s, approachRate: 0.000000 m/s, LOS rate: 2.048194 deg/s, posRepo size: 4
2021-01-27T19:05:24.793Z,1611774324.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 119.599672 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.048194 deg/s,
      cmd update: 6.144583 deg/s,
      cmd heading: 80.684773 deg,
      new cmd heading: 81.066044 deg.

2021-01-27T19:05:25.081Z,1611774325.081 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:05:27.146Z,1611774327.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:27.948Z,1611774327.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:28.387Z,1611774328.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:29.187Z,1611774329.187 [Micromodem](INFO): Nmea in: $SNTTA,0.001538,,,,190529.40*4D

2021-01-27T19:05:29.220Z,1611774329.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 109.432922 deg, deltaT: 4.487544 s, approachRate: -0.013370 m/s, LOS rate: -2.265549 deg/s, posRepo size: 4
2021-01-27T19:05:29.222Z,1611774329.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 109.432922 deg,
      approachRate: -0.013370 m/s,
      LOS rate: -2.265549 deg/s,
      cmd update: -6.796646 deg/s,
      cmd heading: 108.326255 deg,
      new cmd heading: 110.892577 deg.

2021-01-27T19:05:31.726Z,1611774331.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:32.414Z,1611774332.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:32.815Z,1611774332.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:33.645Z,1611774333.645 [Micromodem](INFO): Nmea in: $SNTTA,0.001560,,,,190533.82*45

2021-01-27T19:05:33.735Z,1611774333.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 117.925279 deg, deltaT: 4.532951 s, approachRate: 0.013237 m/s, LOS rate: 1.873472 deg/s, posRepo size: 4
2021-01-27T19:05:33.743Z,1611774333.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 117.925279 deg,
      approachRate: 0.013237 m/s,
      LOS rate: 1.873472 deg/s,
      cmd update: 5.620416 deg/s,
      cmd heading: 77.592243 deg,
      new cmd heading: 74.716935 deg.

2021-01-27T19:05:36.045Z,1611774336.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:36.842Z,1611774336.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:37.302Z,1611774337.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:38.077Z,1611774338.077 [Micromodem](INFO): Nmea in: $SNTTA,0.001523,,,,190538.24*45

2021-01-27T19:05:38.110Z,1611774338.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 130.013129 deg, deltaT: 4.357017 s, approachRate: -0.013771 m/s, LOS rate: 2.774341 deg/s, posRepo size: 4
2021-01-27T19:05:38.111Z,1611774338.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.22 m.
2021-01-27T19:05:38.113Z,1611774338.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 130.013129 deg,
      approachRate: -0.013771 m/s,
      LOS rate: 2.774341 deg/s,
      cmd update: 8.323023 deg/s,
      cmd heading: 102.209546 deg,
      new cmd heading: 104.560369 deg.

2021-01-27T19:05:40.495Z,1611774340.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:41.282Z,1611774341.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:41.724Z,1611774341.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:42.529Z,1611774342.529 [Micromodem](INFO): Nmea in: $SNTTA,0.001527,,,,190542.68*44

2021-01-27T19:05:42.557Z,1611774342.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 116.186463 deg, deltaT: 4.412497 s, approachRate: 0.000000 m/s, LOS rate: -3.133524 deg/s, posRepo size: 4
2021-01-27T19:05:42.559Z,1611774342.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 116.186463 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.133524 deg/s,
      cmd update: -9.400572 deg/s,
      cmd heading: 138.968284 deg,
      new cmd heading: 142.698271 deg.

2021-01-27T19:05:45.047Z,1611774345.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:45.734Z,1611774345.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:46.140Z,1611774346.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:46.989Z,1611774346.989 [Micromodem](INFO): Nmea in: $SNTTA,0.001540,,0.008884,,190547.14*59

2021-01-27T19:05:47.035Z,1611774347.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 125.258102 deg, deltaT: 4.576128 s, approachRate: 0.013112 m/s, LOS rate: 1.982383 deg/s, posRepo size: 4
2021-01-27T19:05:47.037Z,1611774347.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 125.258102 deg,
      approachRate: 0.013112 m/s,
      LOS rate: 1.982383 deg/s,
      cmd update: 5.947149 deg/s,
      cmd heading: 95.950072 deg,
      new cmd heading: 92.668501 deg.

2021-01-27T19:05:49.411Z,1611774349.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:50.170Z,1611774350.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:50.580Z,1611774350.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:51.417Z,1611774351.417 [Micromodem](INFO): Nmea in: $SNTTA,0.001530,,,,190551.57*4C

2021-01-27T19:05:51.441Z,1611774351.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 121.775620 deg, deltaT: 4.321319 s, approachRate: 0.000000 m/s, LOS rate: -0.805884 deg/s, posRepo size: 4
2021-01-27T19:05:51.443Z,1611774351.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 121.775620 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.805884 deg/s,
      cmd update: -2.417652 deg/s,
      cmd heading: 121.649736 deg,
      new cmd heading: 124.236371 deg.

2021-01-27T19:05:53.846Z,1611774353.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:54.625Z,1611774354.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:55.016Z,1611774355.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:05:55.382Z,1611774355.382 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:05:55.382Z,1611774355.382 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:05:55.382Z,1611774355.382 [DDM](ERROR): Hardware Fault
2021-01-27T19:05:55.564Z,1611774355.564 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:05:55.798Z,1611774355.798 [DDM](INFO): Powering down
2021-01-27T19:05:55.885Z,1611774355.885 [Micromodem](INFO): Nmea in: $SNTTA,0.001514,,,,190556.03*4C

2021-01-27T19:05:55.935Z,1611774355.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 125.824297 deg, deltaT: 4.438554 s, approachRate: -0.013518 m/s, LOS rate: 0.912161 deg/s, posRepo size: 4
2021-01-27T19:05:55.937Z,1611774355.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 125.824297 deg,
      approachRate: -0.013518 m/s,
      LOS rate: 0.912161 deg/s,
      cmd update: 2.736484 deg/s,
      cmd heading: 110.938294 deg,
      new cmd heading: 109.733418 deg.

2021-01-27T19:05:56.665Z,1611774356.665 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T19:05:56.808Z,1611774356.808 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:05:56.808Z,1611774356.808 [DDM] No Fault, FailCount= 1
2021-01-27T19:05:58.230Z,1611774358.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:05:59.029Z,1611774359.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:05:59.448Z,1611774359.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:00.385Z,1611774360.385 [Micromodem](INFO): Nmea in: $SNTTA,0.001518,,0.038042,,190600.43*57

2021-01-27T19:06:00.426Z,1611774360.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 127.954674 deg, deltaT: 4.425344 s, approachRate: 0.000000 m/s, LOS rate: 0.481404 deg/s, posRepo size: 4
2021-01-27T19:06:00.427Z,1611774360.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 127.954674 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.481404 deg/s,
      cmd update: 1.444211 deg/s,
      cmd heading: 123.069835 deg,
      new cmd heading: 124.591361 deg.

2021-01-27T19:06:00.755Z,1611774360.755 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T19:06:00.755Z,1611774360.755 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:06:00.755Z,1611774360.755 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T19:06:00.756Z,1611774360.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:06:00.756Z,1611774360.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T19:06:00.756Z,1611774360.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.220000 m 
2021-01-27T19:06:00.757Z,1611774360.757 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T19:06:00.757Z,1611774360.757 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T19:06:00.757Z,1611774360.757 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T19:06:01.053Z,1611774361.053 [DDM](INFO): Powering up
2021-01-27T19:06:01.053Z,1611774361.053 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:06:01.113Z,1611774361.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T190601: (41.551998, -70.709610)
2021-01-27T19:06:01.113Z,1611774361.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T19:06:01.113Z,1611774361.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T19:06:01.113Z,1611774361.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:06:01.113Z,1611774361.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T19:06:01.113Z,1611774361.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:06:01.114Z,1611774361.114 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T19:06:01.114Z,1611774361.114 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T19:06:01.114Z,1611774361.114 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:06:02.743Z,1611774362.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:03.479Z,1611774363.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:03.879Z,1611774363.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:04.719Z,1611774364.719 [Micromodem](INFO): Nmea in: $SNTTA,0.001506,,,,190604.88*48

2021-01-27T19:06:04.781Z,1611774364.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 130.625155 deg, deltaT: 4.476288 s, approachRate: 0.013404 m/s, LOS rate: 0.596584 deg/s, posRepo size: 4
2021-01-27T19:06:04.783Z,1611774364.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 130.625155 deg,
      approachRate: 0.013404 m/s,
      LOS rate: 0.596584 deg/s,
      cmd update: 1.789752 deg/s,
      cmd heading: 129.518676 deg,
      new cmd heading: 130.162793 deg.

2021-01-27T19:06:07.159Z,1611774367.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:07.916Z,1611774367.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:08.353Z,1611774368.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:09.145Z,1611774369.145 [Micromodem](INFO): Nmea in: $SNTTA,0.001535,,,,190609.32*44

2021-01-27T19:06:09.181Z,1611774369.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 128.250284 deg, deltaT: 4.427819 s, approachRate: -0.013551 m/s, LOS rate: -0.536352 deg/s, posRepo size: 4
2021-01-27T19:06:09.183Z,1611774369.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 128.250284 deg,
      approachRate: -0.013551 m/s,
      LOS rate: -0.536352 deg/s,
      cmd update: -1.609057 deg/s,
      cmd heading: 137.463317 deg,
      new cmd heading: 138.191247 deg.

2021-01-27T19:06:11.592Z,1611774371.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:12.375Z,1611774372.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:12.790Z,1611774372.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:13.606Z,1611774373.606 [Micromodem](INFO): Nmea in: $SNTTA,0.001690,,,,190613.78*4D

2021-01-27T19:06:13.713Z,1611774373.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 135.886299 deg, deltaT: 4.490021 s, approachRate: 0.080178 m/s, LOS rate: 1.700664 deg/s, posRepo size: 4
2021-01-27T19:06:13.715Z,1611774373.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 135.886299 deg,
      approachRate: 0.080178 m/s,
      LOS rate: 1.700664 deg/s,
      cmd update: 5.101991 deg/s,
      cmd heading: 130.238680 deg,
      new cmd heading: 129.523329 deg.

2021-01-27T19:06:16.010Z,1611774376.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:16.795Z,1611774376.795 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:06:16.918Z,1611774376.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:17.236Z,1611774377.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:18.081Z,1611774378.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 130.545474 deg, deltaT: 4.438191 s, approachRate: -0.054077 m/s, LOS rate: -1.203379 deg/s, posRepo size: 4
2021-01-27T19:06:18.085Z,1611774378.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 130.545474 deg,
      approachRate: -0.054077 m/s,
      LOS rate: -1.203379 deg/s,
      cmd update: -3.610137 deg/s,
      cmd heading: 152.882040 deg,
      new cmd heading: 154.803297 deg.

2021-01-27T19:06:18.457Z,1611774378.457 [Micromodem](INFO): Nmea in: $SNTTA,0.001528,,,0.006714,190618.32*52

2021-01-27T19:06:20.527Z,1611774380.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:21.286Z,1611774381.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:21.704Z,1611774381.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:22.509Z,1611774382.509 [Micromodem](INFO): Nmea in: $SNTTA,0.001532,,,,190622.69*44

2021-01-27T19:06:22.543Z,1611774382.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 121.775566 deg, deltaT: 4.425369 s, approachRate: 0.000000 m/s, LOS rate: -1.981735 deg/s, posRepo size: 4
2021-01-27T19:06:22.546Z,1611774382.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 121.775566 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.981735 deg/s,
      cmd update: -5.945205 deg/s,
      cmd heading: 136.905691 deg,
      new cmd heading: 135.404051 deg.

2021-01-27T19:06:24.937Z,1611774384.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:25.726Z,1611774385.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:26.136Z,1611774386.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:27.033Z,1611774387.033 [Micromodem](INFO): Nmea in: $SNTTA,0.001523,,,,190627.13*4C

2021-01-27T19:06:27.078Z,1611774387.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 128.263357 deg, deltaT: 4.431958 s, approachRate: -0.013537 m/s, LOS rate: 1.463866 deg/s, posRepo size: 4
2021-01-27T19:06:27.082Z,1611774387.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 128.263357 deg,
      approachRate: -0.013537 m/s,
      LOS rate: 1.463866 deg/s,
      cmd update: 4.391597 deg/s,
      cmd heading: 110.557683 deg,
      new cmd heading: 107.472824 deg.

2021-01-27T19:06:29.438Z,1611774389.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:30.162Z,1611774390.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:30.576Z,1611774390.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:31.417Z,1611774391.417 [Micromodem](INFO): Nmea in: $SNTTA,0.001651,,,,190631.56*4C

2021-01-27T19:06:31.446Z,1611774391.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 118.546662 deg, deltaT: 4.451310 s, approachRate: 0.053916 m/s, LOS rate: -2.182884 deg/s, posRepo size: 4
2021-01-27T19:06:31.469Z,1611774391.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 118.546662 deg,
      approachRate: 0.053916 m/s,
      LOS rate: -2.182884 deg/s,
      cmd update: -6.548653 deg/s,
      cmd heading: 130.106712 deg,
      new cmd heading: 132.019314 deg.

2021-01-27T19:06:33.853Z,1611774393.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:34.614Z,1611774394.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:35.012Z,1611774395.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:35.869Z,1611774395.869 [Micromodem](INFO): Nmea in: $SNTTA,0.001676,,,,190636.02*4F

2021-01-27T19:06:35.893Z,1611774395.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 105.573373 deg, deltaT: 4.448766 s, approachRate: 0.026974 m/s, LOS rate: -2.916154 deg/s, posRepo size: 4
2021-01-27T19:06:35.895Z,1611774395.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 105.573373 deg,
      approachRate: 0.026974 m/s,
      LOS rate: -2.916154 deg/s,
      cmd update: -8.748463 deg/s,
      cmd heading: 100.975400 deg,
      new cmd heading: 98.135904 deg.

2021-01-27T19:06:38.388Z,1611774398.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:39.066Z,1611774399.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:39.460Z,1611774399.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:40.373Z,1611774400.373 [Micromodem](INFO): Nmea in: $SNTTA,0.001504,,,,190640.47*49

2021-01-27T19:06:40.398Z,1611774400.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 128.774597 deg, deltaT: 4.459519 s, approachRate: -0.094181 m/s, LOS rate: 5.202629 deg/s, posRepo size: 4
2021-01-27T19:06:40.400Z,1611774400.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 128.774597 deg,
      approachRate: -0.094181 m/s,
      LOS rate: 5.202629 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.958733 deg,
      new cmd heading: 57.770109 deg.

2021-01-27T19:06:42.875Z,1611774402.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:43.494Z,1611774403.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:43.909Z,1611774403.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:44.737Z,1611774404.737 [Micromodem](INFO): Nmea in: $SNTTA,0.001677,,,,190644.90*40

2021-01-27T19:06:44.761Z,1611774404.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 127.514974 deg, deltaT: 4.461307 s, approachRate: 0.053796 m/s, LOS rate: -0.282344 deg/s, posRepo size: 4
2021-01-27T19:06:44.763Z,1611774404.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 127.514974 deg,
      approachRate: 0.053796 m/s,
      LOS rate: -0.282344 deg/s,
      cmd update: -0.847032 deg/s,
      cmd heading: 115.494394 deg,
      new cmd heading: 120.066431 deg.

2021-01-27T19:06:47.094Z,1611774407.094 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:06:47.094Z,1611774407.094 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:06:47.094Z,1611774407.094 [DDM](ERROR): Hardware Fault
2021-01-27T19:06:47.133Z,1611774407.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:47.208Z,1611774407.208 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:06:47.500Z,1611774407.500 [DDM](INFO): Powering down
2021-01-27T19:06:47.913Z,1611774407.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:48.344Z,1611774408.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:48.465Z,1611774408.465 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:06:48.465Z,1611774408.465 [DDM] No Fault, FailCount= 1
2021-01-27T19:06:49.144Z,1611774409.144 [Micromodem](INFO): Nmea in: $SNTTA,0.001523,,0.026417,,190649.31*5C

2021-01-27T19:06:49.163Z,1611774409.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 120.936409 deg, deltaT: 4.385995 s, approachRate: -0.041039 m/s, LOS rate: -1.499902 deg/s, posRepo size: 4
2021-01-27T19:06:49.166Z,1611774409.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 120.936409 deg,
      approachRate: -0.041039 m/s,
      LOS rate: -1.499902 deg/s,
      cmd update: -4.499707 deg/s,
      cmd heading: 111.782794 deg,
      new cmd heading: 111.443131 deg.

2021-01-27T19:06:51.574Z,1611774411.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:52.420Z,1611774412.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:52.769Z,1611774412.769 [DDM](INFO): Powering up
2021-01-27T19:06:52.770Z,1611774412.770 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:06:52.796Z,1611774412.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:53.603Z,1611774413.603 [Micromodem](INFO): Nmea in: $SNTTA,0.001546,,,,190653.82*44

2021-01-27T19:06:53.681Z,1611774413.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 121.611887 deg, deltaT: 4.442636 s, approachRate: -0.013506 m/s, LOS rate: 0.152045 deg/s, posRepo size: 4
2021-01-27T19:06:53.683Z,1611774413.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 121.611887 deg,
      approachRate: -0.013506 m/s,
      LOS rate: 0.152045 deg/s,
      cmd update: 0.456134 deg/s,
      cmd heading: 91.789478 deg,
      new cmd heading: 89.648167 deg.

2021-01-27T19:06:55.605Z,1611774415.605 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:06:56.019Z,1611774416.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:06:56.793Z,1611774416.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:06:57.201Z,1611774417.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:06:58.034Z,1611774418.034 [Micromodem](INFO): Nmea in: $SNTTA,0.001524,,,,190658.20*43

2021-01-27T19:06:58.092Z,1611774418.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 122.350872 deg, deltaT: 4.476083 s, approachRate: 0.000000 m/s, LOS rate: 0.165096 deg/s, posRepo size: 4
2021-01-27T19:06:58.094Z,1611774418.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 122.350872 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.165096 deg/s,
      cmd update: 0.495289 deg/s,
      cmd heading: 93.832671 deg,
      new cmd heading: 94.016097 deg.

2021-01-27T19:07:00.466Z,1611774420.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:01.246Z,1611774421.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:01.669Z,1611774421.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:02.493Z,1611774422.493 [Micromodem](INFO): Nmea in: $SNTTA,0.001544,,,,190702.65*4A

2021-01-27T19:07:02.517Z,1611774422.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 121.919751 deg, deltaT: 4.386634 s, approachRate: 0.000000 m/s, LOS rate: -0.098281 deg/s, posRepo size: 4
2021-01-27T19:07:02.519Z,1611774422.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 121.919751 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.098281 deg/s,
      cmd update: -0.294842 deg/s,
      cmd heading: 95.999381 deg,
      new cmd heading: 96.226130 deg.

2021-01-27T19:07:04.898Z,1611774424.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:05.359Z,1611774425.359 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-01-27T19:07:05.753Z,1611774425.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:06.095Z,1611774426.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:06.931Z,1611774426.931 [Micromodem](INFO): Nmea in: $SNTTA,0.001517,,,,190707.15*4E

2021-01-27T19:07:06.991Z,1611774426.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 119.814468 deg, deltaT: 4.496869 s, approachRate: 0.013343 m/s, LOS rate: -0.468166 deg/s, posRepo size: 4
2021-01-27T19:07:06.998Z,1611774426.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 119.814468 deg,
      approachRate: 0.013343 m/s,
      LOS rate: -0.468166 deg/s,
      cmd update: -1.404499 deg/s,
      cmd heading: 94.670398 deg,
      new cmd heading: 94.545298 deg.

2021-01-27T19:07:08.521Z,1611774428.521 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:07:08.652Z,1611774428.652 [DDM](ERROR): Could not parse latch state
2021-01-27T19:07:09.488Z,1611774429.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:10.158Z,1611774430.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:10.574Z,1611774430.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:10.593Z,1611774430.593 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T19:07:11.413Z,1611774431.413 [Micromodem](INFO): Nmea in: $SNTTA,0.001559,,,,190711.56*44

2021-01-27T19:07:11.438Z,1611774431.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 125.901901 deg, deltaT: 4.447921 s, approachRate: 0.000000 m/s, LOS rate: 1.368602 deg/s, posRepo size: 4
2021-01-27T19:07:11.440Z,1611774431.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 125.901901 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.368602 deg/s,
      cmd update: 4.105806 deg/s,
      cmd heading: 88.421016 deg,
      new cmd heading: 87.828840 deg.

2021-01-27T19:07:13.872Z,1611774433.872 [DDM](ERROR): Could not parse latch state
2021-01-27T19:07:13.911Z,1611774433.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:14.602Z,1611774434.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:15.019Z,1611774435.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:15.423Z,1611774435.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:07:15.841Z,1611774435.841 [Micromodem](INFO): Nmea in: $SNTTA,0.001512,,,,190716.00*4F

2021-01-27T19:07:15.865Z,1611774435.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 131.199792 deg, deltaT: 4.442676 s, approachRate: -0.013506 m/s, LOS rate: 1.192500 deg/s, posRepo size: 4
2021-01-27T19:07:15.867Z,1611774435.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 131.199792 deg,
      approachRate: -0.013506 m/s,
      LOS rate: 1.192500 deg/s,
      cmd update: 3.577500 deg/s,
      cmd heading: 106.645182 deg,
      new cmd heading: 108.325668 deg.

2021-01-27T19:07:18.285Z,1611774438.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:19.122Z,1611774439.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:19.473Z,1611774439.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:20.312Z,1611774440.312 [Micromodem](INFO): Nmea in: $SNTTA,0.001547,,,,190720.52*4D

2021-01-27T19:07:20.363Z,1611774440.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:07:20.393Z,1611774440.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 127.266232 deg, deltaT: 4.447233 s, approachRate: 0.013492 m/s, LOS rate: -0.884496 deg/s, posRepo size: 4
2021-01-27T19:07:20.395Z,1611774440.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 127.266232 deg,
      approachRate: 0.013492 m/s,
      LOS rate: -0.884496 deg/s,
      cmd update: -2.653488 deg/s,
      cmd heading: 122.554599 deg,
      new cmd heading: 124.294377 deg.

2021-01-27T19:07:22.897Z,1611774442.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:23.575Z,1611774443.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:23.683Z,1611774443.683 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T19:07:23.900Z,1611774443.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:24.792Z,1611774444.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 102.375253 deg, deltaT: 4.458644 s, approachRate: 0.026914 m/s, LOS rate: -5.582634 deg/s, posRepo size: 4
2021-01-27T19:07:24.794Z,1611774444.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 102.375253 deg,
      approachRate: 0.026914 m/s,
      LOS rate: -5.582634 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 110.734232 deg,
      new cmd heading: 109.579033 deg.

2021-01-27T19:07:25.117Z,1611774445.117 [Micromodem](INFO): Nmea in: $SNTTA,0.001520,,,,190724.98*4E

2021-01-27T19:07:25.525Z,1611774445.525 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 85
2021-01-27T19:07:27.150Z,1611774447.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:27.934Z,1611774447.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:28.368Z,1611774448.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:29.177Z,1611774449.177 [Micromodem](INFO): Nmea in: $SNTTA,0.001519,,,,190729.34*4F

2021-01-27T19:07:29.210Z,1611774449.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 136.517382 deg, deltaT: 4.434762 s, approachRate: -0.027058 m/s, LOS rate: 7.698751 deg/s, posRepo size: 4
2021-01-27T19:07:29.213Z,1611774449.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 136.517382 deg,
      approachRate: -0.027058 m/s,
      LOS rate: 7.698751 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 57.557730 deg,
      new cmd heading: 52.491918 deg.

2021-01-27T19:07:31.596Z,1611774451.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:32.454Z,1611774452.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:32.811Z,1611774452.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:33.629Z,1611774453.629 [Micromodem](INFO): Nmea in: $SNTTA,0.001506,,,,190733.85*40

2021-01-27T19:07:33.717Z,1611774453.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 139.756708 deg, deltaT: 4.409200 s, approachRate: -0.013608 m/s, LOS rate: 0.734674 deg/s, posRepo size: 4
2021-01-27T19:07:33.719Z,1611774453.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 139.756708 deg,
      approachRate: -0.013608 m/s,
      LOS rate: 0.734674 deg/s,
      cmd update: 2.204023 deg/s,
      cmd heading: 110.604356 deg,
      new cmd heading: 116.646332 deg.

2021-01-27T19:07:35.666Z,1611774455.666 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-01-27T19:07:36.029Z,1611774456.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:36.827Z,1611774456.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:37.239Z,1611774457.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:38.069Z,1611774458.069 [Micromodem](INFO): Nmea in: $SNTTA,0.001531,,,,190738.23*43

2021-01-27T19:07:38.094Z,1611774458.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 124.421731 deg, deltaT: 4.498165 s, approachRate: 0.026677 m/s, LOS rate: -3.409163 deg/s, posRepo size: 4
2021-01-27T19:07:38.096Z,1611774458.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 124.421731 deg,
      approachRate: 0.026677 m/s,
      LOS rate: -3.409163 deg/s,
      cmd update: -10.227489 deg/s,
      cmd heading: 120.501346 deg,
      new cmd heading: 121.371563 deg.

2021-01-27T19:07:38.818Z,1611774458.818 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:07:38.818Z,1611774458.818 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:07:38.818Z,1611774458.818 [DDM](ERROR): Hardware Fault
2021-01-27T19:07:38.952Z,1611774458.952 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:07:39.209Z,1611774459.209 [DDM](INFO): Powering down
2021-01-27T19:07:40.148Z,1611774460.148 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:07:40.148Z,1611774460.148 [DDM] No Fault, FailCount= 1
2021-01-27T19:07:40.496Z,1611774460.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:41.234Z,1611774461.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:41.680Z,1611774461.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:42.469Z,1611774462.469 [Micromodem](INFO): Nmea in: $SNTTA,0.001685,,,,190742.63*46

2021-01-27T19:07:42.493Z,1611774462.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 106.705593 deg, deltaT: 4.353433 s, approachRate: 0.068912 m/s, LOS rate: -4.069464 deg/s, posRepo size: 4
2021-01-27T19:07:42.495Z,1611774462.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 106.705593 deg,
      approachRate: 0.068912 m/s,
      LOS rate: -4.069464 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 75.895126 deg,
      new cmd heading: 71.467421 deg.

2021-01-27T19:07:44.462Z,1611774464.462 [DDM](INFO): Powering up
2021-01-27T19:07:44.462Z,1611774464.462 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:07:44.895Z,1611774464.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:45.694Z,1611774465.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:45.749Z,1611774465.749 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T19:07:46.155Z,1611774466.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:46.937Z,1611774466.937 [Micromodem](INFO): Nmea in: $SNTTA,0.001684,,,,190747.10*46

2021-01-27T19:07:46.960Z,1611774466.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 104.470803 deg, deltaT: 4.489116 s, approachRate: 0.000000 m/s, LOS rate: -0.497824 deg/s, posRepo size: 4
2021-01-27T19:07:46.962Z,1611774466.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 104.470803 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.497824 deg/s,
      cmd update: -1.493472 deg/s,
      cmd heading: 22.073157 deg,
      new cmd heading: 17.099229 deg.

2021-01-27T19:07:49.390Z,1611774469.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:50.121Z,1611774470.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:50.527Z,1611774470.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:51.377Z,1611774471.377 [Micromodem](INFO): Nmea in: $SNTTA,0.001548,,,,190751.52*44

2021-01-27T19:07:51.407Z,1611774471.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 127.020099 deg, deltaT: 4.418466 s, approachRate: -0.081476 m/s, LOS rate: 5.103422 deg/s, posRepo size: 4
2021-01-27T19:07:51.409Z,1611774471.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 127.020099 deg,
      approachRate: -0.081476 m/s,
      LOS rate: 5.103422 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.492274 deg,
      new cmd heading: 14.813497 deg.

2021-01-27T19:07:53.793Z,1611774473.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:54.570Z,1611774474.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:54.976Z,1611774474.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:55.405Z,1611774475.405 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:07:55.801Z,1611774475.801 [Micromodem](INFO): Nmea in: $SNTTA,0.001688,,,,190755.97*46

2021-01-27T19:07:55.851Z,1611774475.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 108.044037 deg, deltaT: 4.470387 s, approachRate: 0.067108 m/s, LOS rate: -4.244837 deg/s, posRepo size: 4
2021-01-27T19:07:55.853Z,1611774475.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 108.044037 deg,
      approachRate: 0.067108 m/s,
      LOS rate: -4.244837 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 69.280932 deg,
      new cmd heading: 74.276892 deg.

2021-01-27T19:07:58.237Z,1611774478.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:07:59.016Z,1611774479.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:07:59.488Z,1611774479.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:07:59.826Z,1611774479.826 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:08:00.300Z,1611774480.300 [Micromodem](INFO): Nmea in: $SNTTA,0.001524,,,,190800.42*44

2021-01-27T19:08:00.381Z,1611774480.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 132.008323 deg, deltaT: 4.538481 s, approachRate: -0.079322 m/s, LOS rate: 5.280244 deg/s, posRepo size: 4
2021-01-27T19:08:00.383Z,1611774480.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 132.008323 deg,
      approachRate: -0.079322 m/s,
      LOS rate: 5.280244 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.774327 deg,
      new cmd heading: 9.978215 deg.

2021-01-27T19:08:02.758Z,1611774482.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:03.494Z,1611774483.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:03.907Z,1611774483.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:04.733Z,1611774484.733 [Micromodem](INFO): Nmea in: $SNTTA,0.001692,,,,190804.90*41

2021-01-27T19:08:04.757Z,1611774484.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 99.462594 deg, deltaT: 4.408732 s, approachRate: 0.095266 m/s, LOS rate: -7.382106 deg/s, posRepo size: 4
2021-01-27T19:08:04.759Z,1611774484.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 99.462594 deg,
      approachRate: 0.095266 m/s,
      LOS rate: -7.382106 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 67.634365 deg,
      new cmd heading: 72.134569 deg.

2021-01-27T19:08:07.158Z,1611774487.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:07.934Z,1611774487.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:08.368Z,1611774488.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:09.169Z,1611774489.169 [Micromodem](INFO): Nmea in: $SNTTA,0.001687,,,,190809.33*41

2021-01-27T19:08:09.217Z,1611774489.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 134.066177 deg, deltaT: 4.407968 s, approachRate: -0.027224 m/s, LOS rate: 7.850234 deg/s, posRepo size: 4
2021-01-27T19:08:09.219Z,1611774489.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 134.066177 deg,
      approachRate: -0.027224 m/s,
      LOS rate: 7.850234 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.738687 deg,
      new cmd heading: 9.612863 deg.

2021-01-27T19:08:11.589Z,1611774491.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:12.394Z,1611774492.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:12.848Z,1611774492.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:13.624Z,1611774493.624 [Micromodem](INFO): Nmea in: $SNTTA,0.001689,,0.114677,,190813.80*50

2021-01-27T19:08:13.701Z,1611774493.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 94.874449 deg, deltaT: 4.430303 s, approachRate: 0.027086 m/s, LOS rate: -8.846286 deg/s, posRepo size: 4
2021-01-27T19:08:13.703Z,1611774493.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 94.874449 deg,
      approachRate: 0.027086 m/s,
      LOS rate: -8.846286 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 67.852693 deg,
      new cmd heading: 73.672753 deg.

2021-01-27T19:08:16.065Z,1611774496.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:16.830Z,1611774496.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:17.228Z,1611774497.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:18.073Z,1611774498.073 [Micromodem](INFO): Nmea in: $SNTTA,0.001705,,,,190818.23*4B

2021-01-27T19:08:18.095Z,1611774498.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 117.083854 deg, deltaT: 4.486203 s, approachRate: -0.026749 m/s, LOS rate: 4.950602 deg/s, posRepo size: 4
2021-01-27T19:08:18.097Z,1611774498.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 117.083854 deg,
      approachRate: -0.026749 m/s,
      LOS rate: 4.950602 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.056799 deg,
      new cmd heading: 9.303899 deg.

2021-01-27T19:08:20.499Z,1611774500.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:21.267Z,1611774501.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:21.696Z,1611774501.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:22.521Z,1611774502.521 [Micromodem](INFO): Nmea in: $SNTTA,0.001528,,,,190822.67*4F

2021-01-27T19:08:22.546Z,1611774502.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 119.534266 deg, deltaT: 4.394114 s, approachRate: -0.068273 m/s, LOS rate: 0.557658 deg/s, posRepo size: 4
2021-01-27T19:08:22.548Z,1611774502.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 119.534266 deg,
      approachRate: -0.068273 m/s,
      LOS rate: 0.557658 deg/s,
      cmd update: 1.672974 deg/s,
      cmd heading: 66.823537 deg,
      new cmd heading: 72.217273 deg.

2021-01-27T19:08:24.927Z,1611774504.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:25.714Z,1611774505.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:26.120Z,1611774506.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:26.965Z,1611774506.965 [Micromodem](INFO): Nmea in: $SNTTA,0.001524,,,,190827.12*44

2021-01-27T19:08:27.009Z,1611774507.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 125.169828 deg, deltaT: 4.503001 s, approachRate: 0.000000 m/s, LOS rate: 1.251512 deg/s, posRepo size: 4
2021-01-27T19:08:27.011Z,1611774507.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 125.169828 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.251512 deg/s,
      cmd update: 3.754537 deg/s,
      cmd heading: 74.370495 deg,
      new cmd heading: 75.043276 deg.

2021-01-27T19:08:29.430Z,1611774509.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:30.119Z,1611774510.119 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:08:30.119Z,1611774510.119 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:08:30.119Z,1611774510.119 [DDM](ERROR): Hardware Fault
2021-01-27T19:08:30.130Z,1611774510.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:30.342Z,1611774510.342 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:08:30.522Z,1611774510.522 [DDM](INFO): Powering down
2021-01-27T19:08:30.605Z,1611774510.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:31.389Z,1611774511.389 [Micromodem](INFO): Nmea in: $SNTTA,0.001512,,,,190831.53*43

2021-01-27T19:08:31.434Z,1611774511.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 123.317699 deg, deltaT: 4.351836 s, approachRate: 0.000000 m/s, LOS rate: -0.425597 deg/s, posRepo size: 4
2021-01-27T19:08:31.440Z,1611774511.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 123.317699 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.425597 deg/s,
      cmd update: -1.276791 deg/s,
      cmd heading: 90.709561 deg,
      new cmd heading: 92.492038 deg.

2021-01-27T19:08:31.528Z,1611774511.528 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:08:31.528Z,1611774511.528 [DDM] No Fault, FailCount= 1
2021-01-27T19:08:33.799Z,1611774513.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:34.569Z,1611774514.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:34.971Z,1611774514.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:35.782Z,1611774515.782 [DDM](INFO): Powering up
2021-01-27T19:08:35.782Z,1611774515.782 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:08:35.826Z,1611774515.826 [Micromodem](INFO): Nmea in: $SNTTA,0.001552,,,,190835.97*4B

2021-01-27T19:08:35.850Z,1611774515.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 117.022970 deg, deltaT: 4.478666 s, approachRate: 0.013397 m/s, LOS rate: -1.405492 deg/s, posRepo size: 4
2021-01-27T19:08:35.852Z,1611774515.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 117.022970 deg,
      approachRate: 0.013397 m/s,
      LOS rate: -1.405492 deg/s,
      cmd update: -4.216476 deg/s,
      cmd heading: 84.991063 deg,
      new cmd heading: 84.464835 deg.

2021-01-27T19:08:38.222Z,1611774518.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:39.017Z,1611774519.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:39.415Z,1611774519.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:40.257Z,1611774520.257 [Micromodem](INFO): Nmea in: $SNTTA,0.001562,,0.023855,,190840.42*55

2021-01-27T19:08:40.335Z,1611774520.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 114.402909 deg, deltaT: 4.485543 s, approachRate: 0.000000 m/s, LOS rate: -0.584112 deg/s, posRepo size: 4
2021-01-27T19:08:40.342Z,1611774520.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 114.402909 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.584112 deg/s,
      cmd update: -1.752337 deg/s,
      cmd heading: 66.078214 deg,
      new cmd heading: 64.376090 deg.

2021-01-27T19:08:42.737Z,1611774522.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:43.458Z,1611774523.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:43.864Z,1611774523.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:44.689Z,1611774524.689 [Micromodem](INFO): Nmea in: $SNTTA,0.001707,0.014540,,,190844.86*55

2021-01-27T19:08:44.737Z,1611774524.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 112.282190 deg, deltaT: 4.399979 s, approachRate: 0.054545 m/s, LOS rate: -0.481984 deg/s, posRepo size: 4
2021-01-27T19:08:44.739Z,1611774524.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 112.282190 deg,
      approachRate: 0.054545 m/s,
      LOS rate: -0.481984 deg/s,
      cmd update: -1.445952 deg/s,
      cmd heading: 58.435876 deg,
      new cmd heading: 57.643317 deg.

2021-01-27T19:08:47.131Z,1611774527.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:47.899Z,1611774527.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:48.342Z,1611774528.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:49.125Z,1611774529.125 [Micromodem](INFO): Nmea in: $SNTTA,0.001514,,,,190849.30*4F

2021-01-27T19:08:49.167Z,1611774529.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 118.168748 deg, deltaT: 4.435474 s, approachRate: -0.067636 m/s, LOS rate: 1.327154 deg/s, posRepo size: 4
2021-01-27T19:08:49.169Z,1611774529.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 118.168748 deg,
      approachRate: -0.067636 m/s,
      LOS rate: 1.327154 deg/s,
      cmd update: 3.981462 deg/s,
      cmd heading: 51.966252 deg,
      new cmd heading: 51.376187 deg.

2021-01-27T19:08:51.543Z,1611774531.543 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:08:51.721Z,1611774531.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:52.398Z,1611774532.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:52.848Z,1611774532.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:53.610Z,1611774533.610 [Micromodem](INFO): Nmea in: $SNTTA,0.001532,,,,190853.80*4B

2021-01-27T19:08:53.685Z,1611774533.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 111.206627 deg, deltaT: 4.466901 s, approachRate: 0.000000 m/s, LOS rate: -1.558602 deg/s, posRepo size: 4
2021-01-27T19:08:53.687Z,1611774533.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 111.206627 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.558602 deg/s,
      cmd update: -4.675806 deg/s,
      cmd heading: 69.714640 deg,
      new cmd heading: 71.579334 deg.

2021-01-27T19:08:56.049Z,1611774536.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:08:56.838Z,1611774536.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:08:57.228Z,1611774537.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:08:58.049Z,1611774538.049 [Micromodem](INFO): Nmea in: $SNTTA,0.001700,,,,190858.24*4D

2021-01-27T19:08:58.082Z,1611774538.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 116.571084 deg, deltaT: 4.477375 s, approachRate: 0.067003 m/s, LOS rate: 1.198126 deg/s, posRepo size: 4
2021-01-27T19:08:58.084Z,1611774538.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 116.571084 deg,
      approachRate: 0.067003 m/s,
      LOS rate: 1.198126 deg/s,
      cmd update: 3.594377 deg/s,
      cmd heading: 48.736533 deg,
      new cmd heading: 46.964281 deg.

2021-01-27T19:09:00.490Z,1611774540.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:01.262Z,1611774541.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:01.687Z,1611774541.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:02.497Z,1611774542.497 [Micromodem](INFO): Nmea in: $SNTTA,0.001553,,0.136712,0.010278,190902.66*4D

2021-01-27T19:09:02.539Z,1611774542.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 113.759410 deg, deltaT: 4.410707 s, approachRate: -0.054413 m/s, LOS rate: -0.637466 deg/s, posRepo size: 4
2021-01-27T19:09:02.542Z,1611774542.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 113.759410 deg,
      approachRate: -0.054413 m/s,
      LOS rate: -0.637466 deg/s,
      cmd update: -1.912397 deg/s,
      cmd heading: 64.511343 deg,
      new cmd heading: 66.119554 deg.

2021-01-27T19:09:04.943Z,1611774544.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:05.715Z,1611774545.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:06.120Z,1611774546.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:06.973Z,1611774546.973 [Micromodem](INFO): Nmea in: $SNTTA,0.001530,,,,190907.12*42

2021-01-27T19:09:06.997Z,1611774546.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 115.366895 deg, deltaT: 4.517113 s, approachRate: -0.013283 m/s, LOS rate: 0.355866 deg/s, posRepo size: 4
2021-01-27T19:09:06.999Z,1611774546.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 115.366895 deg,
      approachRate: -0.013283 m/s,
      LOS rate: 0.355866 deg/s,
      cmd update: 1.067597 deg/s,
      cmd heading: 55.843649 deg,
      new cmd heading: 55.131719 deg.

2021-01-27T19:09:09.418Z,1611774549.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:10.150Z,1611774550.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:10.570Z,1611774550.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:11.405Z,1611774551.405 [Micromodem](INFO): Nmea in: $SNTTA,0.001658,,,,190911.55*4B

2021-01-27T19:09:11.430Z,1611774551.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 133.323722 deg, deltaT: 4.355119 s, approachRate: 0.055107 m/s, LOS rate: 4.123154 deg/s, posRepo size: 4
2021-01-27T19:09:11.452Z,1611774551.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 133.323722 deg,
      approachRate: 0.055107 m/s,
      LOS rate: 4.123154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 60.500098 deg,
      new cmd heading: 60.973893 deg.

2021-01-27T19:09:13.831Z,1611774553.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:14.603Z,1611774554.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:15.000Z,1611774555.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:15.842Z,1611774555.842 [Micromodem](INFO): Nmea in: $SNTTA,0.001509,,,,190916.00*4B

2021-01-27T19:09:15.897Z,1611774555.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 128.299093 deg, deltaT: 4.477997 s, approachRate: -0.053595 m/s, LOS rate: -1.122071 deg/s, posRepo size: 4
2021-01-27T19:09:15.900Z,1611774555.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 128.299093 deg,
      approachRate: -0.053595 m/s,
      LOS rate: -1.122071 deg/s,
      cmd update: -3.366212 deg/s,
      cmd heading: 114.188724 deg,
      new cmd heading: 119.420124 deg.

2021-01-27T19:09:18.246Z,1611774558.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:19.110Z,1611774559.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:19.444Z,1611774559.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:20.429Z,1611774560.429 [Micromodem](INFO): Nmea in: $SNTTA,0.001507,,,,190920.51*44

2021-01-27T19:09:20.487Z,1611774560.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 130.109448 deg, deltaT: 4.405565 s, approachRate: 0.000000 m/s, LOS rate: 0.410925 deg/s, posRepo size: 4
2021-01-27T19:09:20.489Z,1611774560.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 130.109448 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.410925 deg/s,
      cmd update: 1.232774 deg/s,
      cmd heading: 99.344579 deg,
      new cmd heading: 97.266216 deg.

2021-01-27T19:09:21.893Z,1611774561.893 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:09:21.893Z,1611774561.894 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:09:21.894Z,1611774561.894 [DDM](ERROR): Hardware Fault
2021-01-27T19:09:22.060Z,1611774562.060 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:09:22.254Z,1611774562.254 [DDM](INFO): Powering down
2021-01-27T19:09:22.377Z,1611774562.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:22.689Z,1611774562.689 [DDM](FAULT): LCB fault:  Software Overcurrent.
2021-01-27T19:09:23.059Z,1611774563.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:23.241Z,1611774563.241 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:09:23.241Z,1611774563.241 [DDM] No Fault, FailCount= 1
2021-01-27T19:09:23.456Z,1611774563.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:24.282Z,1611774564.282 [Micromodem](INFO): Nmea in: $SNTTA,0.001536,,,,190924.46*44

2021-01-27T19:09:24.362Z,1611774564.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 111.186464 deg, deltaT: 4.032295 s, approachRate: 0.029759 m/s, LOS rate: -4.692857 deg/s, posRepo size: 4
2021-01-27T19:09:24.368Z,1611774564.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 111.186464 deg,
      approachRate: 0.029759 m/s,
      LOS rate: -4.692857 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 104.310418 deg,
      new cmd heading: 104.876030 deg.

2021-01-27T19:09:26.737Z,1611774566.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:27.486Z,1611774567.486 [DDM](INFO): Powering up
2021-01-27T19:09:27.486Z,1611774567.486 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:09:27.513Z,1611774567.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:27.896Z,1611774567.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:28.745Z,1611774568.745 [Micromodem](INFO): Nmea in: $SNTTA,0.001523,,,,190928.92*45

2021-01-27T19:09:28.769Z,1611774568.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 121.536973 deg, deltaT: 4.469206 s, approachRate: -0.013425 m/s, LOS rate: 2.315962 deg/s, posRepo size: 4
2021-01-27T19:09:28.771Z,1611774568.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 121.536973 deg,
      approachRate: -0.013425 m/s,
      LOS rate: 2.315962 deg/s,
      cmd update: 6.947884 deg/s,
      cmd heading: 50.632653 deg,
      new cmd heading: 45.861297 deg.

2021-01-27T19:09:31.157Z,1611774571.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:31.942Z,1611774571.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:32.359Z,1611774572.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:32.379Z,1611774572.379 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T19:09:33.169Z,1611774573.169 [Micromodem](INFO): Nmea in: $SNTTA,0.001540,,,,190933.35*47

2021-01-27T19:09:33.206Z,1611774573.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 124.206867 deg, deltaT: 4.419295 s, approachRate: 0.000000 m/s, LOS rate: 0.604145 deg/s, posRepo size: 4
2021-01-27T19:09:33.208Z,1611774573.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 124.206867 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.604145 deg/s,
      cmd update: 1.812434 deg/s,
      cmd heading: 81.337890 deg,
      new cmd heading: 84.225125 deg.

2021-01-27T19:09:35.718Z,1611774575.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:36.394Z,1611774576.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:36.788Z,1611774576.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:37.636Z,1611774577.636 [Micromodem](INFO): Nmea in: $SNTTA,0.001535,,,,190937.80*4F

2021-01-27T19:09:37.711Z,1611774577.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 118.160661 deg, deltaT: 4.446822 s, approachRate: -0.013493 m/s, LOS rate: -1.359669 deg/s, posRepo size: 4
2021-01-27T19:09:37.713Z,1611774577.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 118.160661 deg,
      approachRate: -0.013493 m/s,
      LOS rate: -1.359669 deg/s,
      cmd update: -4.079007 deg/s,
      cmd heading: 89.396380 deg,
      new cmd heading: 90.256044 deg.

2021-01-27T19:09:40.495Z,1611774580.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1381.140015 m, bearing: 114.821641 deg, deltaT: 2.827640 s, approachRate: 487.657562 m/s, LOS rate: -1.180850 deg/s, posRepo size: 4
2021-01-27T19:09:40.495Z,1611774580.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 1381.14 m.
2021-01-27T19:09:40.497Z,1611774580.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1381.140015 m,
      bearing: 114.821641 deg,
      approachRate: 487.657562 m/s,
      LOS rate: -1.180850 deg/s,
      cmd update: -3.542551 deg/s,
      cmd heading: 77.942095 deg,
      new cmd heading: 76.105579 deg.

2021-01-27T19:09:42.871Z,1611774582.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:43.244Z,1611774583.244 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:09:43.706Z,1611774583.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:44.172Z,1611774584.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:44.911Z,1611774584.911 [Micromodem](INFO): Nmea in: $SNTTA,0.001548,,,,190945.11*48

2021-01-27T19:09:44.946Z,1611774584.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 121.739448 deg, deltaT: 4.475667 s, approachRate: -308.079224 m/s, LOS rate: 1.545648 deg/s, posRepo size: 4
2021-01-27T19:09:44.948Z,1611774584.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 121.739448 deg,
      approachRate: -308.079224 m/s,
      LOS rate: 1.545648 deg/s,
      cmd update: 4.636945 deg/s,
      cmd heading: 62.015294 deg,
      new cmd heading: 60.578339 deg.

2021-01-27T19:09:47.812Z,1611774587.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1509.119995 m, bearing: 115.244102 deg, deltaT: 2.866313 s, approachRate: 525.706726 m/s, LOS rate: -2.266098 deg/s, posRepo size: 4
2021-01-27T19:09:47.814Z,1611774587.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1509.119995 m,
      bearing: 115.244102 deg,
      approachRate: 525.706726 m/s,
      LOS rate: -2.266098 deg/s,
      cmd update: -6.798294 deg/s,
      cmd heading: 75.306200 deg,
      new cmd heading: 77.183273 deg.

2021-01-27T19:09:50.162Z,1611774590.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:50.954Z,1611774590.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:51.380Z,1611774591.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:52.282Z,1611774592.282 [Micromodem](INFO): Nmea in: $SNTTA,0.001501,,,,190952.35*45

2021-01-27T19:09:52.358Z,1611774592.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 130.653746 deg, deltaT: 4.396627 s, approachRate: -342.740021 m/s, LOS rate: 3.504879 deg/s, posRepo size: 4
2021-01-27T19:09:52.364Z,1611774592.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 130.653746 deg,
      approachRate: -342.740021 m/s,
      LOS rate: 3.504879 deg/s,
      cmd update: 10.514636 deg/s,
      cmd heading: 45.416856 deg,
      new cmd heading: 41.686367 deg.

2021-01-27T19:09:54.347Z,1611774594.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:09:55.010Z,1611774595.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:09:55.416Z,1611774595.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:09:56.245Z,1611774596.245 [Micromodem](INFO): Nmea in: $SNTTA,0.001510,,,,190956.41*42

2021-01-27T19:09:56.286Z,1611774596.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 109.122920 deg, deltaT: 4.047176 s, approachRate: 0.029650 m/s, LOS rate: -5.319963 deg/s, posRepo size: 4
2021-01-27T19:09:56.288Z,1611774596.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 109.122920 deg,
      approachRate: 0.029650 m/s,
      LOS rate: -5.319963 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 87.929873 deg,
      new cmd heading: 92.548784 deg.

2021-01-27T19:09:59.085Z,1611774599.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1446.119995 m, bearing: 112.275244 deg, deltaT: 2.862806 s, approachRate: 504.323395 m/s, LOS rate: 1.101131 deg/s, posRepo size: 4
2021-01-27T19:09:59.086Z,1611774599.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1446.119995 m,
      bearing: 112.275244 deg,
      approachRate: 504.323395 m/s,
      LOS rate: 1.101131 deg/s,
      cmd update: 3.303392 deg/s,
      cmd heading: 53.672380 deg,
      new cmd heading: 49.078084 deg.

2021-01-27T19:09:59.814Z,1611774599.814 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-01-27T19:09:59.816Z,1611774599.816 [BPC1](INFO): Received data from all battery sticks.
2021-01-27T19:10:00.308Z,1611774600.308 [DDM](ERROR): Could not parse latch state
2021-01-27T19:10:01.503Z,1611774601.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:02.279Z,1611774602.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:02.700Z,1611774602.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:03.505Z,1611774603.505 [Micromodem](INFO): Nmea in: $SNTTA,0.001654,,,,191003.68*42

2021-01-27T19:10:03.545Z,1611774603.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 87.786427 deg, deltaT: 4.403799 s, approachRate: -327.821503 m/s, LOS rate: -5.560839 deg/s, posRepo size: 4
2021-01-27T19:10:03.547Z,1611774603.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 87.786427 deg,
      approachRate: -327.821503 m/s,
      LOS rate: -5.560839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.192353 deg,
      new cmd heading: 69.667892 deg.

2021-01-27T19:10:05.935Z,1611774605.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:06.714Z,1611774606.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:07.120Z,1611774607.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:07.965Z,1611774607.965 [Micromodem](INFO): Nmea in: $SNTTA,0.001535,,,,191008.12*40

2021-01-27T19:10:07.989Z,1611774607.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 133.599238 deg, deltaT: 4.438436 s, approachRate: -0.040554 m/s, LOS rate: 10.321837 deg/s, posRepo size: 4
2021-01-27T19:10:07.991Z,1611774607.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 133.599238 deg,
      approachRate: -0.040554 m/s,
      LOS rate: 10.321837 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.687196 deg,
      new cmd heading: 9.488544 deg.

2021-01-27T19:10:10.409Z,1611774610.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:11.155Z,1611774611.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:11.565Z,1611774611.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:12.409Z,1611774612.409 [Micromodem](INFO): Nmea in: $SNTTA,0.001671,,,,191012.56*48

2021-01-27T19:10:12.433Z,1611774612.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 113.389610 deg, deltaT: 4.442982 s, approachRate: 0.067522 m/s, LOS rate: -4.548663 deg/s, posRepo size: 4
2021-01-27T19:10:12.435Z,1611774612.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 113.389610 deg,
      approachRate: 0.067522 m/s,
      LOS rate: -4.548663 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.003187 deg,
      new cmd heading: 73.218687 deg.

2021-01-27T19:10:13.541Z,1611774613.541 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:10:13.541Z,1611774613.541 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:10:13.542Z,1611774613.542 [DDM](ERROR): Hardware Fault
2021-01-27T19:10:13.692Z,1611774613.692 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:10:13.945Z,1611774613.945 [DDM](INFO): Powering down
2021-01-27T19:10:14.800Z,1611774614.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:14.843Z,1611774614.843 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:10:14.843Z,1611774614.843 [DDM] No Fault, FailCount= 1
2021-01-27T19:10:15.582Z,1611774615.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:15.972Z,1611774615.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:16.801Z,1611774616.801 [Micromodem](INFO): Nmea in: $SNTTA,0.001671,,,,191016.98*4E

2021-01-27T19:10:16.843Z,1611774616.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 103.043567 deg, deltaT: 4.436259 s, approachRate: 0.013525 m/s, LOS rate: -2.332155 deg/s, posRepo size: 4
2021-01-27T19:10:16.845Z,1611774616.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 103.043567 deg,
      approachRate: 0.013525 m/s,
      LOS rate: -2.332155 deg/s,
      cmd update: -6.996465 deg/s,
      cmd heading: 14.816329 deg,
      new cmd heading: 9.874908 deg.

2021-01-27T19:10:19.198Z,1611774619.198 [DDM](INFO): Powering up
2021-01-27T19:10:19.198Z,1611774619.198 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:10:19.258Z,1611774619.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:20.014Z,1611774620.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:20.416Z,1611774620.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:20.835Z,1611774620.835 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:10:21.253Z,1611774621.253 [Micromodem](INFO): Nmea in: $SNTTA,0.001511,,,,191021.42*48

2021-01-27T19:10:21.278Z,1611774621.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 98.917190 deg, deltaT: 4.412600 s, approachRate: -0.054390 m/s, LOS rate: -0.935135 deg/s, posRepo size: 4
2021-01-27T19:10:21.280Z,1611774621.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.40 m.
2021-01-27T19:10:21.282Z,1611774621.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 98.917190 deg,
      approachRate: -0.054390 m/s,
      LOS rate: -0.935135 deg/s,
      cmd update: -2.805405 deg/s,
      cmd heading: 343.915519 deg,
      new cmd heading: 340.923677 deg.

2021-01-27T19:10:23.735Z,1611774623.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:24.458Z,1611774624.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:24.876Z,1611774624.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:25.693Z,1611774625.693 [Micromodem](INFO): Nmea in: $SNTTA,0.001527,,,,191025.86*41

2021-01-27T19:10:25.726Z,1611774625.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 121.749952 deg, deltaT: 4.468381 s, approachRate: -0.040283 m/s, LOS rate: 5.109851 deg/s, posRepo size: 4
2021-01-27T19:10:25.728Z,1611774625.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 121.749952 deg,
      approachRate: -0.040283 m/s,
      LOS rate: 5.109851 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.412013 deg,
      new cmd heading: 330.229010 deg.

2021-01-27T19:10:28.105Z,1611774628.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:28.902Z,1611774628.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:29.335Z,1611774629.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:30.136Z,1611774630.136 [Micromodem](INFO): Nmea in: $SNTTA,0.001523,,,,191030.30*4C

2021-01-27T19:10:30.155Z,1611774630.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 121.283068 deg, deltaT: 4.434612 s, approachRate: 0.000000 m/s, LOS rate: -0.105282 deg/s, posRepo size: 4
2021-01-27T19:10:30.157Z,1611774630.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 121.283068 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.105282 deg/s,
      cmd update: -0.315846 deg/s,
      cmd heading: 24.765179 deg,
      new cmd heading: 29.616203 deg.

2021-01-27T19:10:32.559Z,1611774632.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:33.361Z,1611774633.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:33.748Z,1611774633.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:34.588Z,1611774634.588 [Micromodem](INFO): Nmea in: $SNTTA,0.001525,,,,191034.76*4C

2021-01-27T19:10:34.626Z,1611774634.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 122.942258 deg, deltaT: 4.437959 s, approachRate: 0.013520 m/s, LOS rate: 0.373863 deg/s, posRepo size: 4
2021-01-27T19:10:34.668Z,1611774634.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 122.942258 deg,
      approachRate: 0.013520 m/s,
      LOS rate: 0.373863 deg/s,
      cmd update: 1.121590 deg/s,
      cmd heading: 23.364753 deg,
      new cmd heading: 23.226513 deg.

2021-01-27T19:10:34.954Z,1611774634.954 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:10:36.698Z,1611774636.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:37.410Z,1611774637.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:37.820Z,1611774637.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:38.677Z,1611774638.677 [Micromodem](INFO): Nmea in: $SNTTA,0.001540,,,,191038.81*4B

2021-01-27T19:10:38.710Z,1611774638.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 128.236351 deg, deltaT: 4.052007 s, approachRate: 0.000000 m/s, LOS rate: 1.306536 deg/s, posRepo size: 4
2021-01-27T19:10:38.737Z,1611774638.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 128.236351 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.306536 deg/s,
      cmd update: 3.919608 deg/s,
      cmd heading: 27.913959 deg,
      new cmd heading: 28.441032 deg.

2021-01-27T19:10:40.773Z,1611774640.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:41.454Z,1611774641.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:41.849Z,1611774641.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:42.717Z,1611774642.717 [Micromodem](INFO): Nmea in: $SNTTA,0.001690,,,,191042.86*4F

2021-01-27T19:10:42.750Z,1611774642.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 127.819696 deg, deltaT: 4.033441 s, approachRate: 0.044627 m/s, LOS rate: -0.103300 deg/s, posRepo size: 4
2021-01-27T19:10:42.753Z,1611774642.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 127.819696 deg,
      approachRate: 0.044627 m/s,
      LOS rate: -0.103300 deg/s,
      cmd update: -0.309901 deg/s,
      cmd heading: 43.716561 deg,
      new cmd heading: 45.591110 deg.

2021-01-27T19:10:45.559Z,1611774645.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1536.540039 m, bearing: 118.738344 deg, deltaT: 2.852144 s, approachRate: 537.869080 m/s, LOS rate: -3.184044 deg/s, posRepo size: 4
2021-01-27T19:10:45.560Z,1611774645.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 1536.54 m.
2021-01-27T19:10:45.562Z,1611774645.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1536.540039 m,
      bearing: 118.738344 deg,
      approachRate: 537.869080 m/s,
      LOS rate: -3.184044 deg/s,
      cmd update: -9.552131 deg/s,
      cmd heading: 42.837304 deg,
      new cmd heading: 42.699026 deg.

2021-01-27T19:10:47.958Z,1611774647.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:48.722Z,1611774648.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:49.142Z,1611774649.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:49.961Z,1611774649.961 [Micromodem](INFO): Nmea in: $SNTTA,0.001662,,,,191050.12*4C

2021-01-27T19:10:49.985Z,1611774649.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 95.195379 deg, deltaT: 4.445293 s, approachRate: -345.075134 m/s, LOS rate: -5.296156 deg/s, posRepo size: 4
2021-01-27T19:10:49.986Z,1611774649.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 95.195379 deg,
      approachRate: -345.075134 m/s,
      LOS rate: -5.296156 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 0.216046 deg,
      new cmd heading: 356.271542 deg.

2021-01-27T19:10:52.435Z,1611774652.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:53.166Z,1611774653.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:53.576Z,1611774653.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:54.417Z,1611774654.417 [Micromodem](INFO): Nmea in: $SNTTA,0.001673,,,,191054.57*49

2021-01-27T19:10:54.469Z,1611774654.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 119.259624 deg, deltaT: 4.442683 s, approachRate: -0.027011 m/s, LOS rate: 5.416602 deg/s, posRepo size: 4
2021-01-27T19:10:54.477Z,1611774654.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 119.259624 deg,
      approachRate: -0.027011 m/s,
      LOS rate: 5.416602 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 306.903478 deg,
      new cmd heading: 301.447461 deg.

2021-01-27T19:10:56.826Z,1611774656.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:10:57.621Z,1611774657.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:10:58.016Z,1611774658.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:10:58.865Z,1611774658.865 [Micromodem](INFO): Nmea in: $SNTTA,0.001686,,,,191059.02*4E

2021-01-27T19:10:58.889Z,1611774658.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 102.044720 deg, deltaT: 4.437050 s, approachRate: 0.040568 m/s, LOS rate: -3.879809 deg/s, posRepo size: 4
2021-01-27T19:10:58.891Z,1611774658.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 102.044720 deg,
      approachRate: 0.040568 m/s,
      LOS rate: -3.879809 deg/s,
      cmd update: -11.639426 deg/s,
      cmd heading: 0.145403 deg,
      new cmd heading: 5.398643 deg.

2021-01-27T19:11:01.274Z,1611774661.274 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T19:11:01.274Z,1611774661.274 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:11:01.274Z,1611774661.274 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T19:11:01.274Z,1611774661.274 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:11:01.274Z,1611774661.274 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T19:11:01.275Z,1611774661.275 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.640001 m 
2021-01-27T19:11:01.280Z,1611774661.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T19:11:01.280Z,1611774661.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T19:11:01.280Z,1611774661.280 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T19:11:01.289Z,1611774661.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:01.708Z,1611774661.708 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T191101: (41.551998, -70.709610)
2021-01-27T19:11:01.708Z,1611774661.708 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T19:11:01.708Z,1611774661.708 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T19:11:01.709Z,1611774661.709 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:11:01.709Z,1611774661.709 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T19:11:01.709Z,1611774661.709 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:11:01.709Z,1611774661.709 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T19:11:01.709Z,1611774661.709 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T19:11:01.709Z,1611774661.709 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:11:02.054Z,1611774662.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:02.464Z,1611774662.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:03.317Z,1611774663.317 [Micromodem](INFO): Nmea in: $SNTTA,0.001674,,,,191103.45*4E

2021-01-27T19:11:03.372Z,1611774663.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 77.322543 deg, deltaT: 4.456458 s, approachRate: -0.026927 m/s, LOS rate: -5.547495 deg/s, posRepo size: 4
2021-01-27T19:11:03.374Z,1611774663.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 77.322543 deg,
      approachRate: -0.026927 m/s,
      LOS rate: -5.547495 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.344044 deg,
      new cmd heading: 302.865354 deg.

2021-01-27T19:11:05.264Z,1611774665.264 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:11:05.265Z,1611774665.265 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:11:05.265Z,1611774665.265 [DDM](ERROR): Hardware Fault
2021-01-27T19:11:05.404Z,1611774665.404 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:11:05.670Z,1611774665.670 [DDM](INFO): Powering down
2021-01-27T19:11:05.785Z,1611774665.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:06.474Z,1611774666.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:06.665Z,1611774666.665 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:11:06.665Z,1611774666.665 [DDM] No Fault, FailCount= 1
2021-01-27T19:11:06.887Z,1611774666.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:07.701Z,1611774667.701 [Micromodem](INFO): Nmea in: $SNTTA,0.001665,,,,191107.88*4B

2021-01-27T19:11:07.753Z,1611774667.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 120.878748 deg, deltaT: 4.438462 s, approachRate: -0.013518 m/s, LOS rate: 9.813355 deg/s, posRepo size: 4
2021-01-27T19:11:07.754Z,1611774667.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.46 m.
2021-01-27T19:11:07.755Z,1611774667.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 120.878748 deg,
      approachRate: -0.013518 m/s,
      LOS rate: 9.813355 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 255.140554 deg,
      new cmd heading: 250.127218 deg.

2021-01-27T19:11:10.125Z,1611774670.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:10.909Z,1611774670.909 [DDM](INFO): Powering up
2021-01-27T19:11:10.909Z,1611774670.909 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:11:10.938Z,1611774670.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:11.352Z,1611774671.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:12.161Z,1611774672.161 [Micromodem](INFO): Nmea in: $SNTTA,0.001657,,,,191112.34*49

2021-01-27T19:11:12.207Z,1611774672.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 89.039637 deg, deltaT: 4.432384 s, approachRate: 0.040611 m/s, LOS rate: -7.183293 deg/s, posRepo size: 4
2021-01-27T19:11:12.215Z,1611774672.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 89.039637 deg,
      approachRate: 0.040611 m/s,
      LOS rate: -7.183293 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.269799 deg,
      new cmd heading: 313.604051 deg.

2021-01-27T19:11:14.616Z,1611774674.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:15.378Z,1611774675.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:15.764Z,1611774675.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:16.601Z,1611774676.601 [Micromodem](INFO): Nmea in: $SNTTA,0.001677,,0.015452,,191116.78*5E

2021-01-27T19:11:16.695Z,1611774676.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 122.605721 deg, deltaT: 4.400047 s, approachRate: -0.040909 m/s, LOS rate: 7.628574 deg/s, posRepo size: 4
2021-01-27T19:11:16.702Z,1611774676.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 122.605721 deg,
      approachRate: -0.040909 m/s,
      LOS rate: 7.628574 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 255.278986 deg,
      new cmd heading: 249.084261 deg.

2021-01-27T19:11:19.022Z,1611774679.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:19.802Z,1611774679.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:20.219Z,1611774680.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:21.029Z,1611774681.029 [Micromodem](INFO): Nmea in: $SNTTA,0.001666,,,,191121.20*4E

2021-01-27T19:11:21.069Z,1611774681.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 89.682972 deg, deltaT: 4.516226 s, approachRate: 0.026571 m/s, LOS rate: -7.289881 deg/s, posRepo size: 4
2021-01-27T19:11:21.071Z,1611774681.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 89.682972 deg,
      approachRate: 0.026571 m/s,
      LOS rate: -7.289881 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 309.472608 deg,
      new cmd heading: 313.961796 deg.

2021-01-27T19:11:23.469Z,1611774683.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:24.250Z,1611774684.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:24.675Z,1611774684.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:25.477Z,1611774685.477 [Micromodem](INFO): Nmea in: $SNTTA,0.001668,,,,191125.65*45

2021-01-27T19:11:25.547Z,1611774685.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 88.665022 deg, deltaT: 4.381931 s, approachRate: 0.000000 m/s, LOS rate: -0.232306 deg/s, posRepo size: 4
2021-01-27T19:11:25.553Z,1611774685.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 88.665022 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.232306 deg/s,
      cmd update: -0.696919 deg/s,
      cmd heading: 256.939618 deg,
      new cmd heading: 251.248354 deg.

2021-01-27T19:11:26.674Z,1611774686.674 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:11:27.941Z,1611774687.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:28.722Z,1611774688.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:29.136Z,1611774689.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:29.969Z,1611774689.969 [Micromodem](INFO): Nmea in: $SNTTA,0.001678,,,,191130.12*40

2021-01-27T19:11:29.993Z,1611774689.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 128.086046 deg, deltaT: 4.487684 s, approachRate: -0.026740 m/s, LOS rate: 8.784270 deg/s, posRepo size: 4
2021-01-27T19:11:29.994Z,1611774689.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 128.086046 deg,
      approachRate: -0.026740 m/s,
      LOS rate: 8.784270 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 253.809049 deg,
      new cmd heading: 253.510757 deg.

2021-01-27T19:11:32.411Z,1611774692.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:33.174Z,1611774693.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:33.580Z,1611774693.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:34.413Z,1611774694.413 [Micromodem](INFO): Nmea in: $SNTTA,0.001508,,,,191134.58*4E

2021-01-27T19:11:34.448Z,1611774694.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 96.513237 deg, deltaT: 4.429572 s, approachRate: -0.027091 m/s, LOS rate: -7.127734 deg/s, posRepo size: 4
2021-01-27T19:11:34.450Z,1611774694.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 96.513237 deg,
      approachRate: -0.027091 m/s,
      LOS rate: -7.127734 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 306.964407 deg,
      new cmd heading: 312.409671 deg.

2021-01-27T19:11:36.823Z,1611774696.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:37.610Z,1611774697.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:38.012Z,1611774698.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:38.857Z,1611774698.857 [Micromodem](INFO): Nmea in: $SNTTA,0.001546,,,,191139.01*45

2021-01-27T19:11:38.881Z,1611774698.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 114.269031 deg, deltaT: 4.456895 s, approachRate: -0.026924 m/s, LOS rate: 3.983893 deg/s, posRepo size: 4
2021-01-27T19:11:38.905Z,1611774698.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 114.269031 deg,
      approachRate: -0.026924 m/s,
      LOS rate: 3.983893 deg/s,
      cmd update: 11.951679 deg/s,
      cmd heading: 253.482073 deg,
      new cmd heading: 248.319733 deg.

2021-01-27T19:11:41.261Z,1611774701.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:42.054Z,1611774702.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:42.456Z,1611774702.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:43.305Z,1611774703.305 [Micromodem](INFO): Nmea in: $SNTTA,0.001519,,,,191143.46*41

2021-01-27T19:11:43.361Z,1611774703.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 118.614814 deg, deltaT: 4.439349 s, approachRate: 0.000000 m/s, LOS rate: 0.978924 deg/s, posRepo size: 4
2021-01-27T19:11:43.363Z,1611774703.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 118.614814 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.978924 deg/s,
      cmd update: 2.936770 deg/s,
      cmd heading: 306.540083 deg,
      new cmd heading: 312.161962 deg.

2021-01-27T19:11:45.749Z,1611774705.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:46.510Z,1611774706.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:46.908Z,1611774706.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:47.741Z,1611774707.741 [Micromodem](INFO): Nmea in: $SNTTA,0.001682,,,,191147.91*4E

2021-01-27T19:11:47.775Z,1611774707.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 97.347025 deg, deltaT: 4.480862 s, approachRate: 0.080342 m/s, LOS rate: -4.746361 deg/s, posRepo size: 4
2021-01-27T19:11:47.777Z,1611774707.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 97.347025 deg,
      approachRate: 0.080342 m/s,
      LOS rate: -4.746361 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 319.699293 deg,
      new cmd heading: 320.884539 deg.

2021-01-27T19:11:50.150Z,1611774710.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:50.616Z,1611774710.616 [DDM](ERROR): Could not parse latch state
2021-01-27T19:11:50.938Z,1611774710.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:51.387Z,1611774711.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:52.189Z,1611774712.189 [Micromodem](INFO): Nmea in: $SNTTA,0.001517,,,,191152.34*4A

2021-01-27T19:11:52.214Z,1611774712.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.160000 m, bearing: 119.035799 deg, deltaT: 4.414807 s, approachRate: -0.095135 m/s, LOS rate: 4.912734 deg/s, posRepo size: 4
2021-01-27T19:11:52.236Z,1611774712.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.160000 m,
      bearing: 119.035799 deg,
      approachRate: -0.095135 m/s,
      LOS rate: 4.912734 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 266.721704 deg,
      new cmd heading: 261.581924 deg.

2021-01-27T19:11:54.618Z,1611774714.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:55.390Z,1611774715.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:11:55.800Z,1611774715.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:11:56.645Z,1611774716.645 [Micromodem](INFO): Nmea in: $SNTTA,0.001504,,,,191156.79*45

2021-01-27T19:11:56.703Z,1611774716.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 121.711963 deg, deltaT: 4.450169 s, approachRate: 0.013483 m/s, LOS rate: 0.601362 deg/s, posRepo size: 4
2021-01-27T19:11:56.705Z,1611774716.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 121.711963 deg,
      approachRate: 0.013483 m/s,
      LOS rate: 0.601362 deg/s,
      cmd update: 1.804087 deg/s,
      cmd heading: 320.074846 deg,
      new cmd heading: 325.726546 deg.

2021-01-27T19:11:56.967Z,1611774716.967 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:11:56.967Z,1611774716.967 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:11:56.968Z,1611774716.968 [DDM](ERROR): Hardware Fault
2021-01-27T19:11:57.112Z,1611774717.112 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:11:57.380Z,1611774717.380 [DDM](INFO): Powering down
2021-01-27T19:11:58.318Z,1611774718.318 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:11:58.319Z,1611774718.319 [DDM] No Fault, FailCount= 1
2021-01-27T19:11:59.033Z,1611774719.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:11:59.798Z,1611774719.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:00.228Z,1611774720.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:01.025Z,1611774721.025 [Micromodem](INFO): Nmea in: $SNTTA,0.001698,,,,191201.20*4E

2021-01-27T19:12:01.048Z,1611774721.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 101.401467 deg, deltaT: 4.445441 s, approachRate: 0.080982 m/s, LOS rate: -4.568837 deg/s, posRepo size: 4
2021-01-27T19:12:01.050Z,1611774721.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 101.401467 deg,
      approachRate: 0.080982 m/s,
      LOS rate: -4.568837 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 328.094997 deg,
      new cmd heading: 328.763603 deg.

2021-01-27T19:12:02.645Z,1611774722.645 [DDM](INFO): Powering up
2021-01-27T19:12:02.645Z,1611774722.645 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:12:03.487Z,1611774723.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:04.247Z,1611774724.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:04.666Z,1611774724.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:05.482Z,1611774725.482 [Micromodem](INFO): Nmea in: $SNTTA,0.001665,,,,191205.65*49

2021-01-27T19:12:05.572Z,1611774725.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 101.349072 deg, deltaT: 4.383744 s, approachRate: 0.000000 m/s, LOS rate: -0.011952 deg/s, posRepo size: 4
2021-01-27T19:12:05.574Z,1611774725.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 101.349072 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.011952 deg/s,
      cmd update: -0.035856 deg/s,
      cmd heading: 275.446796 deg,
      new cmd heading: 269.409788 deg.

2021-01-27T19:12:07.927Z,1611774727.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:08.701Z,1611774728.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:09.096Z,1611774729.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:09.925Z,1611774729.925 [Micromodem](INFO): Nmea in: $SNTTA,0.001565,,,,191210.10*4C

2021-01-27T19:12:09.973Z,1611774729.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 132.068019 deg, deltaT: 4.473147 s, approachRate: -0.053654 m/s, LOS rate: 6.867413 deg/s, posRepo size: 4
2021-01-27T19:12:09.975Z,1611774729.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 132.068019 deg,
      approachRate: -0.053654 m/s,
      LOS rate: 6.867413 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 275.286967 deg,
      new cmd heading: 275.270954 deg.

2021-01-27T19:12:12.380Z,1611774732.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:13.134Z,1611774733.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:13.540Z,1611774733.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:14.369Z,1611774734.369 [Micromodem](INFO): Nmea in: $SNTTA,0.001664,,,,191214.54*4A

2021-01-27T19:12:14.393Z,1611774734.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 102.403285 deg, deltaT: 4.474906 s, approachRate: 0.067041 m/s, LOS rate: -6.629130 deg/s, posRepo size: 4
2021-01-27T19:12:14.395Z,1611774734.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 102.403285 deg,
      approachRate: 0.067041 m/s,
      LOS rate: -6.629130 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 328.938261 deg,
      new cmd heading: 333.734097 deg.

2021-01-27T19:12:16.800Z,1611774736.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:17.577Z,1611774737.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:18.001Z,1611774738.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:18.382Z,1611774738.382 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:12:18.841Z,1611774738.841 [Micromodem](INFO): Nmea in: $SNTTA,0.001650,,,,191218.98*41

2021-01-27T19:12:18.888Z,1611774738.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 122.006549 deg, deltaT: 4.517655 s, approachRate: -0.053125 m/s, LOS rate: 4.339257 deg/s, posRepo size: 4
2021-01-27T19:12:18.890Z,1611774738.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 122.006549 deg,
      approachRate: -0.053125 m/s,
      LOS rate: 4.339257 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 274.487216 deg,
      new cmd heading: 270.205712 deg.

2021-01-27T19:12:19.696Z,1611774739.696 [DDM](ERROR): Could not parse latch state
2021-01-27T19:12:21.284Z,1611774741.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:22.066Z,1611774742.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:22.470Z,1611774742.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:23.296Z,1611774743.296 [Micromodem](INFO): Nmea in: $SNTTA,0.001668,,,,191223.47*40

2021-01-27T19:12:23.362Z,1611774743.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.640001 m, bearing: 101.974820 deg, deltaT: 4.350836 s, approachRate: 0.055162 m/s, LOS rate: -4.604110 deg/s, posRepo size: 4
2021-01-27T19:12:23.368Z,1611774743.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 101.974820 deg,
      approachRate: 0.055162 m/s,
      LOS rate: -4.604110 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 326.697490 deg,
      new cmd heading: 332.459158 deg.

2021-01-27T19:12:25.752Z,1611774745.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:26.506Z,1611774746.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:26.897Z,1611774746.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:27.745Z,1611774747.745 [Micromodem](INFO): Nmea in: $SNTTA,0.001663,,,,191227.91*44

2021-01-27T19:12:27.794Z,1611774747.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 95.541642 deg, deltaT: 4.508106 s, approachRate: -0.013309 m/s, LOS rate: -1.427024 deg/s, posRepo size: 4
2021-01-27T19:12:27.800Z,1611774747.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 95.541642 deg,
      approachRate: -0.013309 m/s,
      LOS rate: -1.427024 deg/s,
      cmd update: -4.281073 deg/s,
      cmd heading: 272.648288 deg,
      new cmd heading: 267.751892 deg.

2021-01-27T19:12:30.157Z,1611774750.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:30.948Z,1611774750.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:31.384Z,1611774751.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:32.189Z,1611774752.189 [Micromodem](INFO): Nmea in: $SNTTA,0.001631,,,,191232.35*49

2021-01-27T19:12:32.218Z,1611774752.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 75.792635 deg, deltaT: 4.411886 s, approachRate: -0.027199 m/s, LOS rate: -4.476319 deg/s, posRepo size: 4
2021-01-27T19:12:32.220Z,1611774752.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 75.792635 deg,
      approachRate: -0.027199 m/s,
      LOS rate: -4.476319 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.761297 deg,
      new cmd heading: 251.961281 deg.

2021-01-27T19:12:34.599Z,1611774754.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:35.390Z,1611774755.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:35.796Z,1611774755.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:36.650Z,1611774756.650 [Micromodem](INFO): Nmea in: $SNTTA,0.001520,,0.004288,,191236.79*5E

2021-01-27T19:12:36.700Z,1611774756.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 122.958377 deg, deltaT: 4.441891 s, approachRate: -0.054031 m/s, LOS rate: 10.618392 deg/s, posRepo size: 4
2021-01-27T19:12:36.702Z,1611774756.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 122.958377 deg,
      approachRate: -0.054031 m/s,
      LOS rate: 10.618392 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 200.443555 deg,
      new cmd heading: 194.936683 deg.

2021-01-27T19:12:39.062Z,1611774759.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:39.826Z,1611774759.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:40.241Z,1611774760.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:41.081Z,1611774761.081 [Micromodem](INFO): Nmea in: $SNTTA,0.001522,,,,191241.23*4B

2021-01-27T19:12:41.106Z,1611774761.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.220000 m, bearing: 118.069546 deg, deltaT: 4.468718 s, approachRate: 0.000000 m/s, LOS rate: -1.094012 deg/s, posRepo size: 4
2021-01-27T19:12:41.108Z,1611774761.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.220000 m,
      bearing: 118.069546 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.094012 deg/s,
      cmd update: -3.282036 deg/s,
      cmd heading: 253.958637 deg,
      new cmd heading: 258.829269 deg.

2021-01-27T19:12:43.495Z,1611774763.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:44.282Z,1611774764.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:44.710Z,1611774764.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:45.533Z,1611774765.533 [Micromodem](INFO): Nmea in: $SNTTA,0.001657,,0.005618,,191245.68*55

2021-01-27T19:12:45.606Z,1611774765.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 102.940711 deg, deltaT: 4.393367 s, approachRate: 0.081942 m/s, LOS rate: -3.443563 deg/s, posRepo size: 4
2021-01-27T19:12:45.612Z,1611774765.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 102.940711 deg,
      approachRate: 0.081942 m/s,
      LOS rate: -3.443563 deg/s,
      cmd update: -10.330688 deg/s,
      cmd heading: 239.500288 deg,
      new cmd heading: 237.858657 deg.

2021-01-27T19:12:47.940Z,1611774767.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:48.684Z,1611774768.684 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:12:48.684Z,1611774768.684 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:12:48.684Z,1611774768.684 [DDM](ERROR): Hardware Fault
2021-01-27T19:12:48.687Z,1611774768.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:48.918Z,1611774768.918 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:12:49.085Z,1611774769.085 [DDM](INFO): Powering down
2021-01-27T19:12:49.168Z,1611774769.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:49.913Z,1611774769.913 [Micromodem](INFO): Nmea in: $SNTTA,0.001519,,,,191250.09*4B

2021-01-27T19:12:49.972Z,1611774769.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 97.852002 deg, deltaT: 4.430392 s, approachRate: -0.054172 m/s, LOS rate: -1.148591 deg/s, posRepo size: 4
2021-01-27T19:12:49.980Z,1611774769.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 97.852002 deg,
      approachRate: -0.054172 m/s,
      LOS rate: -1.148591 deg/s,
      cmd update: -3.445774 deg/s,
      cmd heading: 193.771889 deg,
      new cmd heading: 189.271324 deg.

2021-01-27T19:12:50.131Z,1611774770.131 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:12:50.132Z,1611774770.132 [DDM] No Fault, FailCount= 1
2021-01-27T19:12:52.382Z,1611774772.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:53.146Z,1611774773.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:53.536Z,1611774773.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:54.362Z,1611774774.362 [DDM](INFO): Powering up
2021-01-27T19:12:54.362Z,1611774774.362 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:12:54.397Z,1611774774.397 [Micromodem](INFO): Nmea in: $SNTTA,0.001554,,,,191254.55*4F

2021-01-27T19:12:54.441Z,1611774774.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 105.718843 deg, deltaT: 4.446444 s, approachRate: 0.013494 m/s, LOS rate: 1.769243 deg/s, posRepo size: 4
2021-01-27T19:12:54.443Z,1611774774.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 105.718843 deg,
      approachRate: 0.013494 m/s,
      LOS rate: 1.769243 deg/s,
      cmd update: 5.307730 deg/s,
      cmd heading: 178.436837 deg,
      new cmd heading: 176.926341 deg.

2021-01-27T19:12:56.809Z,1611774776.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:12:57.578Z,1611774777.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:12:57.984Z,1611774777.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:12:58.809Z,1611774778.809 [Micromodem](INFO): Nmea in: $SNTTA,0.001547,,,0.040034,191258.98*5D

2021-01-27T19:12:58.853Z,1611774778.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 101.995167 deg, deltaT: 4.448118 s, approachRate: 0.000000 m/s, LOS rate: -0.837135 deg/s, posRepo size: 4
2021-01-27T19:12:58.855Z,1611774778.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 101.995167 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.837135 deg/s,
      cmd update: -2.511405 deg/s,
      cmd heading: 202.025540 deg,
      new cmd heading: 204.179497 deg.

2021-01-27T19:13:01.246Z,1611774781.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:02.020Z,1611774782.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:02.422Z,1611774782.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:03.253Z,1611774783.253 [Micromodem](INFO): Nmea in: $SNTTA,0.001507,,,,191303.42*4C

2021-01-27T19:13:03.309Z,1611774783.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 98.553824 deg, deltaT: 4.442781 s, approachRate: -0.013505 m/s, LOS rate: -0.774592 deg/s, posRepo size: 4
2021-01-27T19:13:03.332Z,1611774783.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 98.553824 deg,
      approachRate: -0.013505 m/s,
      LOS rate: -0.774592 deg/s,
      cmd update: -2.323776 deg/s,
      cmd heading: 190.857859 deg,
      new cmd heading: 189.777073 deg.

2021-01-27T19:13:05.706Z,1611774785.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:06.460Z,1611774786.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:06.878Z,1611774786.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:07.689Z,1611774787.689 [Micromodem](INFO): Nmea in: $SNTTA,0.001553,,,,191307.86*41

2021-01-27T19:13:07.737Z,1611774787.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 111.036172 deg, deltaT: 4.461291 s, approachRate: 0.000000 m/s, LOS rate: 2.797923 deg/s, posRepo size: 4
2021-01-27T19:13:07.739Z,1611774787.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 111.036172 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.797923 deg/s,
      cmd update: 8.393769 deg/s,
      cmd heading: 180.554818 deg,
      new cmd heading: 179.557556 deg.

2021-01-27T19:13:10.105Z,1611774790.105 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:13:10.249Z,1611774790.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:10.934Z,1611774790.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:11.380Z,1611774791.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:12.178Z,1611774792.178 [Micromodem](INFO): Nmea in: $SNTTA,0.001504,,,,191312.33*49

2021-01-27T19:13:12.192Z,1611774792.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 105.842742 deg, deltaT: 4.449790 s, approachRate: 0.000000 m/s, LOS rate: -1.167118 deg/s, posRepo size: 4
2021-01-27T19:13:12.194Z,1611774792.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 105.842742 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.167118 deg/s,
      cmd update: -3.501354 deg/s,
      cmd heading: 218.136408 deg,
      new cmd heading: 221.556642 deg.

2021-01-27T19:13:14.592Z,1611774794.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:15.397Z,1611774795.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:15.784Z,1611774795.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:16.627Z,1611774796.627 [Micromodem](INFO): Nmea in: $SNTTA,0.001524,,0.021261,,191316.80*5F

2021-01-27T19:13:16.695Z,1611774796.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 112.713872 deg, deltaT: 4.423843 s, approachRate: 0.000000 m/s, LOS rate: 1.553204 deg/s, posRepo size: 4
2021-01-27T19:13:16.698Z,1611774796.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 112.713872 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.553204 deg/s,
      cmd update: 4.659611 deg/s,
      cmd heading: 202.646992 deg,
      new cmd heading: 200.941668 deg.

2021-01-27T19:13:19.043Z,1611774799.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:19.826Z,1611774799.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:20.232Z,1611774800.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:21.073Z,1611774801.073 [Micromodem](INFO): Nmea in: $SNTTA,0.001668,,,,191321.23*41

2021-01-27T19:13:21.095Z,1611774801.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 113.633413 deg, deltaT: 4.547673 s, approachRate: 0.052775 m/s, LOS rate: 0.202200 deg/s, posRepo size: 4
2021-01-27T19:13:21.097Z,1611774801.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 113.633413 deg,
      approachRate: 0.052775 m/s,
      LOS rate: 0.202200 deg/s,
      cmd update: 0.606601 deg/s,
      cmd heading: 223.750235 deg,
      new cmd heading: 225.416097 deg.

2021-01-27T19:13:23.487Z,1611774803.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:24.278Z,1611774804.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:24.708Z,1611774804.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:25.509Z,1611774805.509 [Micromodem](INFO): Nmea in: $SNTTA,0.001544,,0.032137,,191325.68*5D

2021-01-27T19:13:25.545Z,1611774805.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 126.879274 deg, deltaT: 4.365612 s, approachRate: -0.054976 m/s, LOS rate: 3.034136 deg/s, posRepo size: 4
2021-01-27T19:13:25.547Z,1611774805.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 126.879274 deg,
      approachRate: -0.054976 m/s,
      LOS rate: 3.034136 deg/s,
      cmd update: 9.102409 deg/s,
      cmd heading: 226.409652 deg,
      new cmd heading: 226.666181 deg.

2021-01-27T19:13:26.784Z,1611774806.784 [DDM](ERROR): Could not parse latch state
2021-01-27T19:13:27.947Z,1611774807.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:28.714Z,1611774808.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:29.120Z,1611774809.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:29.969Z,1611774809.969 [Micromodem](INFO): Nmea in: $SNTTA,0.001528,,,,191330.11*47

2021-01-27T19:13:29.993Z,1611774809.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 123.301444 deg, deltaT: 4.437264 s, approachRate: 0.000000 m/s, LOS rate: -0.806315 deg/s, posRepo size: 4
2021-01-27T19:13:29.995Z,1611774809.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 123.301444 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.806315 deg/s,
      cmd update: -2.418944 deg/s,
      cmd heading: 266.800853 deg,
      new cmd heading: 270.746857 deg.

2021-01-27T19:13:32.440Z,1611774812.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:33.155Z,1611774813.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:33.564Z,1611774813.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:34.413Z,1611774814.413 [Micromodem](INFO): Nmea in: $SNTTA,0.001644,,,,191334.55*4A

2021-01-27T19:13:34.438Z,1611774814.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 115.357319 deg, deltaT: 4.450655 s, approachRate: 0.040444 m/s, LOS rate: -1.784934 deg/s, posRepo size: 4
2021-01-27T19:13:34.440Z,1611774814.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 115.357319 deg,
      approachRate: 0.040444 m/s,
      LOS rate: -1.784934 deg/s,
      cmd update: -5.354802 deg/s,
      cmd heading: 256.044725 deg,
      new cmd heading: 254.998853 deg.

2021-01-27T19:13:36.835Z,1611774816.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:37.618Z,1611774817.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:38.004Z,1611774818.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:38.837Z,1611774818.837 [Micromodem](INFO): Nmea in: $SNTTA,0.001667,,,,191339.02*44

2021-01-27T19:13:38.873Z,1611774818.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 117.405788 deg, deltaT: 4.425055 s, approachRate: 0.013559 m/s, LOS rate: 0.462925 deg/s, posRepo size: 4
2021-01-27T19:13:38.875Z,1611774818.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 117.405788 deg,
      approachRate: 0.013559 m/s,
      LOS rate: 0.462925 deg/s,
      cmd update: 1.388776 deg/s,
      cmd heading: 232.327799 deg,
      new cmd heading: 230.046150 deg.

2021-01-27T19:13:40.394Z,1611774820.394 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:13:40.394Z,1611774820.394 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:13:40.394Z,1611774820.394 [DDM](ERROR): Hardware Fault
2021-01-27T19:13:40.520Z,1611774820.520 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:13:40.798Z,1611774820.798 [DDM](INFO): Powering down
2021-01-27T19:13:41.241Z,1611774821.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:41.752Z,1611774821.752 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:13:41.752Z,1611774821.752 [DDM] No Fault, FailCount= 1
2021-01-27T19:13:42.022Z,1611774822.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:42.425Z,1611774822.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:43.253Z,1611774823.253 [Micromodem](INFO): Nmea in: $SNTTA,0.004107,,0.037276,,191343.42*50

2021-01-27T19:13:43.289Z,1611774823.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 114.804237 deg, deltaT: 4.437214 s, approachRate: 0.824842 m/s, LOS rate: -0.586303 deg/s, posRepo size: 4
2021-01-27T19:13:43.290Z,1611774823.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 6.24 m.
2021-01-27T19:13:43.291Z,1611774823.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 114.804237 deg,
      approachRate: 0.824842 m/s,
      LOS rate: -0.586303 deg/s,
      cmd update: -1.758908 deg/s,
      cmd heading: 238.490093 deg,
      new cmd heading: 239.070128 deg.

2021-01-27T19:13:45.750Z,1611774825.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:46.061Z,1611774826.061 [DDM](INFO): Powering up
2021-01-27T19:13:46.061Z,1611774826.061 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:13:46.474Z,1611774826.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:46.892Z,1611774826.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:47.713Z,1611774827.713 [Micromodem](INFO): Nmea in: $SNTTA,0.001674,0.028601,0.021332,,191347.87*4E

2021-01-27T19:13:47.755Z,1611774827.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 113.931565 deg, deltaT: 4.477220 s, approachRate: -0.817472 m/s, LOS rate: -0.194914 deg/s, posRepo size: 4
2021-01-27T19:13:47.758Z,1611774827.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 113.931565 deg,
      approachRate: -0.817472 m/s,
      LOS rate: -0.194914 deg/s,
      cmd update: -0.584742 deg/s,
      cmd heading: 230.633035 deg,
      new cmd heading: 229.900101 deg.

2021-01-27T19:13:50.148Z,1611774830.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:50.932Z,1611774830.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:50.950Z,1611774830.950 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:13:51.366Z,1611774831.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:52.161Z,1611774832.161 [Micromodem](INFO): Nmea in: $SNTTA,0.001520,,,0.011951,191352.33*58

2021-01-27T19:13:52.179Z,1611774832.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 117.796885 deg, deltaT: 4.414203 s, approachRate: -0.054370 m/s, LOS rate: 0.875655 deg/s, posRepo size: 4
2021-01-27T19:13:52.181Z,1611774832.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 117.796885 deg,
      approachRate: -0.054370 m/s,
      LOS rate: 0.875655 deg/s,
      cmd update: 2.626966 deg/s,
      cmd heading: 228.048289 deg,
      new cmd heading: 227.802880 deg.

2021-01-27T19:13:54.586Z,1611774834.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:55.366Z,1611774835.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:13:55.772Z,1611774835.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:13:55.795Z,1611774835.795 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:13:56.593Z,1611774836.593 [Micromodem](INFO): Nmea in: $SNTTA,0.001632,,,,191356.77*4F

2021-01-27T19:13:56.673Z,1611774836.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 117.653710 deg, deltaT: 4.421773 s, approachRate: 0.040708 m/s, LOS rate: -0.032379 deg/s, posRepo size: 4
2021-01-27T19:13:56.674Z,1611774836.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 117.653710 deg,
      approachRate: 0.040708 m/s,
      LOS rate: -0.032379 deg/s,
      cmd update: -0.097138 deg/s,
      cmd heading: 239.674344 deg,
      new cmd heading: 240.930893 deg.

2021-01-27T19:13:59.024Z,1611774839.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:13:59.801Z,1611774839.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:00.215Z,1611774840.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:01.054Z,1611774841.054 [Micromodem](INFO): Nmea in: $SNTTA,0.001650,,,,191401.20*4C

2021-01-27T19:14:01.075Z,1611774841.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 121.514284 deg, deltaT: 4.528155 s, approachRate: 0.013251 m/s, LOS rate: 0.852571 deg/s, posRepo size: 4
2021-01-27T19:14:01.077Z,1611774841.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 121.514284 deg,
      approachRate: 0.013251 m/s,
      LOS rate: 0.852571 deg/s,
      cmd update: 2.557713 deg/s,
      cmd heading: 239.234487 deg,
      new cmd heading: 239.199338 deg.

2021-01-27T19:14:01.818Z,1611774841.818 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:14:03.523Z,1611774843.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:04.282Z,1611774844.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:04.692Z,1611774844.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:05.517Z,1611774845.517 [Micromodem](INFO): Nmea in: $SNTTA,0.001642,,,,191405.68*47

2021-01-27T19:14:05.542Z,1611774845.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 132.380268 deg, deltaT: 4.392084 s, approachRate: -0.013661 m/s, LOS rate: 2.473993 deg/s, posRepo size: 4
2021-01-27T19:14:05.543Z,1611774845.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.52 m.
2021-01-27T19:14:05.545Z,1611774845.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 132.380268 deg,
      approachRate: -0.013661 m/s,
      LOS rate: 2.473993 deg/s,
      cmd update: 7.421978 deg/s,
      cmd heading: 250.468705 deg,
      new cmd heading: 251.586101 deg.

2021-01-27T19:14:05.916Z,1611774845.916 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T19:14:07.951Z,1611774847.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:08.722Z,1611774848.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:09.128Z,1611774849.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:09.973Z,1611774849.973 [Micromodem](INFO): Nmea in: $SNTTA,0.001583,,,,191410.12*40

2021-01-27T19:14:09.997Z,1611774849.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 145.693467 deg, deltaT: 4.461114 s, approachRate: -0.040349 m/s, LOS rate: 2.984277 deg/s, posRepo size: 4
2021-01-27T19:14:09.998Z,1611774849.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 145.693467 deg,
      approachRate: -0.040349 m/s,
      LOS rate: 2.984277 deg/s,
      cmd update: 8.952831 deg/s,
      cmd heading: 283.578884 deg,
      new cmd heading: 286.769058 deg.

2021-01-27T19:14:12.427Z,1611774852.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:13.166Z,1611774853.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:13.572Z,1611774853.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:14.409Z,1611774854.409 [Micromodem](INFO): Nmea in: $SNTTA,0.001668,,,,191414.57*43

2021-01-27T19:14:14.434Z,1611774854.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 164.842914 deg, deltaT: 4.446261 s, approachRate: 0.026989 m/s, LOS rate: 4.306865 deg/s, posRepo size: 4
2021-01-27T19:14:14.436Z,1611774854.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 164.842914 deg,
      approachRate: 0.026989 m/s,
      LOS rate: 4.306865 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.385892 deg,
      new cmd heading: 327.156153 deg.

2021-01-27T19:14:16.006Z,1611774856.006 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T19:14:16.842Z,1611774856.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:17.614Z,1611774857.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:18.028Z,1611774858.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:18.869Z,1611774858.869 [Micromodem](INFO): Nmea in: $SNTTA,0.001563,,,0.027637,191419.01*5C

2021-01-27T19:14:18.893Z,1611774858.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 155.741810 deg, deltaT: 4.449811 s, approachRate: -0.026968 m/s, LOS rate: -2.045279 deg/s, posRepo size: 4
2021-01-27T19:14:18.895Z,1611774858.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 155.741810 deg,
      approachRate: -0.026968 m/s,
      LOS rate: -2.045279 deg/s,
      cmd update: -6.135836 deg/s,
      cmd heading: 16.735481 deg,
      new cmd heading: 21.952241 deg.

2021-01-27T19:14:20.869Z,1611774860.869 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:14:21.282Z,1611774861.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:22.054Z,1611774862.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:22.460Z,1611774862.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:23.297Z,1611774863.297 [Micromodem](INFO): Nmea in: $SNTTA,0.001576,,,,191423.45*48

2021-01-27T19:14:23.368Z,1611774863.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 149.236287 deg, deltaT: 4.443726 s, approachRate: 0.000000 m/s, LOS rate: -1.463979 deg/s, posRepo size: 4
2021-01-27T19:14:23.370Z,1611774863.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 149.236287 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.463979 deg/s,
      cmd update: -4.391938 deg/s,
      cmd heading: 349.471033 deg,
      new cmd heading: 346.679259 deg.

2021-01-27T19:14:25.745Z,1611774865.745 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:14:25.779Z,1611774865.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:26.506Z,1611774866.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:26.913Z,1611774866.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:27.741Z,1611774867.741 [Micromodem](INFO): Nmea in: $SNTTA,0.001649,,,,191427.91*4A

2021-01-27T19:14:27.765Z,1611774867.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 153.894298 deg, deltaT: 4.483130 s, approachRate: 0.026767 m/s, LOS rate: 1.039009 deg/s, posRepo size: 4
2021-01-27T19:14:27.766Z,1611774867.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 153.894298 deg,
      approachRate: 0.026767 m/s,
      LOS rate: 1.039009 deg/s,
      cmd update: 3.117026 deg/s,
      cmd heading: 329.805292 deg,
      new cmd heading: 328.115230 deg.

2021-01-27T19:14:30.166Z,1611774870.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:30.942Z,1611774870.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:30.975Z,1611774870.975 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T19:14:31.375Z,1611774871.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:32.133Z,1611774872.133 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:14:32.133Z,1611774872.133 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:14:32.134Z,1611774872.134 [DDM](ERROR): Hardware Fault
2021-01-27T19:14:32.153Z,1611774872.153 [Micromodem](INFO): Nmea in: $SNTTA,0.001652,,,,191432.34*4B

2021-01-27T19:14:32.189Z,1611774872.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 139.950426 deg, deltaT: 4.429988 s, approachRate: -0.013544 m/s, LOS rate: -3.147609 deg/s, posRepo size: 4
2021-01-27T19:14:32.191Z,1611774872.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 139.950426 deg,
      approachRate: -0.013544 m/s,
      LOS rate: -3.147609 deg/s,
      cmd update: -9.442829 deg/s,
      cmd heading: 343.631156 deg,
      new cmd heading: 344.797709 deg.

2021-01-27T19:14:32.248Z,1611774872.248 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:14:32.523Z,1611774872.523 [DDM](INFO): Powering down
2021-01-27T19:14:33.428Z,1611774873.428 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:14:33.428Z,1611774873.428 [DDM] No Fault, FailCount= 1
2021-01-27T19:14:34.587Z,1611774874.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:35.362Z,1611774875.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:35.771Z,1611774875.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:36.593Z,1611774876.593 [Micromodem](INFO): Nmea in: $SNTTA,0.001626,,0.476228,,191436.77*58

2021-01-27T19:14:36.665Z,1611774876.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 127.406975 deg, deltaT: 4.375857 s, approachRate: 0.000000 m/s, LOS rate: -2.866513 deg/s, posRepo size: 4
2021-01-27T19:14:36.667Z,1611774876.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 127.406975 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.866513 deg/s,
      cmd update: -8.599539 deg/s,
      cmd heading: 302.272274 deg,
      new cmd heading: 298.120678 deg.

2021-01-27T19:14:37.779Z,1611774877.779 [DDM](INFO): Powering up
2021-01-27T19:14:37.779Z,1611774877.779 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:14:39.022Z,1611774879.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:39.796Z,1611774879.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:40.218Z,1611774880.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:41.029Z,1611774881.029 [Micromodem](INFO): Nmea in: $SNTTA,0.001651,,,,191441.20*49

2021-01-27T19:14:41.053Z,1611774881.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 126.510157 deg, deltaT: 4.493220 s, approachRate: 0.013354 m/s, LOS rate: -0.199593 deg/s, posRepo size: 4
2021-01-27T19:14:41.055Z,1611774881.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 126.510157 deg,
      approachRate: 0.013354 m/s,
      LOS rate: -0.199593 deg/s,
      cmd update: -0.598780 deg/s,
      cmd heading: 263.667265 deg,
      new cmd heading: 260.500502 deg.

2021-01-27T19:14:43.483Z,1611774883.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:44.246Z,1611774884.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:44.663Z,1611774884.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:45.473Z,1611774885.473 [Micromodem](INFO): Nmea in: $SNTTA,0.001606,,,,191445.65*4E

2021-01-27T19:14:45.498Z,1611774885.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 119.228574 deg, deltaT: 4.391909 s, approachRate: 0.000000 m/s, LOS rate: -1.657954 deg/s, posRepo size: 4
2021-01-27T19:14:45.499Z,1611774885.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 119.228574 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.657954 deg/s,
      cmd update: -4.973862 deg/s,
      cmd heading: 261.035058 deg,
      new cmd heading: 260.785188 deg.

2021-01-27T19:14:47.912Z,1611774887.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:48.690Z,1611774888.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:49.096Z,1611774889.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:49.934Z,1611774889.934 [Micromodem](INFO): Nmea in: $SNTTA,0.001640,,,,191450.09*42

2021-01-27T19:14:49.966Z,1611774889.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 115.467148 deg, deltaT: 4.454117 s, approachRate: 0.013471 m/s, LOS rate: -0.844483 deg/s, posRepo size: 4
2021-01-27T19:14:49.968Z,1611774889.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 115.467148 deg,
      approachRate: 0.013471 m/s,
      LOS rate: -0.844483 deg/s,
      cmd update: -2.533449 deg/s,
      cmd heading: 238.881230 deg,
      new cmd heading: 236.733646 deg.

2021-01-27T19:14:52.395Z,1611774892.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:53.136Z,1611774893.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:53.530Z,1611774893.530 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:14:53.665Z,1611774893.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:54.397Z,1611774894.397 [Micromodem](INFO): Nmea in: $SNTTA,0.001542,,,,191454.54*4F

2021-01-27T19:14:54.422Z,1611774894.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 112.865201 deg, deltaT: 4.458155 s, approachRate: -0.026917 m/s, LOS rate: -0.583638 deg/s, posRepo size: 4
2021-01-27T19:14:54.423Z,1611774894.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 112.865201 deg,
      approachRate: -0.026917 m/s,
      LOS rate: -0.583638 deg/s,
      cmd update: -1.750913 deg/s,
      cmd heading: 227.586569 deg,
      new cmd heading: 226.499439 deg.

2021-01-27T19:14:56.815Z,1611774896.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:14:57.606Z,1611774897.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:14:58.020Z,1611774898.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:14:58.845Z,1611774898.845 [Micromodem](INFO): Nmea in: $SNTTA,0.001551,,,,191459.01*40

2021-01-27T19:14:58.869Z,1611774898.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 121.661829 deg, deltaT: 4.450936 s, approachRate: -0.026960 m/s, LOS rate: 1.976355 deg/s, posRepo size: 4
2021-01-27T19:14:58.871Z,1611774898.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 121.661829 deg,
      approachRate: -0.026960 m/s,
      LOS rate: 1.976355 deg/s,
      cmd update: 5.929064 deg/s,
      cmd heading: 219.793418 deg,
      new cmd heading: 219.048905 deg.

2021-01-27T19:15:01.273Z,1611774901.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:02.050Z,1611774902.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:02.464Z,1611774902.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:03.297Z,1611774903.297 [Micromodem](INFO): Nmea in: $SNTTA,0.001575,,0.099156,,191503.45*54

2021-01-27T19:15:03.363Z,1611774903.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 123.155250 deg, deltaT: 4.452306 s, approachRate: 0.013476 m/s, LOS rate: 0.335426 deg/s, posRepo size: 4
2021-01-27T19:15:03.370Z,1611774903.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 123.155250 deg,
      approachRate: 0.013476 m/s,
      LOS rate: 0.335426 deg/s,
      cmd update: 1.006279 deg/s,
      cmd heading: 246.191409 deg,
      new cmd heading: 248.964088 deg.

2021-01-27T19:15:05.801Z,1611774905.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:06.502Z,1611774906.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:06.892Z,1611774906.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:07.814Z,1611774907.814 [Micromodem](INFO): Nmea in: $SNTTA,0.001573,,,,191507.91*43

2021-01-27T19:15:07.860Z,1611774907.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 127.012422 deg, deltaT: 4.474777 s, approachRate: 0.000000 m/s, LOS rate: 0.861981 deg/s, posRepo size: 4
2021-01-27T19:15:07.862Z,1611774907.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 127.012422 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.861981 deg/s,
      cmd update: 2.585942 deg/s,
      cmd heading: 250.694297 deg,
      new cmd heading: 251.186606 deg.

2021-01-27T19:15:10.147Z,1611774910.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:10.942Z,1611774910.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:11.376Z,1611774911.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:12.185Z,1611774912.185 [Micromodem](INFO): Nmea in: $SNTTA,0.001641,,,,191512.34*4A

2021-01-27T19:15:12.207Z,1611774912.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 136.199409 deg, deltaT: 4.417326 s, approachRate: 0.027166 m/s, LOS rate: 2.079762 deg/s, posRepo size: 4
2021-01-27T19:15:12.209Z,1611774912.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 136.199409 deg,
      approachRate: 0.027166 m/s,
      LOS rate: 2.079762 deg/s,
      cmd update: 6.239286 deg/s,
      cmd heading: 262.117211 deg,
      new cmd heading: 263.201093 deg.

2021-01-27T19:15:14.599Z,1611774914.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:15.395Z,1611774915.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:15.796Z,1611774915.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:16.617Z,1611774916.617 [Micromodem](INFO): Nmea in: $SNTTA,0.001555,,,,191516.79*41

2021-01-27T19:15:16.707Z,1611774916.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 134.838330 deg, deltaT: 4.412343 s, approachRate: -0.027197 m/s, LOS rate: -0.308471 deg/s, posRepo size: 4
2021-01-27T19:15:16.710Z,1611774916.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 134.838330 deg,
      approachRate: -0.027197 m/s,
      LOS rate: -0.308471 deg/s,
      cmd update: -0.925413 deg/s,
      cmd heading: 289.647282 deg,
      new cmd heading: 292.811062 deg.

2021-01-27T19:15:19.481Z,1611774919.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1368.780029 m, bearing: 118.308958 deg, deltaT: 2.856670 s, approachRate: 478.333191 m/s, LOS rate: -5.786238 deg/s, posRepo size: 4
2021-01-27T19:15:19.481Z,1611774919.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 1368.78 m.
2021-01-27T19:15:19.483Z,1611774919.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1368.780029 m,
      bearing: 118.308958 deg,
      approachRate: 478.333191 m/s,
      LOS rate: -5.786238 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.026120 deg,
      new cmd heading: 286.613159 deg.

2021-01-27T19:15:21.870Z,1611774921.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:22.676Z,1611774922.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:23.069Z,1611774923.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:23.830Z,1611774923.830 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:15:23.830Z,1611774923.830 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:15:23.831Z,1611774923.831 [DDM](ERROR): Hardware Fault
2021-01-27T19:15:23.855Z,1611774923.855 [Micromodem](INFO): Nmea in: $SNTTA,0.001607,,0.030095,,191524.08*53

2021-01-27T19:15:23.933Z,1611774923.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 131.286522 deg, deltaT: 4.425663 s, approachRate: -308.740173 m/s, LOS rate: 2.932344 deg/s, posRepo size: 4
2021-01-27T19:15:23.934Z,1611774923.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 131.286522 deg,
      approachRate: -308.740173 m/s,
      LOS rate: 2.932344 deg/s,
      cmd update: 8.797031 deg/s,
      cmd heading: 233.627258 deg,
      new cmd heading: 228.276506 deg.

2021-01-27T19:15:24.012Z,1611774924.012 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:15:24.233Z,1611774924.233 [DDM](INFO): Powering down
2021-01-27T19:15:25.143Z,1611774925.143 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:15:25.144Z,1611774925.144 [DDM] No Fault, FailCount= 1
2021-01-27T19:15:26.307Z,1611774926.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:27.070Z,1611774927.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:27.470Z,1611774927.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:28.304Z,1611774928.304 [Micromodem](INFO): Nmea in: $SNTTA,0.001558,,,,191528.47*4C

2021-01-27T19:15:28.360Z,1611774928.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 129.140081 deg, deltaT: 4.454569 s, approachRate: -0.013469 m/s, LOS rate: -0.481852 deg/s, posRepo size: 4
2021-01-27T19:15:28.362Z,1611774928.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 129.140081 deg,
      approachRate: -0.013469 m/s,
      LOS rate: -0.481852 deg/s,
      cmd update: -1.445555 deg/s,
      cmd heading: 272.725627 deg,
      new cmd heading: 276.536245 deg.

2021-01-27T19:15:29.485Z,1611774929.485 [DDM](INFO): Powering up
2021-01-27T19:15:29.486Z,1611774929.486 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:15:30.754Z,1611774930.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:31.514Z,1611774931.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:31.932Z,1611774931.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:32.745Z,1611774932.745 [Micromodem](INFO): Nmea in: $SNTTA,0.001619,,,,191532.91*4A

2021-01-27T19:15:32.783Z,1611774932.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 135.826016 deg, deltaT: 4.436099 s, approachRate: 0.013525 m/s, LOS rate: 1.507166 deg/s, posRepo size: 4
2021-01-27T19:15:32.785Z,1611774932.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 135.826016 deg,
      approachRate: 0.013525 m/s,
      LOS rate: 1.507166 deg/s,
      cmd update: 4.521496 deg/s,
      cmd heading: 266.298407 deg,
      new cmd heading: 265.706644 deg.

2021-01-27T19:15:35.171Z,1611774935.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:35.954Z,1611774935.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:36.368Z,1611774936.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:37.185Z,1611774937.185 [Micromodem](INFO): Nmea in: $SNTTA,0.001584,,,,191537.35*46

2021-01-27T19:15:37.219Z,1611774937.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 136.917248 deg, deltaT: 4.436763 s, approachRate: -0.013523 m/s, LOS rate: 0.245952 deg/s, posRepo size: 4
2021-01-27T19:15:37.221Z,1611774937.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 136.917248 deg,
      approachRate: -0.013523 m/s,
      LOS rate: 0.245952 deg/s,
      cmd update: 0.737857 deg/s,
      cmd heading: 286.340496 deg,
      new cmd heading: 288.209814 deg.

2021-01-27T19:15:39.702Z,1611774939.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:40.402Z,1611774940.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:40.812Z,1611774940.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:41.654Z,1611774941.654 [Micromodem](INFO): Nmea in: $SNTTA,0.001636,,,,191541.80*43

2021-01-27T19:15:41.737Z,1611774941.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 129.678368 deg, deltaT: 4.440921 s, approachRate: 0.027022 m/s, LOS rate: -1.630040 deg/s, posRepo size: 4
2021-01-27T19:15:41.738Z,1611774941.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.46 m.
2021-01-27T19:15:41.744Z,1611774941.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 129.678368 deg,
      approachRate: 0.027022 m/s,
      LOS rate: -1.630040 deg/s,
      cmd update: -4.890121 deg/s,
      cmd heading: 289.612830 deg,
      new cmd heading: 289.975075 deg.

2021-01-27T19:15:44.058Z,1611774944.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:44.855Z,1611774944.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:45.248Z,1611774945.248 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:15:45.376Z,1611774945.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:46.122Z,1611774946.122 [Micromodem](INFO): Nmea in: $SNTTA,0.001564,,,,191546.25*4F

2021-01-27T19:15:46.146Z,1611774946.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 137.168421 deg, deltaT: 4.536203 s, approachRate: -0.026454 m/s, LOS rate: 1.651173 deg/s, posRepo size: 4
2021-01-27T19:15:46.172Z,1611774946.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 137.168421 deg,
      approachRate: -0.026454 m/s,
      LOS rate: 1.651173 deg/s,
      cmd update: 4.953517 deg/s,
      cmd heading: 267.419813 deg,
      new cmd heading: 265.624659 deg.

2021-01-27T19:15:48.545Z,1611774948.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:49.335Z,1611774949.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:49.734Z,1611774949.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:50.549Z,1611774950.549 [Micromodem](INFO): Nmea in: $SNTTA,0.001583,0.289173,,,191550.73*5A

2021-01-27T19:15:50.585Z,1611774950.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 148.145082 deg, deltaT: 4.382931 s, approachRate: 0.000000 m/s, LOS rate: 2.504411 deg/s, posRepo size: 4
2021-01-27T19:15:50.587Z,1611774950.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 148.145082 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.504411 deg/s,
      cmd update: 7.513233 deg/s,
      cmd heading: 289.130481 deg,
      new cmd heading: 291.223124 deg.

2021-01-27T19:15:52.985Z,1611774952.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:53.759Z,1611774953.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:54.177Z,1611774954.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:55.013Z,1611774955.013 [Micromodem](INFO): Nmea in: $SNTTA,0.001648,,,,191555.16*40

2021-01-27T19:15:55.037Z,1611774955.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 148.738612 deg, deltaT: 4.446269 s, approachRate: 0.013495 m/s, LOS rate: 0.133489 deg/s, posRepo size: 4
2021-01-27T19:15:55.039Z,1611774955.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 148.738612 deg,
      approachRate: 0.013495 m/s,
      LOS rate: 0.133489 deg/s,
      cmd update: 0.400468 deg/s,
      cmd heading: 322.596553 deg,
      new cmd heading: 325.754177 deg.

2021-01-27T19:15:57.434Z,1611774957.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:15:58.203Z,1611774958.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:15:58.620Z,1611774958.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:15:59.457Z,1611774959.457 [Micromodem](INFO): Nmea in: $SNTTA,0.001574,,,,191559.60*41

2021-01-27T19:15:59.481Z,1611774959.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 138.766208 deg, deltaT: 4.428131 s, approachRate: -0.027099 m/s, LOS rate: -2.252057 deg/s, posRepo size: 4
2021-01-27T19:15:59.483Z,1611774959.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 138.766208 deg,
      approachRate: -0.027099 m/s,
      LOS rate: -2.252057 deg/s,
      cmd update: -6.756172 deg/s,
      cmd heading: 324.369881 deg,
      new cmd heading: 324.544695 deg.

2021-01-27T19:16:01.891Z,1611774961.891 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T19:16:01.891Z,1611774961.891 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:16:01.891Z,1611774961.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T19:16:01.891Z,1611774961.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:16:01.891Z,1611774961.891 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T19:16:01.892Z,1611774961.892 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.280001 m 
2021-01-27T19:16:01.892Z,1611774961.892 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T19:16:01.893Z,1611774961.893 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T19:16:01.893Z,1611774961.893 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T19:16:01.914Z,1611774961.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:02.289Z,1611774962.289 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T191602: (41.551998, -70.709610)
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T19:16:02.290Z,1611774962.290 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:16:02.658Z,1611774962.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:03.061Z,1611774963.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:03.889Z,1611774963.889 [Micromodem](INFO): Nmea in: $SNTTA,0.001641,,,,191604.06*4F

2021-01-27T19:16:03.924Z,1611774963.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 143.174098 deg, deltaT: 4.466161 s, approachRate: 0.026868 m/s, LOS rate: 0.986953 deg/s, posRepo size: 4
2021-01-27T19:16:03.926Z,1611774963.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 143.174098 deg,
      approachRate: 0.026868 m/s,
      LOS rate: 0.986953 deg/s,
      cmd update: 2.960858 deg/s,
      cmd heading: 294.222620 deg,
      new cmd heading: 291.405053 deg.

2021-01-27T19:16:06.352Z,1611774966.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:07.090Z,1611774967.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:07.507Z,1611774967.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:08.350Z,1611774968.350 [Micromodem](INFO): Nmea in: $SNTTA,0.001546,,,,191608.49*4C

2021-01-27T19:16:08.375Z,1611774968.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 123.271582 deg, deltaT: 4.431067 s, approachRate: -0.013541 m/s, LOS rate: -4.491585 deg/s, posRepo size: 4
2021-01-27T19:16:08.378Z,1611774968.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 123.271582 deg,
      approachRate: -0.013541 m/s,
      LOS rate: -4.491585 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 307.341750 deg,
      new cmd heading: 308.638606 deg.

2021-01-27T19:16:10.783Z,1611774970.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:11.542Z,1611774971.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:11.945Z,1611774971.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:12.782Z,1611774972.782 [Micromodem](INFO): Nmea in: $SNTTA,0.001647,,,,191612.94*45

2021-01-27T19:16:12.811Z,1611774972.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 113.727151 deg, deltaT: 4.490701 s, approachRate: 0.040083 m/s, LOS rate: -2.125377 deg/s, posRepo size: 4
2021-01-27T19:16:12.813Z,1611774972.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 113.727151 deg,
      approachRate: 0.040083 m/s,
      LOS rate: -2.125377 deg/s,
      cmd update: -6.376130 deg/s,
      cmd heading: 253.450793 deg,
      new cmd heading: 248.865485 deg.

2021-01-27T19:16:15.188Z,1611774975.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:15.541Z,1611774975.541 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:16:15.541Z,1611774975.541 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:16:15.541Z,1611774975.541 [DDM](ERROR): Hardware Fault
2021-01-27T19:16:15.756Z,1611774975.756 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:16:15.956Z,1611774975.956 [DDM](INFO): Powering down
2021-01-27T19:16:16.034Z,1611774976.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:16.354Z,1611774976.354 [DDM](FAULT): LCB fault:  Software Overcurrent.
2021-01-27T19:16:16.360Z,1611774976.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:16.884Z,1611774976.884 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:16:16.884Z,1611774976.884 [DDM] No Fault, FailCount= 1
2021-01-27T19:16:17.232Z,1611774977.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 107.656629 deg, deltaT: 4.372750 s, approachRate: -0.041164 m/s, LOS rate: -1.388262 deg/s, posRepo size: 4
2021-01-27T19:16:17.240Z,1611774977.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 107.656629 deg,
      approachRate: -0.041164 m/s,
      LOS rate: -1.388262 deg/s,
      cmd update: -4.164786 deg/s,
      cmd heading: 225.673514 deg,
      new cmd heading: 222.860384 deg.

2021-01-27T19:16:17.589Z,1611774977.589 [Micromodem](INFO): Nmea in: $SNTTA,0.001519,,,,191617.43*42

2021-01-27T19:16:19.666Z,1611774979.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:20.414Z,1611774980.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:20.798Z,1611774980.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:21.197Z,1611774981.197 [DDM](INFO): Powering up
2021-01-27T19:16:21.197Z,1611774981.197 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:16:21.661Z,1611774981.661 [Micromodem](INFO): Nmea in: $SNTTA,0.001541,,,0.482123,191621.81*54

2021-01-27T19:16:21.716Z,1611774981.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 113.257698 deg, deltaT: 4.446161 s, approachRate: 0.000000 m/s, LOS rate: 1.259754 deg/s, posRepo size: 4
2021-01-27T19:16:21.718Z,1611774981.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 113.257698 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.259754 deg/s,
      cmd update: 3.779262 deg/s,
      cmd heading: 207.071691 deg,
      new cmd heading: 205.137210 deg.

2021-01-27T19:16:24.066Z,1611774984.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:24.842Z,1611774984.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:25.250Z,1611774985.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:26.080Z,1611774986.080 [Micromodem](INFO): Nmea in: $SNTTA,0.001660,,,,191626.24*4C

2021-01-27T19:16:26.099Z,1611774986.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 119.116163 deg, deltaT: 4.530530 s, approachRate: 0.052974 m/s, LOS rate: 1.293108 deg/s, posRepo size: 4
2021-01-27T19:16:26.101Z,1611774986.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 119.116163 deg,
      approachRate: 0.052974 m/s,
      LOS rate: 1.293108 deg/s,
      cmd update: 3.879324 deg/s,
      cmd heading: 224.193784 deg,
      new cmd heading: 225.392025 deg.

2021-01-27T19:16:28.509Z,1611774988.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:29.290Z,1611774989.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:29.692Z,1611774989.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:30.526Z,1611774990.526 [Micromodem](INFO): Nmea in: $SNTTA,0.001696,,0.015790,,191630.69*5F

2021-01-27T19:16:30.580Z,1611774990.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 114.724748 deg, deltaT: 4.320712 s, approachRate: 0.000000 m/s, LOS rate: -1.016364 deg/s, posRepo size: 4
2021-01-27T19:16:30.582Z,1611774990.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 114.724748 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.016364 deg/s,
      cmd update: -3.049092 deg/s,
      cmd heading: 240.954978 deg,
      new cmd heading: 242.790737 deg.

2021-01-27T19:16:32.943Z,1611774992.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:33.730Z,1611774993.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:34.142Z,1611774994.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:34.957Z,1611774994.957 [Micromodem](INFO): Nmea in: $SNTTA,0.001621,,0.017634,,191635.13*56

2021-01-27T19:16:35.010Z,1611774995.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 123.038208 deg, deltaT: 4.492378 s, approachRate: -0.013356 m/s, LOS rate: 1.850570 deg/s, posRepo size: 4
2021-01-27T19:16:35.011Z,1611774995.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 123.038208 deg,
      approachRate: -0.013356 m/s,
      LOS rate: 1.850570 deg/s,
      cmd update: 5.551711 deg/s,
      cmd heading: 227.276271 deg,
      new cmd heading: 225.992491 deg.

2021-01-27T19:16:36.960Z,1611774996.960 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:16:37.107Z,1611774997.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:37.803Z,1611774997.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:38.213Z,1611774998.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:39.046Z,1611774999.046 [Micromodem](INFO): Nmea in: $SNTTA,0.001557,,,,191639.20*41

2021-01-27T19:16:39.067Z,1611774999.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 124.604357 deg, deltaT: 4.111964 s, approachRate: -0.043775 m/s, LOS rate: 0.380876 deg/s, posRepo size: 4
2021-01-27T19:16:39.069Z,1611774999.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 124.604357 deg,
      approachRate: -0.043775 m/s,
      LOS rate: 0.380876 deg/s,
      cmd update: 1.142628 deg/s,
      cmd heading: 250.117197 deg,
      new cmd heading: 252.138175 deg.

2021-01-27T19:16:41.479Z,1611775001.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:42.246Z,1611775002.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:42.670Z,1611775002.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:43.490Z,1611775003.490 [Micromodem](INFO): Nmea in: $SNTTA,0.001561,,,,191643.65*48

2021-01-27T19:16:43.519Z,1611775003.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 136.319443 deg, deltaT: 4.373664 s, approachRate: -0.013718 m/s, LOS rate: 2.678552 deg/s, posRepo size: 4
2021-01-27T19:16:43.521Z,1611775003.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 136.319443 deg,
      approachRate: -0.013718 m/s,
      LOS rate: 2.678552 deg/s,
      cmd update: 8.035656 deg/s,
      cmd heading: 255.100979 deg,
      new cmd heading: 255.620430 deg.

2021-01-27T19:16:45.899Z,1611775005.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:46.702Z,1611775006.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:47.092Z,1611775007.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:47.917Z,1611775007.917 [Micromodem](INFO): Nmea in: $SNTTA,0.001554,,,,191648.10*47

2021-01-27T19:16:47.966Z,1611775007.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 142.472337 deg, deltaT: 4.461972 s, approachRate: 0.000000 m/s, LOS rate: 1.378963 deg/s, posRepo size: 4
2021-01-27T19:16:47.972Z,1611775007.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 142.472337 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.378963 deg/s,
      cmd update: 4.136888 deg/s,
      cmd heading: 291.051588 deg,
      new cmd heading: 294.486750 deg.

2021-01-27T19:16:50.377Z,1611775010.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:51.130Z,1611775011.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:51.536Z,1611775011.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:52.401Z,1611775012.401 [Micromodem](INFO): Nmea in: $SNTTA,0.001680,,,,191652.53*41

2021-01-27T19:16:52.425Z,1611775012.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 166.605963 deg, deltaT: 4.439532 s, approachRate: 0.040544 m/s, LOS rate: 5.436075 deg/s, posRepo size: 4
2021-01-27T19:16:52.427Z,1611775012.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 166.605963 deg,
      approachRate: 0.040544 m/s,
      LOS rate: 5.436075 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 309.417838 deg,
      new cmd heading: 311.268649 deg.

2021-01-27T19:16:54.806Z,1611775014.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:16:55.578Z,1611775015.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:16:55.984Z,1611775015.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:16:56.821Z,1611775016.821 [Micromodem](INFO): Nmea in: $SNTTA,0.001591,,,,191656.98*41

2021-01-27T19:16:56.857Z,1611775016.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 152.558176 deg, deltaT: 4.515674 s, approachRate: -0.026574 m/s, LOS rate: -3.110895 deg/s, posRepo size: 4
2021-01-27T19:16:56.859Z,1611775016.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 152.558176 deg,
      approachRate: -0.026574 m/s,
      LOS rate: -3.110895 deg/s,
      cmd update: -9.332684 deg/s,
      cmd heading: 3.654263 deg,
      new cmd heading: 7.961232 deg.

2021-01-27T19:16:59.237Z,1611775019.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:00.102Z,1611775020.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:00.424Z,1611775020.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:01.315Z,1611775021.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 149.940342 deg, deltaT: 4.367673 s, approachRate: 0.013737 m/s, LOS rate: -0.599366 deg/s, posRepo size: 4
2021-01-27T19:17:01.336Z,1611775021.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 149.940342 deg,
      approachRate: 0.013737 m/s,
      LOS rate: -0.599366 deg/s,
      cmd update: -1.798097 deg/s,
      cmd heading: 322.892291 deg,
      new cmd heading: 318.877799 deg.

2021-01-27T19:17:01.652Z,1611775021.652 [Micromodem](INFO): Nmea in: $SNTTA,0.001631,,,,191701.50*4F

2021-01-27T19:17:03.722Z,1611775023.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:04.474Z,1611775024.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:04.872Z,1611775024.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:05.725Z,1611775025.725 [Micromodem](INFO): Nmea in: $SNTTA,0.001565,,0.052472,,191705.87*5B

2021-01-27T19:17:05.814Z,1611775025.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 141.836022 deg, deltaT: 4.485778 s, approachRate: -0.026751 m/s, LOS rate: -1.806670 deg/s, posRepo size: 4
2021-01-27T19:17:05.820Z,1611775025.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 141.836022 deg,
      approachRate: -0.026751 m/s,
      LOS rate: -1.806670 deg/s,
      cmd update: -5.420010 deg/s,
      cmd heading: 314.835740 deg,
      new cmd heading: 313.993977 deg.

2021-01-27T19:17:07.253Z,1611775027.253 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:17:07.253Z,1611775027.253 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:17:07.253Z,1611775027.253 [DDM](ERROR): Hardware Fault
2021-01-27T19:17:07.395Z,1611775027.395 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:17:07.666Z,1611775027.666 [DDM](INFO): Powering down
2021-01-27T19:17:07.868Z,1611775027.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:08.486Z,1611775028.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:08.669Z,1611775028.669 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:17:08.669Z,1611775028.669 [DDM] No Fault, FailCount= 1
2021-01-27T19:17:08.880Z,1611775028.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:09.710Z,1611775029.710 [Micromodem](INFO): Nmea in: $SNTTA,0.001585,,,,191709.89*4F

2021-01-27T19:17:09.768Z,1611775029.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 140.911939 deg, deltaT: 4.047171 s, approachRate: 0.014825 m/s, LOS rate: -0.228328 deg/s, posRepo size: 4
2021-01-27T19:17:09.770Z,1611775029.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 140.911939 deg,
      approachRate: 0.014825 m/s,
      LOS rate: -0.228328 deg/s,
      cmd update: -0.684985 deg/s,
      cmd heading: 292.871819 deg,
      new cmd heading: 290.888810 deg.

2021-01-27T19:17:12.141Z,1611775032.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:12.920Z,1611775032.920 [DDM](INFO): Powering up
2021-01-27T19:17:12.920Z,1611775032.920 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:17:12.946Z,1611775032.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:13.348Z,1611775033.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:14.161Z,1611775034.161 [Micromodem](INFO): Nmea in: $SNTTA,0.001624,,,,191714.35*4C

2021-01-27T19:17:14.199Z,1611775034.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 131.684189 deg, deltaT: 4.372325 s, approachRate: 0.013723 m/s, LOS rate: -2.110490 deg/s, posRepo size: 4
2021-01-27T19:17:14.202Z,1611775034.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 131.684189 deg,
      approachRate: 0.013723 m/s,
      LOS rate: -2.110490 deg/s,
      cmd update: -6.331471 deg/s,
      cmd heading: 289.876853 deg,
      new cmd heading: 289.583169 deg.

2021-01-27T19:17:16.613Z,1611775036.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:17.361Z,1611775037.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:17.763Z,1611775037.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:18.593Z,1611775038.593 [Micromodem](INFO): Nmea in: $SNTTA,0.001564,,,,191718.76*40

2021-01-27T19:17:18.682Z,1611775038.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 125.155143 deg, deltaT: 4.439964 s, approachRate: -0.013514 m/s, LOS rate: -1.470518 deg/s, posRepo size: 4
2021-01-27T19:17:18.688Z,1611775038.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 125.155143 deg,
      approachRate: -0.013514 m/s,
      LOS rate: -1.470518 deg/s,
      cmd update: -4.411553 deg/s,
      cmd heading: 261.811025 deg,
      new cmd heading: 258.782708 deg.

2021-01-27T19:17:21.025Z,1611775041.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:21.803Z,1611775041.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:22.208Z,1611775042.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:23.053Z,1611775043.053 [Micromodem](INFO): Nmea in: $SNTTA,0.001551,,0.002695,,191723.20*5B

2021-01-27T19:17:23.078Z,1611775043.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 130.184526 deg, deltaT: 4.483988 s, approachRate: -0.013380 m/s, LOS rate: 1.121632 deg/s, posRepo size: 4
2021-01-27T19:17:23.081Z,1611775043.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 130.184526 deg,
      approachRate: -0.013380 m/s,
      LOS rate: 1.121632 deg/s,
      cmd update: 3.364895 deg/s,
      cmd heading: 241.997892 deg,
      new cmd heading: 240.305015 deg.

2021-01-27T19:17:25.468Z,1611775045.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:26.250Z,1611775046.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:26.680Z,1611775046.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:27.481Z,1611775047.481 [Micromodem](INFO): Nmea in: $SNTTA,0.001569,,,,191727.65*43

2021-01-27T19:17:27.505Z,1611775047.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 141.635242 deg, deltaT: 4.389806 s, approachRate: 0.027336 m/s, LOS rate: 2.608479 deg/s, posRepo size: 4
2021-01-27T19:17:27.507Z,1611775047.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 141.635242 deg,
      approachRate: 0.027336 m/s,
      LOS rate: 2.608479 deg/s,
      cmd update: 7.825437 deg/s,
      cmd heading: 256.769224 deg,
      new cmd heading: 258.184257 deg.

2021-01-27T19:17:28.685Z,1611775048.685 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:17:29.958Z,1611775049.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:30.718Z,1611775050.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:31.128Z,1611775051.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:31.970Z,1611775051.970 [Micromodem](INFO): Nmea in: $SNTTA,0.001621,,0.005208,,191732.12*59

2021-01-27T19:17:32.019Z,1611775052.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 150.341261 deg, deltaT: 4.470483 s, approachRate: 0.000000 m/s, LOS rate: 1.947445 deg/s, posRepo size: 4
2021-01-27T19:17:32.021Z,1611775052.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 150.341261 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.947445 deg/s,
      cmd update: 5.842334 deg/s,
      cmd heading: 291.717819 deg,
      new cmd heading: 295.385993 deg.

2021-01-27T19:17:34.417Z,1611775054.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:35.172Z,1611775055.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:35.576Z,1611775055.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:36.409Z,1611775056.409 [Micromodem](INFO): Nmea in: $SNTTA,0.001584,,,,191736.57*41

2021-01-27T19:17:36.449Z,1611775056.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 145.849496 deg, deltaT: 4.443033 s, approachRate: -0.013504 m/s, LOS rate: -1.010968 deg/s, posRepo size: 4
2021-01-27T19:17:36.451Z,1611775056.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 145.849496 deg,
      approachRate: -0.013504 m/s,
      LOS rate: -1.010968 deg/s,
      cmd update: -3.032904 deg/s,
      cmd heading: 317.700652 deg,
      new cmd heading: 320.338413 deg.

2021-01-27T19:17:38.825Z,1611775058.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:39.607Z,1611775059.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:40.026Z,1611775060.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:40.885Z,1611775060.885 [Micromodem](INFO): Nmea in: $SNTTA,0.001577,,,,191741.01*4E

2021-01-27T19:17:40.935Z,1611775060.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 144.223652 deg, deltaT: 4.488295 s, approachRate: 0.013368 m/s, LOS rate: -0.362241 deg/s, posRepo size: 4
2021-01-27T19:17:40.941Z,1611775060.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 144.223652 deg,
      approachRate: 0.013368 m/s,
      LOS rate: -0.362241 deg/s,
      cmd update: -1.086723 deg/s,
      cmd heading: 304.109638 deg,
      new cmd heading: 302.726318 deg.

2021-01-27T19:17:43.289Z,1611775063.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:44.054Z,1611775064.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:44.465Z,1611775064.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:45.308Z,1611775065.308 [Micromodem](INFO): Nmea in: $SNTTA,0.001663,,,,191745.45*4C

2021-01-27T19:17:45.362Z,1611775065.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 153.703176 deg, deltaT: 4.422357 s, approachRate: 0.013568 m/s, LOS rate: 2.143546 deg/s, posRepo size: 4
2021-01-27T19:17:45.368Z,1611775065.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 153.703176 deg,
      approachRate: 0.013568 m/s,
      LOS rate: 2.143546 deg/s,
      cmd update: 6.430637 deg/s,
      cmd heading: 299.295952 deg,
      new cmd heading: 298.803598 deg.

2021-01-27T19:17:47.763Z,1611775067.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:48.514Z,1611775068.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:48.922Z,1611775068.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:49.761Z,1611775069.761 [Micromodem](INFO): Nmea in: $SNTTA,0.001663,,,,191749.91*49

2021-01-27T19:17:49.795Z,1611775069.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 154.915275 deg, deltaT: 4.484589 s, approachRate: 0.000000 m/s, LOS rate: 0.270281 deg/s, posRepo size: 4
2021-01-27T19:17:49.797Z,1611775069.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 154.915275 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.270281 deg/s,
      cmd update: 0.810843 deg/s,
      cmd heading: 328.117339 deg,
      new cmd heading: 330.720410 deg.

2021-01-27T19:17:52.168Z,1611775072.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:52.946Z,1611775072.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:53.376Z,1611775073.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:54.201Z,1611775074.201 [Micromodem](INFO): Nmea in: $SNTTA,0.001569,,,,191754.35*42

2021-01-27T19:17:54.230Z,1611775074.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 134.422262 deg, deltaT: 4.404850 s, approachRate: -0.040864 m/s, LOS rate: -4.652375 deg/s, posRepo size: 4
2021-01-27T19:17:54.253Z,1611775074.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 134.422262 deg,
      approachRate: -0.040864 m/s,
      LOS rate: -4.652375 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 331.691216 deg,
      new cmd heading: 332.040270 deg.

2021-01-27T19:17:56.669Z,1611775076.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:17:57.408Z,1611775077.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:17:57.803Z,1611775077.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:17:58.644Z,1611775078.644 [Micromodem](INFO): Nmea in: $SNTTA,0.001580,,,,191758.81*46

2021-01-27T19:17:58.729Z,1611775078.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 129.696263 deg, deltaT: 4.449034 s, approachRate: 0.013486 m/s, LOS rate: -1.062253 deg/s, posRepo size: 4
2021-01-27T19:17:58.731Z,1611775078.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 129.696263 deg,
      approachRate: 0.013486 m/s,
      LOS rate: -1.062253 deg/s,
      cmd update: -3.186759 deg/s,
      cmd heading: 278.303082 deg,
      new cmd heading: 272.524950 deg.

2021-01-27T19:17:58.973Z,1611775078.973 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:17:58.973Z,1611775078.973 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:17:58.973Z,1611775078.973 [DDM](ERROR): Hardware Fault
2021-01-27T19:17:59.135Z,1611775079.135 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:17:59.378Z,1611775079.378 [DDM](INFO): Powering down
2021-01-27T19:18:00.288Z,1611775080.288 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:18:00.288Z,1611775080.288 [DDM] No Fault, FailCount= 1
2021-01-27T19:18:01.017Z,1611775081.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:01.809Z,1611775081.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:02.216Z,1611775082.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:03.040Z,1611775083.040 [Micromodem](INFO): Nmea in: $SNTTA,0.001615,,,,191803.21*42

2021-01-27T19:18:03.059Z,1611775083.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 137.198515 deg, deltaT: 4.469450 s, approachRate: 0.013425 m/s, LOS rate: 1.678563 deg/s, posRepo size: 4
2021-01-27T19:18:03.061Z,1611775083.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 137.198515 deg,
      approachRate: 0.013425 m/s,
      LOS rate: 1.678563 deg/s,
      cmd update: 5.035688 deg/s,
      cmd heading: 264.065795 deg,
      new cmd heading: 262.968578 deg.

2021-01-27T19:18:04.639Z,1611775084.639 [DDM](INFO): Powering up
2021-01-27T19:18:04.640Z,1611775084.640 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:18:05.473Z,1611775085.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:06.249Z,1611775086.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:06.675Z,1611775086.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:07.485Z,1611775087.485 [Micromodem](INFO): Nmea in: $SNTTA,0.001655,,,,191807.65*42

2021-01-27T19:18:07.509Z,1611775087.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 152.250545 deg, deltaT: 4.370386 s, approachRate: 0.000000 m/s, LOS rate: 3.444096 deg/s, posRepo size: 4
2021-01-27T19:18:07.511Z,1611775087.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 152.250545 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.444096 deg/s,
      cmd update: 10.332288 deg/s,
      cmd heading: 286.082978 deg,
      new cmd heading: 288.210964 deg.

2021-01-27T19:18:09.918Z,1611775089.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:10.698Z,1611775090.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:11.098Z,1611775091.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:11.929Z,1611775091.929 [Micromodem](INFO): Nmea in: $SNTTA,0.001574,,0.491900,,191812.10*5F

2021-01-27T19:18:11.953Z,1611775091.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 150.271320 deg, deltaT: 4.439444 s, approachRate: -0.013515 m/s, LOS rate: -0.445827 deg/s, posRepo size: 4
2021-01-27T19:18:11.955Z,1611775091.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 150.271320 deg,
      approachRate: -0.013515 m/s,
      LOS rate: -0.445827 deg/s,
      cmd update: -1.337482 deg/s,
      cmd heading: 331.952614 deg,
      new cmd heading: 336.355482 deg.

2021-01-27T19:18:14.408Z,1611775094.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:15.142Z,1611775095.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:15.542Z,1611775095.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:16.373Z,1611775096.373 [Micromodem](INFO): Nmea in: $SNTTA,0.001601,,,,191816.54*41

2021-01-27T19:18:16.421Z,1611775096.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 140.224357 deg, deltaT: 4.471661 s, approachRate: 0.000000 m/s, LOS rate: -2.246808 deg/s, posRepo size: 4
2021-01-27T19:18:16.423Z,1611775096.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 140.224357 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.246808 deg/s,
      cmd update: -6.740423 deg/s,
      cmd heading: 326.003960 deg,
      new cmd heading: 325.406320 deg.

2021-01-27T19:18:18.822Z,1611775098.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:19.586Z,1611775099.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:19.994Z,1611775099.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:20.386Z,1611775100.386 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:18:20.873Z,1611775100.873 [Micromodem](INFO): Nmea in: $SNTTA,0.001578,,,,191820.99*48

2021-01-27T19:18:20.913Z,1611775100.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 136.808102 deg, deltaT: 4.565838 s, approachRate: 0.000000 m/s, LOS rate: -0.748221 deg/s, posRepo size: 4
2021-01-27T19:18:20.915Z,1611775100.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 136.808102 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.748221 deg/s,
      cmd update: -2.244663 deg/s,
      cmd heading: 295.104566 deg,
      new cmd heading: 292.713866 deg.

2021-01-27T19:18:23.267Z,1611775103.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:24.050Z,1611775104.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:24.469Z,1611775104.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:25.317Z,1611775105.317 [Micromodem](INFO): Nmea in: $SNTTA,0.001639,,,,191825.45*4A

2021-01-27T19:18:25.374Z,1611775105.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 119.194642 deg, deltaT: 4.343066 s, approachRate: 0.027630 m/s, LOS rate: -4.055536 deg/s, posRepo size: 4
2021-01-27T19:18:25.377Z,1611775105.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 119.194642 deg,
      approachRate: 0.027630 m/s,
      LOS rate: -4.055536 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.343460 deg,
      new cmd heading: 284.293584 deg.

2021-01-27T19:18:27.807Z,1611775107.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:28.502Z,1611775108.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:28.908Z,1611775108.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:29.748Z,1611775109.748 [Micromodem](INFO): Nmea in: $SNTTA,0.001557,,,,191829.90*45

2021-01-27T19:18:29.783Z,1611775109.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 127.784069 deg, deltaT: 4.474242 s, approachRate: -0.040230 m/s, LOS rate: 1.919750 deg/s, posRepo size: 4
2021-01-27T19:18:29.785Z,1611775109.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 127.784069 deg,
      approachRate: -0.040230 m/s,
      LOS rate: 1.919750 deg/s,
      cmd update: 5.759251 deg/s,
      cmd heading: 231.665936 deg,
      new cmd heading: 226.827920 deg.

2021-01-27T19:18:32.174Z,1611775112.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:32.947Z,1611775112.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:33.380Z,1611775113.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:34.189Z,1611775114.189 [Micromodem](INFO): Nmea in: $SNTTA,0.007803,,,,191834.35*4C

2021-01-27T19:18:34.211Z,1611775114.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 117.938721 deg, deltaT: 4.424765 s, approachRate: 2.142486 m/s, LOS rate: -2.225056 deg/s, posRepo size: 4
2021-01-27T19:18:34.211Z,1611775114.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.76 m.
2021-01-27T19:18:34.213Z,1611775114.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 117.938721 deg,
      approachRate: 2.142486 m/s,
      LOS rate: -2.225056 deg/s,
      cmd update: -6.675167 deg/s,
      cmd heading: 257.133230 deg,
      new cmd heading: 259.488286 deg.

2021-01-27T19:18:36.613Z,1611775116.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:37.394Z,1611775117.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:37.805Z,1611775117.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:38.644Z,1611775118.644 [Micromodem](INFO): Nmea in: $SNTTA,0.001555,,,,191838.79*40

2021-01-27T19:18:38.702Z,1611775118.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 119.101642 deg, deltaT: 4.423662 s, approachRate: -2.129457 m/s, LOS rate: 0.262887 deg/s, posRepo size: 4
2021-01-27T19:18:38.703Z,1611775118.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 119.101642 deg,
      approachRate: -2.129457 m/s,
      LOS rate: 0.262887 deg/s,
      cmd update: 0.788660 deg/s,
      cmd heading: 227.578179 deg,
      new cmd heading: 224.426632 deg.

2021-01-27T19:18:41.045Z,1611775121.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:41.834Z,1611775121.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:42.232Z,1611775122.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:43.077Z,1611775123.077 [Micromodem](INFO): Nmea in: $SNTTA,0.001573,,,,191843.24*40

2021-01-27T19:18:43.099Z,1611775123.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 133.009547 deg, deltaT: 4.470087 s, approachRate: -0.013422 m/s, LOS rate: 3.111327 deg/s, posRepo size: 4
2021-01-27T19:18:43.101Z,1611775123.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 133.009547 deg,
      approachRate: -0.013422 m/s,
      LOS rate: 3.111327 deg/s,
      cmd update: 9.333983 deg/s,
      cmd heading: 231.103529 deg,
      new cmd heading: 231.418679 deg.

2021-01-27T19:18:45.499Z,1611775125.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:46.281Z,1611775126.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:46.704Z,1611775126.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:47.525Z,1611775127.525 [Micromodem](INFO): Nmea in: $SNTTA,0.001562,,,,191847.68*4C

2021-01-27T19:18:47.550Z,1611775127.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 135.083151 deg, deltaT: 4.396573 s, approachRate: 0.013646 m/s, LOS rate: 0.471641 deg/s, posRepo size: 4
2021-01-27T19:18:47.552Z,1611775127.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 135.083151 deg,
      approachRate: 0.013646 m/s,
      LOS rate: 0.471641 deg/s,
      cmd update: 1.414923 deg/s,
      cmd heading: 272.141888 deg,
      new cmd heading: 276.375372 deg.

2021-01-27T19:18:49.956Z,1611775129.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:50.685Z,1611775130.685 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:18:50.686Z,1611775130.686 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:18:50.686Z,1611775130.686 [DDM](ERROR): Hardware Fault
2021-01-27T19:18:50.694Z,1611775130.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:50.902Z,1611775130.902 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:18:51.089Z,1611775131.089 [DDM](INFO): Powering down
2021-01-27T19:18:51.168Z,1611775131.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:51.929Z,1611775131.929 [Micromodem](INFO): Nmea in: $SNTTA,0.001579,,,,191852.09*45

2021-01-27T19:18:51.985Z,1611775131.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 135.765965 deg, deltaT: 4.450629 s, approachRate: -0.013481 m/s, LOS rate: 0.153420 deg/s, posRepo size: 4
2021-01-27T19:18:51.987Z,1611775131.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 135.765965 deg,
      approachRate: -0.013481 m/s,
      LOS rate: 0.153420 deg/s,
      cmd update: 0.460259 deg/s,
      cmd heading: 278.439180 deg,
      new cmd heading: 279.059581 deg.

2021-01-27T19:18:52.055Z,1611775132.055 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:18:52.056Z,1611775132.056 [DDM] No Fault, FailCount= 1
2021-01-27T19:18:54.374Z,1611775134.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:55.135Z,1611775135.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:18:55.540Z,1611775135.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:18:56.356Z,1611775136.356 [DDM](INFO): Powering up
2021-01-27T19:18:56.356Z,1611775136.356 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:18:56.401Z,1611775136.401 [Micromodem](INFO): Nmea in: $SNTTA,0.001566,,,,191856.53*40

2021-01-27T19:18:56.426Z,1611775136.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 145.839046 deg, deltaT: 4.443405 s, approachRate: 0.013503 m/s, LOS rate: 2.266974 deg/s, posRepo size: 4
2021-01-27T19:18:56.426Z,1611775136.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.34 m.
2021-01-27T19:18:56.456Z,1611775136.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 145.839046 deg,
      approachRate: 0.013503 m/s,
      LOS rate: 2.266974 deg/s,
      cmd update: 6.800921 deg/s,
      cmd heading: 280.482461 deg,
      new cmd heading: 280.684719 deg.

2021-01-27T19:18:58.804Z,1611775138.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:18:59.582Z,1611775139.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:00.007Z,1611775140.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:00.809Z,1611775140.809 [Micromodem](INFO): Nmea in: $SNTTA,0.001575,,,,191900.98*47

2021-01-27T19:19:00.846Z,1611775140.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 143.963886 deg, deltaT: 4.431854 s, approachRate: 0.000000 m/s, LOS rate: -0.423110 deg/s, posRepo size: 4
2021-01-27T19:19:00.848Z,1611775140.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 143.963886 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.423110 deg/s,
      cmd update: -1.269329 deg/s,
      cmd heading: 310.650467 deg,
      new cmd heading: 313.534200 deg.

2021-01-27T19:19:03.235Z,1611775143.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:04.021Z,1611775144.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:04.428Z,1611775144.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:05.266Z,1611775145.266 [Micromodem](INFO): Nmea in: $SNTTA,0.001595,,,,191905.42*4B

2021-01-27T19:19:05.302Z,1611775145.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 155.573746 deg, deltaT: 4.441581 s, approachRate: 0.013509 m/s, LOS rate: 2.613903 deg/s, posRepo size: 4
2021-01-27T19:19:05.342Z,1611775145.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 155.573746 deg,
      approachRate: 0.013509 m/s,
      LOS rate: 2.613903 deg/s,
      cmd update: 7.841708 deg/s,
      cmd heading: 305.012645 deg,
      new cmd heading: 304.462090 deg.

2021-01-27T19:19:07.731Z,1611775147.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:08.490Z,1611775148.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:08.870Z,1611775148.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:09.713Z,1611775149.713 [Micromodem](INFO): Nmea in: $SNTTA,0.001578,,0.144729,,191909.89*50

2021-01-27T19:19:09.765Z,1611775149.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 159.398706 deg, deltaT: 4.467821 s, approachRate: -0.013429 m/s, LOS rate: 0.856113 deg/s, posRepo size: 4
2021-01-27T19:19:09.766Z,1611775149.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 159.398706 deg,
      approachRate: -0.013429 m/s,
      LOS rate: 0.856113 deg/s,
      cmd update: 2.568340 deg/s,
      cmd heading: 339.846906 deg,
      new cmd heading: 343.441780 deg.

2021-01-27T19:19:12.098Z,1611775152.098 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:19:12.248Z,1611775152.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:12.938Z,1611775152.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:13.380Z,1611775153.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:14.193Z,1611775154.193 [Micromodem](INFO): Nmea in: $SNTTA,0.001585,,,,191914.34*4B

2021-01-27T19:19:14.218Z,1611775154.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 152.849402 deg, deltaT: 4.461567 s, approachRate: 0.000000 m/s, LOS rate: -1.467938 deg/s, posRepo size: 4
2021-01-27T19:19:14.220Z,1611775154.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 152.849402 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.467938 deg/s,
      cmd update: -4.403814 deg/s,
      cmd heading: 351.370596 deg,
      new cmd heading: 352.463245 deg.

2021-01-27T19:19:16.604Z,1611775156.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:17.390Z,1611775157.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:17.796Z,1611775157.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:18.642Z,1611775158.642 [Micromodem](INFO): Nmea in: $SNTTA,0.001665,,,,191918.79*43

2021-01-27T19:19:18.700Z,1611775158.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 145.062112 deg, deltaT: 4.431470 s, approachRate: 0.013540 m/s, LOS rate: -1.757270 deg/s, posRepo size: 4
2021-01-27T19:19:18.702Z,1611775158.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 145.062112 deg,
      approachRate: 0.013540 m/s,
      LOS rate: -1.757270 deg/s,
      cmd update: -5.271810 deg/s,
      cmd heading: 331.853987 deg,
      new cmd heading: 329.760700 deg.

2021-01-27T19:19:21.062Z,1611775161.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:21.830Z,1611775161.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:22.249Z,1611775162.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:23.093Z,1611775163.093 [Micromodem](INFO): Nmea in: $SNTTA,0.001549,,,,191923.23*49

2021-01-27T19:19:23.115Z,1611775163.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 125.508906 deg, deltaT: 4.495396 s, approachRate: -0.026694 m/s, LOS rate: -4.349607 deg/s, posRepo size: 4
2021-01-27T19:19:23.137Z,1611775163.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 125.508906 deg,
      approachRate: -0.026694 m/s,
      LOS rate: -4.349607 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.154823 deg,
      new cmd heading: 306.072758 deg.

2021-01-27T19:19:25.503Z,1611775165.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:26.270Z,1611775166.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:26.716Z,1611775166.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:27.523Z,1611775167.523 [Micromodem](INFO): Nmea in: $SNTTA,0.001643,,,,191927.67*44

2021-01-27T19:19:27.569Z,1611775167.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 136.581858 deg, deltaT: 4.401122 s, approachRate: 0.027265 m/s, LOS rate: 2.515939 deg/s, posRepo size: 4
2021-01-27T19:19:27.571Z,1611775167.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 136.581858 deg,
      approachRate: 0.027265 m/s,
      LOS rate: 2.515939 deg/s,
      cmd update: 7.547816 deg/s,
      cmd heading: 255.343493 deg,
      new cmd heading: 250.067321 deg.

2021-01-27T19:19:29.950Z,1611775169.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:30.727Z,1611775170.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:31.141Z,1611775171.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:31.965Z,1611775171.965 [Micromodem](INFO): Nmea in: $SNTTA,0.001657,,,,191932.13*46

2021-01-27T19:19:31.999Z,1611775171.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 133.132900 deg, deltaT: 4.457474 s, approachRate: 0.000000 m/s, LOS rate: -0.773747 deg/s, posRepo size: 4
2021-01-27T19:19:32.001Z,1611775172.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 133.132900 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.773747 deg/s,
      cmd update: -2.321242 deg/s,
      cmd heading: 288.959246 deg,
      new cmd heading: 292.164373 deg.

2021-01-27T19:19:34.415Z,1611775174.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:35.162Z,1611775175.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:35.572Z,1611775175.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:36.409Z,1611775176.409 [Micromodem](INFO): Nmea in: $SNTTA,0.001667,,,,191936.56*40

2021-01-27T19:19:36.439Z,1611775176.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 130.130731 deg, deltaT: 4.465480 s, approachRate: 0.000000 m/s, LOS rate: -0.672306 deg/s, posRepo size: 4
2021-01-27T19:19:36.441Z,1611775176.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 130.130731 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.672306 deg/s,
      cmd update: -2.016918 deg/s,
      cmd heading: 278.585004 deg,
      new cmd heading: 277.667986 deg.

2021-01-27T19:19:38.851Z,1611775178.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:39.614Z,1611775179.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:40.025Z,1611775180.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:40.853Z,1611775180.853 [Micromodem](INFO): Nmea in: $SNTTA,0.001643,,0.022112,,191941.02*5B

2021-01-27T19:19:40.877Z,1611775180.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 135.065406 deg, deltaT: 4.411288 s, approachRate: 0.000000 m/s, LOS rate: 1.118647 deg/s, posRepo size: 4
2021-01-27T19:19:40.879Z,1611775180.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 135.065406 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.118647 deg/s,
      cmd update: 3.355942 deg/s,
      cmd heading: 269.687416 deg,
      new cmd heading: 268.836214 deg.

2021-01-27T19:19:42.405Z,1611775182.405 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:19:42.405Z,1611775182.405 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:19:42.405Z,1611775182.405 [DDM](ERROR): Hardware Fault
2021-01-27T19:19:42.568Z,1611775182.568 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:19:42.801Z,1611775182.801 [DDM](INFO): Powering down
2021-01-27T19:19:43.249Z,1611775183.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:43.815Z,1611775183.815 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:19:43.816Z,1611775183.816 [DDM] No Fault, FailCount= 1
2021-01-27T19:19:44.023Z,1611775184.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:44.427Z,1611775184.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:45.253Z,1611775185.253 [Micromodem](INFO): Nmea in: $SNTTA,0.001640,0.017401,,,191945.42*59

2021-01-27T19:19:45.334Z,1611775185.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 112.635338 deg, deltaT: 4.397186 s, approachRate: 0.027290 m/s, LOS rate: -5.101005 deg/s, posRepo size: 4
2021-01-27T19:19:45.341Z,1611775185.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 112.635338 deg,
      approachRate: 0.027290 m/s,
      LOS rate: -5.101005 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 284.443837 deg,
      new cmd heading: 286.035483 deg.

2021-01-27T19:19:47.723Z,1611775187.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:48.053Z,1611775188.053 [DDM](INFO): Powering up
2021-01-27T19:19:48.054Z,1611775188.054 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:19:48.466Z,1611775188.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:48.866Z,1611775188.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:49.693Z,1611775189.693 [Micromodem](INFO): Nmea in: $SNTTA,0.001632,,,,191949.87*44

2021-01-27T19:19:49.741Z,1611775189.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.580000 m, bearing: 109.253452 deg, deltaT: 4.461241 s, approachRate: 0.013449 m/s, LOS rate: -0.758060 deg/s, posRepo size: 4
2021-01-27T19:19:49.743Z,1611775189.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 109.253452 deg,
      approachRate: 0.013449 m/s,
      LOS rate: -0.758060 deg/s,
      cmd update: -2.274179 deg/s,
      cmd heading: 231.225672 deg,
      new cmd heading: 225.787223 deg.

2021-01-27T19:19:52.132Z,1611775192.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:52.911Z,1611775192.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:53.345Z,1611775193.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:54.145Z,1611775194.145 [Micromodem](INFO): Nmea in: $SNTTA,0.001525,,,,191954.31*40

2021-01-27T19:19:54.186Z,1611775194.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 108.725560 deg, deltaT: 4.428074 s, approachRate: -0.054200 m/s, LOS rate: -0.119215 deg/s, posRepo size: 4
2021-01-27T19:19:54.188Z,1611775194.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 108.725560 deg,
      approachRate: -0.054200 m/s,
      LOS rate: -0.119215 deg/s,
      cmd update: -0.357644 deg/s,
      cmd heading: 221.095332 deg,
      new cmd heading: 220.083916 deg.

2021-01-27T19:19:56.571Z,1611775196.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:19:57.358Z,1611775197.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:19:57.760Z,1611775197.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:19:58.585Z,1611775198.585 [Micromodem](INFO): Nmea in: $SNTTA,0.001536,,,,191958.76*4D

2021-01-27T19:19:58.614Z,1611775198.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 117.000526 deg, deltaT: 4.457912 s, approachRate: -0.013459 m/s, LOS rate: 1.856242 deg/s, posRepo size: 4
2021-01-27T19:19:58.616Z,1611775198.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 117.000526 deg,
      approachRate: -0.013459 m/s,
      LOS rate: 1.856242 deg/s,
      cmd update: 5.568728 deg/s,
      cmd heading: 219.500962 deg,
      new cmd heading: 219.352928 deg.

2021-01-27T19:20:01.026Z,1611775201.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:01.810Z,1611775201.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:02.217Z,1611775202.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:03.032Z,1611775203.032 [Micromodem](INFO): Nmea in: $SNTTA,0.001571,,,,192003.21*48

2021-01-27T19:20:03.051Z,1611775203.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 128.856874 deg, deltaT: 4.499734 s, approachRate: 0.000000 m/s, LOS rate: 2.634900 deg/s, posRepo size: 4
2021-01-27T19:20:03.053Z,1611775203.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 128.856874 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.634900 deg/s,
      cmd update: 7.904699 deg/s,
      cmd heading: 244.535806 deg,
      new cmd heading: 246.516541 deg.

2021-01-27T19:20:03.813Z,1611775203.813 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:20:05.503Z,1611775205.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:06.271Z,1611775206.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:06.703Z,1611775206.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:07.505Z,1611775207.505 [Micromodem](INFO): Nmea in: $SNTTA,0.001654,,,,192007.67*4A

2021-01-27T19:20:07.549Z,1611775207.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 150.556057 deg, deltaT: 4.542916 s, approachRate: 0.026414 m/s, LOS rate: 4.776488 deg/s, posRepo size: 4
2021-01-27T19:20:07.552Z,1611775207.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 150.556057 deg,
      approachRate: 0.026414 m/s,
      LOS rate: 4.776488 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.477967 deg,
      new cmd heading: 282.906227 deg.

2021-01-27T19:20:09.978Z,1611775209.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:10.722Z,1611775210.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:11.133Z,1611775211.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:11.953Z,1611775211.953 [Micromodem](INFO): Nmea in: $SNTTA,0.001575,,,,192012.12*4C

2021-01-27T19:20:11.993Z,1611775211.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 147.310446 deg, deltaT: 4.331546 s, approachRate: -0.027703 m/s, LOS rate: -0.749296 deg/s, posRepo size: 4
2021-01-27T19:20:11.995Z,1611775211.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 147.310446 deg,
      approachRate: -0.027703 m/s,
      LOS rate: -0.749296 deg/s,
      cmd update: -2.247888 deg/s,
      cmd heading: 332.409084 deg,
      new cmd heading: 337.483056 deg.

2021-01-27T19:20:14.483Z,1611775214.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:15.160Z,1611775215.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:15.558Z,1611775215.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:16.417Z,1611775216.417 [Micromodem](INFO): Nmea in: $SNTTA,0.001607,,,,192016.56*4E

2021-01-27T19:20:16.459Z,1611775216.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 150.799580 deg, deltaT: 4.459882 s, approachRate: 0.026906 m/s, LOS rate: 0.782338 deg/s, posRepo size: 4
2021-01-27T19:20:16.461Z,1611775216.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 150.799580 deg,
      approachRate: 0.026906 m/s,
      LOS rate: 0.782338 deg/s,
      cmd update: 2.347013 deg/s,
      cmd heading: 322.383648 deg,
      new cmd heading: 321.418751 deg.

2021-01-27T19:20:18.842Z,1611775218.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:19.618Z,1611775219.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:20.008Z,1611775220.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:20.833Z,1611775220.833 [Micromodem](INFO): Nmea in: $SNTTA,0.001699,,,,192021.02*4C

2021-01-27T19:20:20.880Z,1611775220.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 168.799833 deg, deltaT: 4.416709 s, approachRate: 0.027170 m/s, LOS rate: 4.075490 deg/s, posRepo size: 4
2021-01-27T19:20:20.882Z,1611775220.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 168.799833 deg,
      approachRate: 0.027170 m/s,
      LOS rate: 4.075490 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.721332 deg,
      new cmd heading: 333.757552 deg.

2021-01-27T19:20:23.250Z,1611775223.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:24.050Z,1611775224.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:24.452Z,1611775224.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:25.285Z,1611775225.285 [Micromodem](INFO): Nmea in: $SNTTA,0.001604,,,,192025.45*4F

2021-01-27T19:20:25.343Z,1611775225.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 159.829678 deg, deltaT: 4.449273 s, approachRate: -0.026971 m/s, LOS rate: -2.016095 deg/s, posRepo size: 4
2021-01-27T19:20:25.351Z,1611775225.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 159.829678 deg,
      approachRate: -0.026971 m/s,
      LOS rate: -2.016095 deg/s,
      cmd update: -6.048284 deg/s,
      cmd heading: 26.305245 deg,
      new cmd heading: 31.622265 deg.

2021-01-27T19:20:27.754Z,1611775227.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:28.490Z,1611775228.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:28.900Z,1611775228.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:29.741Z,1611775229.741 [Micromodem](INFO): Nmea in: $SNTTA,0.001623,,0.138338,,192029.89*5A

2021-01-27T19:20:29.765Z,1611775229.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 157.926855 deg, deltaT: 4.489407 s, approachRate: 0.013365 m/s, LOS rate: -0.423847 deg/s, posRepo size: 4
2021-01-27T19:20:29.767Z,1611775229.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 157.926855 deg,
      approachRate: 0.013365 m/s,
      LOS rate: -0.423847 deg/s,
      cmd update: -1.271541 deg/s,
      cmd heading: 359.204003 deg,
      new cmd heading: 356.881220 deg.

2021-01-27T19:20:32.157Z,1611775232.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:32.934Z,1611775232.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:33.372Z,1611775233.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:34.129Z,1611775234.129 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:20:34.129Z,1611775234.129 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:20:34.129Z,1611775234.129 [DDM](ERROR): Hardware Fault
2021-01-27T19:20:34.145Z,1611775234.145 [Micromodem](INFO): Nmea in: $SNTTA,0.001606,,,,192034.33*4C

2021-01-27T19:20:34.167Z,1611775234.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 155.998707 deg, deltaT: 4.404218 s, approachRate: 0.000000 m/s, LOS rate: -0.437796 deg/s, posRepo size: 4
2021-01-27T19:20:34.169Z,1611775234.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 155.998707 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.437796 deg/s,
      cmd update: -1.313388 deg/s,
      cmd heading: 353.592989 deg,
      new cmd heading: 353.117801 deg.

2021-01-27T19:20:34.232Z,1611775234.232 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:20:34.524Z,1611775234.524 [DDM](INFO): Powering down
2021-01-27T19:20:35.452Z,1611775235.452 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:20:35.452Z,1611775235.452 [DDM] No Fault, FailCount= 1
2021-01-27T19:20:36.586Z,1611775236.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:37.364Z,1611775237.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:37.756Z,1611775237.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:38.589Z,1611775238.589 [Micromodem](INFO): Nmea in: $SNTTA,0.001584,,0.041447,,192038.77*55

2021-01-27T19:20:38.671Z,1611775238.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 154.130404 deg, deltaT: 4.378772 s, approachRate: -0.027405 m/s, LOS rate: -0.426673 deg/s, posRepo size: 4
2021-01-27T19:20:38.677Z,1611775238.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 154.130404 deg,
      approachRate: -0.027405 m/s,
      LOS rate: -0.426673 deg/s,
      cmd update: -1.280018 deg/s,
      cmd heading: 347.841830 deg,
      new cmd heading: 347.187160 deg.

2021-01-27T19:20:39.766Z,1611775239.766 [DDM](INFO): Powering up
2021-01-27T19:20:39.766Z,1611775239.766 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:20:41.031Z,1611775241.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:41.794Z,1611775241.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:42.201Z,1611775242.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:43.033Z,1611775243.033 [Micromodem](INFO): Nmea in: $SNTTA,0.001590,0.014590,,,192043.19*5F

2021-01-27T19:20:43.063Z,1611775243.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 153.265661 deg, deltaT: 4.519138 s, approachRate: 0.000000 m/s, LOS rate: -0.191351 deg/s, posRepo size: 4
2021-01-27T19:20:43.065Z,1611775243.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 153.265661 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.191351 deg/s,
      cmd update: -0.574054 deg/s,
      cmd heading: 342.057280 deg,
      new cmd heading: 341.581551 deg.

2021-01-27T19:20:45.461Z,1611775245.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:46.234Z,1611775246.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:46.684Z,1611775246.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:47.465Z,1611775247.465 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,,,192047.63*49

2021-01-27T19:20:47.513Z,1611775247.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 151.047803 deg, deltaT: 4.395907 s, approachRate: 0.013649 m/s, LOS rate: -0.504528 deg/s, posRepo size: 4
2021-01-27T19:20:47.515Z,1611775247.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 151.047803 deg,
      approachRate: 0.013649 m/s,
      LOS rate: -0.504528 deg/s,
      cmd update: -1.513584 deg/s,
      cmd heading: 339.533789 deg,
      new cmd heading: 339.303161 deg.

2021-01-27T19:20:49.919Z,1611775249.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:50.682Z,1611775250.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:51.084Z,1611775251.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:51.913Z,1611775251.913 [Micromodem](INFO): Nmea in: $SNTTA,0.001575,,,,192052.08*43

2021-01-27T19:20:51.959Z,1611775251.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 146.306573 deg, deltaT: 4.452153 s, approachRate: -0.026953 m/s, LOS rate: -1.064930 deg/s, posRepo size: 4
2021-01-27T19:20:51.961Z,1611775251.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 146.306573 deg,
      approachRate: -0.026953 m/s,
      LOS rate: -1.064930 deg/s,
      cmd update: -3.194789 deg/s,
      cmd heading: 332.801211 deg,
      new cmd heading: 332.160142 deg.

2021-01-27T19:20:54.372Z,1611775254.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:55.130Z,1611775255.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:20:55.537Z,1611775255.537 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:20:55.662Z,1611775255.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:20:56.393Z,1611775256.393 [Micromodem](INFO): Nmea in: $SNTTA,0.001616,,,0.033635,192056.53*51

2021-01-27T19:20:56.443Z,1611775256.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 143.642430 deg, deltaT: 4.471873 s, approachRate: 0.026834 m/s, LOS rate: -0.595755 deg/s, posRepo size: 4
2021-01-27T19:20:56.445Z,1611775256.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 143.642430 deg,
      approachRate: 0.026834 m/s,
      LOS rate: -0.595755 deg/s,
      cmd update: -1.787266 deg/s,
      cmd heading: 318.514404 deg,
      new cmd heading: 317.122322 deg.

2021-01-27T19:20:58.830Z,1611775258.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:20:59.602Z,1611775259.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:00.004Z,1611775260.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:00.838Z,1611775260.838 [Micromodem](INFO): Nmea in: $SNTTA,0.001637,,,,192101.00*49

2021-01-27T19:21:00.876Z,1611775260.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 138.487864 deg, deltaT: 4.447405 s, approachRate: 0.000000 m/s, LOS rate: -1.159005 deg/s, posRepo size: 4
2021-01-27T19:21:00.878Z,1611775260.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 138.487864 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.159005 deg/s,
      cmd update: -3.477016 deg/s,
      cmd heading: 310.565730 deg,
      new cmd heading: 309.813209 deg.

2021-01-27T19:21:02.534Z,1611775262.534 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T19:21:02.534Z,1611775262.534 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:21:02.534Z,1611775262.534 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T19:21:02.534Z,1611775262.534 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:21:02.534Z,1611775262.534 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T19:21:02.535Z,1611775262.535 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.399999 m 
2021-01-27T19:21:02.535Z,1611775262.535 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T19:21:02.535Z,1611775262.535 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T19:21:02.535Z,1611775262.535 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T192102: (41.551998, -70.709610)
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T19:21:02.879Z,1611775262.879 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T19:21:02.880Z,1611775262.880 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:21:03.250Z,1611775263.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:04.050Z,1611775264.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:04.444Z,1611775264.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:05.296Z,1611775265.296 [Micromodem](INFO): Nmea in: $SNTTA,0.001574,,,,192105.45*48

2021-01-27T19:21:05.361Z,1611775265.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 139.453393 deg, deltaT: 4.418904 s, approachRate: 0.000000 m/s, LOS rate: 0.218500 deg/s, posRepo size: 4
2021-01-27T19:21:05.363Z,1611775265.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 139.453393 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.218500 deg/s,
      cmd update: 0.655499 deg/s,
      cmd heading: 295.187067 deg,
      new cmd heading: 293.522070 deg.

2021-01-27T19:21:07.748Z,1611775267.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:08.490Z,1611775268.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:08.904Z,1611775268.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:09.737Z,1611775269.737 [Micromodem](INFO): Nmea in: $SNTTA,0.001653,,,,192109.89*42

2021-01-27T19:21:09.777Z,1611775269.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 138.232415 deg, deltaT: 4.506402 s, approachRate: 0.000000 m/s, LOS rate: -0.270943 deg/s, posRepo size: 4
2021-01-27T19:21:09.779Z,1611775269.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 138.232415 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.270943 deg/s,
      cmd update: -0.812829 deg/s,
      cmd heading: 298.138337 deg,
      new cmd heading: 298.387717 deg.

2021-01-27T19:21:12.141Z,1611775272.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:12.930Z,1611775272.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:13.361Z,1611775273.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:14.169Z,1611775274.169 [Micromodem](INFO): Nmea in: $SNTTA,0.001576,,,,192114.33*4B

2021-01-27T19:21:14.202Z,1611775274.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 134.253146 deg, deltaT: 4.374234 s, approachRate: -0.013717 m/s, LOS rate: -0.909706 deg/s, posRepo size: 4
2021-01-27T19:21:14.204Z,1611775274.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 134.253146 deg,
      approachRate: -0.013717 m/s,
      LOS rate: -0.909706 deg/s,
      cmd update: -2.729119 deg/s,
      cmd heading: 294.579525 deg,
      new cmd heading: 294.218766 deg.

2021-01-27T19:21:16.603Z,1611775276.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:17.390Z,1611775277.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:17.778Z,1611775277.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:18.697Z,1611775278.697 [Micromodem](INFO): Nmea in: $SNTTA,0.001580,,,,192118.79*40

2021-01-27T19:21:18.731Z,1611775278.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 133.789254 deg, deltaT: 4.438021 s, approachRate: 0.000000 m/s, LOS rate: -0.104527 deg/s, posRepo size: 4
2021-01-27T19:21:18.733Z,1611775278.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 133.789254 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.104527 deg/s,
      cmd update: -0.313581 deg/s,
      cmd heading: 282.468075 deg,
      new cmd heading: 281.007917 deg.

2021-01-27T19:21:21.069Z,1611775281.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:21.822Z,1611775281.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:22.224Z,1611775282.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:23.076Z,1611775283.076 [Micromodem](INFO): Nmea in: $SNTTA,0.001645,,,,192123.22*4C

2021-01-27T19:21:23.106Z,1611775283.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 135.621561 deg, deltaT: 4.503196 s, approachRate: 0.013324 m/s, LOS rate: 0.406890 deg/s, posRepo size: 4
2021-01-27T19:21:23.109Z,1611775283.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 135.621561 deg,
      approachRate: 0.013324 m/s,
      LOS rate: 0.406890 deg/s,
      cmd update: 1.220671 deg/s,
      cmd heading: 281.056094 deg,
      new cmd heading: 280.928824 deg.

2021-01-27T19:21:25.487Z,1611775285.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:25.821Z,1611775285.821 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:21:25.821Z,1611775285.821 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:21:25.822Z,1611775285.822 [DDM](ERROR): Hardware Fault
2021-01-27T19:21:25.939Z,1611775285.939 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:21:26.233Z,1611775286.233 [DDM](INFO): Powering down
2021-01-27T19:21:26.321Z,1611775286.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:26.669Z,1611775286.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:27.100Z,1611775287.100 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:21:27.100Z,1611775287.100 [DDM] No Fault, FailCount= 1
2021-01-27T19:21:27.512Z,1611775287.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 139.420430 deg, deltaT: 4.357502 s, approachRate: 0.000000 m/s, LOS rate: 0.871800 deg/s, posRepo size: 4
2021-01-27T19:21:27.517Z,1611775287.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 139.420430 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.871800 deg/s,
      cmd update: 2.615399 deg/s,
      cmd heading: 286.375604 deg,
      new cmd heading: 286.909558 deg.

2021-01-27T19:21:27.861Z,1611775287.861 [Micromodem](INFO): Nmea in: $SNTTA,0.001636,,,,192127.72*49

2021-01-27T19:21:29.891Z,1611775289.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:30.688Z,1611775290.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:31.084Z,1611775291.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:31.478Z,1611775291.478 [DDM](INFO): Powering up
2021-01-27T19:21:31.478Z,1611775291.478 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:21:31.913Z,1611775291.913 [Micromodem](INFO): Nmea in: $SNTTA,0.001636,,,,192132.09*41

2021-01-27T19:21:31.963Z,1611775291.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 146.279607 deg, deltaT: 4.511233 s, approachRate: 0.013300 m/s, LOS rate: 1.520466 deg/s, posRepo size: 4
2021-01-27T19:21:31.966Z,1611775291.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 146.279607 deg,
      approachRate: 0.013300 m/s,
      LOS rate: 1.520466 deg/s,
      cmd update: 4.561398 deg/s,
      cmd heading: 298.159346 deg,
      new cmd heading: 299.208566 deg.

2021-01-27T19:21:34.373Z,1611775294.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:35.126Z,1611775295.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:35.522Z,1611775295.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:36.365Z,1611775296.365 [Micromodem](INFO): Nmea in: $SNTTA,0.001569,,0.136457,,192136.53*5F

2021-01-27T19:21:36.402Z,1611775296.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 142.532606 deg, deltaT: 4.417642 s, approachRate: -0.040745 m/s, LOS rate: -0.848190 deg/s, posRepo size: 4
2021-01-27T19:21:36.404Z,1611775296.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 142.532606 deg,
      approachRate: -0.040745 m/s,
      LOS rate: -0.848190 deg/s,
      cmd update: -2.544571 deg/s,
      cmd heading: 318.281763 deg,
      new cmd heading: 320.236208 deg.

2021-01-27T19:21:38.782Z,1611775298.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:39.573Z,1611775299.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:39.966Z,1611775299.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:40.801Z,1611775300.801 [Micromodem](INFO): Nmea in: $SNTTA,0.001571,,,,192140.97*43

2021-01-27T19:21:40.853Z,1611775300.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 143.160178 deg, deltaT: 4.428890 s, approachRate: 0.000000 m/s, LOS rate: 0.141699 deg/s, posRepo size: 4
2021-01-27T19:21:40.855Z,1611775300.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 143.160178 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.141699 deg/s,
      cmd update: 0.425098 deg/s,
      cmd heading: 307.021923 deg,
      new cmd heading: 305.877154 deg.

2021-01-27T19:21:43.248Z,1611775303.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:44.014Z,1611775304.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:44.425Z,1611775304.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:44.825Z,1611775304.825 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T19:21:45.241Z,1611775305.241 [Micromodem](INFO): Nmea in: $SNTTA,0.001570,,,,192145.41*4C

2021-01-27T19:21:45.287Z,1611775305.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 138.557573 deg, deltaT: 4.447059 s, approachRate: 0.013492 m/s, LOS rate: -1.034977 deg/s, posRepo size: 4
2021-01-27T19:21:45.289Z,1611775305.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 138.557573 deg,
      approachRate: 0.013492 m/s,
      LOS rate: -1.034977 deg/s,
      cmd update: -3.104932 deg/s,
      cmd heading: 308.917450 deg,
      new cmd heading: 309.099730 deg.

2021-01-27T19:21:47.234Z,1611775307.234 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:21:47.392Z,1611775307.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:48.078Z,1611775308.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:48.484Z,1611775308.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:49.338Z,1611775309.338 [Micromodem](INFO): Nmea in: $SNTTA,0.001642,,,,192149.48*4B

2021-01-27T19:21:49.375Z,1611775309.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 152.659400 deg, deltaT: 4.048079 s, approachRate: 0.014822 m/s, LOS rate: 3.483585 deg/s, posRepo size: 4
2021-01-27T19:21:49.378Z,1611775309.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 152.659400 deg,
      approachRate: 0.014822 m/s,
      LOS rate: 3.483585 deg/s,
      cmd update: 10.450755 deg/s,
      cmd heading: 296.336086 deg,
      new cmd heading: 294.890243 deg.

2021-01-27T19:21:51.757Z,1611775311.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:52.522Z,1611775312.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:52.933Z,1611775312.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:53.765Z,1611775313.765 [Micromodem](INFO): Nmea in: $SNTTA,0.001587,,0.010599,,192153.92*57

2021-01-27T19:21:53.802Z,1611775313.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 136.703040 deg, deltaT: 4.471181 s, approachRate: -0.013419 m/s, LOS rate: -3.568713 deg/s, posRepo size: 4
2021-01-27T19:21:53.805Z,1611775313.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 136.703040 deg,
      approachRate: -0.013419 m/s,
      LOS rate: -3.568713 deg/s,
      cmd update: -10.706138 deg/s,
      cmd heading: 343.010493 deg,
      new cmd heading: 347.445041 deg.

2021-01-27T19:21:56.182Z,1611775316.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:21:56.969Z,1611775316.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:21:57.391Z,1611775317.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:21:58.209Z,1611775318.209 [Micromodem](INFO): Nmea in: $SNTTA,0.001582,,,,192158.37*4C

2021-01-27T19:21:58.243Z,1611775318.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 132.676233 deg, deltaT: 4.433734 s, approachRate: -0.013532 m/s, LOS rate: -0.908220 deg/s, posRepo size: 4
2021-01-27T19:21:58.245Z,1611775318.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.280001 m,
      bearing: 132.676233 deg,
      approachRate: -0.013532 m/s,
      LOS rate: -0.908220 deg/s,
      cmd update: -2.724660 deg/s,
      cmd heading: 295.488452 deg,
      new cmd heading: 290.902425 deg.

2021-01-27T19:22:00.694Z,1611775320.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:01.414Z,1611775321.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:01.816Z,1611775321.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:02.673Z,1611775322.673 [Micromodem](INFO): Nmea in: $SNTTA,0.001580,,,,192202.81*4F

2021-01-27T19:22:02.782Z,1611775322.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 139.301558 deg, deltaT: 4.421540 s, approachRate: 0.013569 m/s, LOS rate: 1.498420 deg/s, posRepo size: 4
2021-01-27T19:22:02.792Z,1611775322.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 139.301558 deg,
      approachRate: 0.013569 m/s,
      LOS rate: 1.498420 deg/s,
      cmd update: 4.495260 deg/s,
      cmd heading: 283.441168 deg,
      new cmd heading: 281.957863 deg.

2021-01-27T19:22:04.775Z,1611775324.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:05.454Z,1611775325.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:05.856Z,1611775325.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:06.721Z,1611775326.721 [Micromodem](INFO): Nmea in: $SNTTA,0.001563,,,,192206.85*42

2021-01-27T19:22:06.772Z,1611775326.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 135.373858 deg, deltaT: 4.053873 s, approachRate: 0.000000 m/s, LOS rate: -0.968876 deg/s, posRepo size: 4
2021-01-27T19:22:06.774Z,1611775326.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 135.373858 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.968876 deg/s,
      cmd update: -2.906628 deg/s,
      cmd heading: 301.655909 deg,
      new cmd heading: 303.829871 deg.

2021-01-27T19:22:09.110Z,1611775329.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:09.894Z,1611775329.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:10.334Z,1611775330.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:11.149Z,1611775331.149 [Micromodem](INFO): Nmea in: $SNTTA,0.001573,,,,192211.29*43

2021-01-27T19:22:11.171Z,1611775331.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 144.615267 deg, deltaT: 4.474300 s, approachRate: 0.000000 m/s, LOS rate: 2.065443 deg/s, posRepo size: 4
2021-01-27T19:22:11.173Z,1611775331.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 144.615267 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.065443 deg/s,
      cmd update: 6.196328 deg/s,
      cmd heading: 288.652417 deg,
      new cmd heading: 287.463699 deg.

2021-01-27T19:22:13.575Z,1611775333.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:14.370Z,1611775334.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:14.752Z,1611775334.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:15.574Z,1611775335.574 [Micromodem](INFO): Nmea in: $SNTTA,0.001619,,,,192215.77*43

2021-01-27T19:22:15.618Z,1611775335.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 155.383921 deg, deltaT: 4.391806 s, approachRate: 0.027324 m/s, LOS rate: 2.451988 deg/s, posRepo size: 4
2021-01-27T19:22:15.625Z,1611775335.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 155.383921 deg,
      approachRate: 0.027324 m/s,
      LOS rate: 2.451988 deg/s,
      cmd update: 7.355963 deg/s,
      cmd heading: 315.880613 deg,
      new cmd heading: 318.739754 deg.

2021-01-27T19:22:17.534Z,1611775337.534 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:22:17.534Z,1611775337.534 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:22:17.534Z,1611775337.534 [DDM](ERROR): Hardware Fault
2021-01-27T19:22:17.668Z,1611775337.668 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:22:17.937Z,1611775337.937 [DDM](INFO): Powering down
2021-01-27T19:22:18.043Z,1611775338.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:18.351Z,1611775338.351 [DDM](FAULT): LCB fault:  Software Overcurrent.
2021-01-27T19:22:18.774Z,1611775338.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:18.951Z,1611775338.951 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:22:18.951Z,1611775338.951 [DDM] No Fault, FailCount= 1
2021-01-27T19:22:19.156Z,1611775339.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:19.989Z,1611775339.989 [Micromodem](INFO): Nmea in: $SNTTA,0.001585,,,,192220.17*45

2021-01-27T19:22:20.027Z,1611775340.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 151.714785 deg, deltaT: 4.440162 s, approachRate: -0.027026 m/s, LOS rate: -0.826352 deg/s, posRepo size: 4
2021-01-27T19:22:20.030Z,1611775340.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 151.714785 deg,
      approachRate: -0.027026 m/s,
      LOS rate: -0.826352 deg/s,
      cmd update: -2.479056 deg/s,
      cmd heading: 348.424561 deg,
      new cmd heading: 351.712073 deg.

2021-01-27T19:22:22.430Z,1611775342.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:23.196Z,1611775343.196 [DDM](INFO): Powering up
2021-01-27T19:22:23.196Z,1611775343.196 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:22:23.218Z,1611775343.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:23.619Z,1611775343.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:24.437Z,1611775344.437 [Micromodem](INFO): Nmea in: $SNTTA,0.001615,,,,192224.62*49

2021-01-27T19:22:24.475Z,1611775344.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 157.697839 deg, deltaT: 4.446779 s, approachRate: 0.013493 m/s, LOS rate: 1.345480 deg/s, posRepo size: 4
2021-01-27T19:22:24.477Z,1611775344.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 157.697839 deg,
      approachRate: 0.013493 m/s,
      LOS rate: 1.345480 deg/s,
      cmd update: 4.036441 deg/s,
      cmd heading: 337.361347 deg,
      new cmd heading: 336.290948 deg.

2021-01-27T19:22:26.859Z,1611775346.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:27.686Z,1611775347.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:28.056Z,1611775348.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:28.890Z,1611775348.890 [Micromodem](INFO): Nmea in: $SNTTA,0.001590,,,,192229.09*47

2021-01-27T19:22:28.920Z,1611775348.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 158.582157 deg, deltaT: 4.447851 s, approachRate: -0.013490 m/s, LOS rate: 0.198819 deg/s, posRepo size: 4
2021-01-27T19:22:28.922Z,1611775348.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 158.582157 deg,
      approachRate: -0.013490 m/s,
      LOS rate: 0.198819 deg/s,
      cmd update: 0.596458 deg/s,
      cmd heading: 355.315264 deg,
      new cmd heading: 357.047010 deg.

2021-01-27T19:22:31.335Z,1611775351.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:32.103Z,1611775352.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:32.492Z,1611775352.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:33.357Z,1611775353.357 [Micromodem](INFO): Nmea in: $SNTTA,0.001587,,,,192233.50*46

2021-01-27T19:22:33.382Z,1611775353.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 157.896843 deg, deltaT: 4.463730 s, approachRate: 0.013442 m/s, LOS rate: -0.153529 deg/s, posRepo size: 4
2021-01-27T19:22:33.408Z,1611775353.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 157.896843 deg,
      approachRate: 0.013442 m/s,
      LOS rate: -0.153529 deg/s,
      cmd update: -0.460588 deg/s,
      cmd heading: 357.975304 deg,
      new cmd heading: 358.232354 deg.

2021-01-27T19:22:35.762Z,1611775355.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:36.529Z,1611775356.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:36.936Z,1611775356.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:37.769Z,1611775357.769 [Micromodem](INFO): Nmea in: $SNTTA,0.001588,,,,192237.93*42

2021-01-27T19:22:37.793Z,1611775357.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 156.756584 deg, deltaT: 4.455641 s, approachRate: -0.013466 m/s, LOS rate: -0.255914 deg/s, posRepo size: 4
2021-01-27T19:22:37.795Z,1611775357.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 156.756584 deg,
      approachRate: -0.013466 m/s,
      LOS rate: -0.255914 deg/s,
      cmd update: -0.767741 deg/s,
      cmd heading: 355.928595 deg,
      new cmd heading: 355.745293 deg.

2021-01-27T19:22:38.950Z,1611775358.950 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:22:40.214Z,1611775360.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:41.010Z,1611775361.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:41.412Z,1611775361.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:42.245Z,1611775362.245 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,,,192242.41*4E

2021-01-27T19:22:42.284Z,1611775362.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 158.773061 deg, deltaT: 4.443256 s, approachRate: 0.000000 m/s, LOS rate: 0.453829 deg/s, posRepo size: 4
2021-01-27T19:22:42.286Z,1611775362.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 158.773061 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.453829 deg/s,
      cmd update: 1.361486 deg/s,
      cmd heading: 352.517319 deg,
      new cmd heading: 352.174936 deg.

2021-01-27T19:22:44.722Z,1611775364.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:45.450Z,1611775365.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:45.860Z,1611775365.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:46.709Z,1611775366.709 [Micromodem](INFO): Nmea in: $SNTTA,0.001582,,,,192246.85*49

2021-01-27T19:22:46.743Z,1611775366.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 158.192072 deg, deltaT: 4.444398 s, approachRate: 0.000000 m/s, LOS rate: -0.130724 deg/s, posRepo size: 4
2021-01-27T19:22:46.745Z,1611775366.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 158.192072 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.130724 deg/s,
      cmd update: -0.392172 deg/s,
      cmd heading: 358.566619 deg,
      new cmd heading: 359.195373 deg.

2021-01-27T19:22:49.119Z,1611775369.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:49.898Z,1611775369.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:50.326Z,1611775370.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:51.129Z,1611775371.129 [Micromodem](INFO): Nmea in: $SNTTA,0.001634,,,,192251.30*4F

2021-01-27T19:22:51.151Z,1611775371.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 162.191366 deg, deltaT: 4.451529 s, approachRate: 0.026957 m/s, LOS rate: 0.898409 deg/s, posRepo size: 4
2021-01-27T19:22:51.157Z,1611775371.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 162.191366 deg,
      approachRate: 0.026957 m/s,
      LOS rate: 0.898409 deg/s,
      cmd update: 2.695227 deg/s,
      cmd heading: 356.815676 deg,
      new cmd heading: 356.656695 deg.

2021-01-27T19:22:53.571Z,1611775373.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:54.366Z,1611775374.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:54.740Z,1611775374.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:22:55.577Z,1611775375.577 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,,,,192255.76*4C

2021-01-27T19:22:55.633Z,1611775375.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 164.550172 deg, deltaT: 4.421595 s, approachRate: -0.013570 m/s, LOS rate: 0.533474 deg/s, posRepo size: 4
2021-01-27T19:22:55.649Z,1611775375.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 164.550172 deg,
      approachRate: -0.013570 m/s,
      LOS rate: 0.533474 deg/s,
      cmd update: 1.600422 deg/s,
      cmd heading: 8.732826 deg,
      new cmd heading: 9.967472 deg.

2021-01-27T19:22:58.016Z,1611775378.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:22:58.778Z,1611775378.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:22:59.188Z,1611775379.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:00.021Z,1611775380.021 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,,,0.054757,192300.18*5F

2021-01-27T19:23:00.060Z,1611775380.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 166.220085 deg, deltaT: 4.505450 s, approachRate: 0.000000 m/s, LOS rate: 0.370643 deg/s, posRepo size: 4
2021-01-27T19:23:00.063Z,1611775380.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 166.220085 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.370643 deg/s,
      cmd update: 1.111929 deg/s,
      cmd heading: 15.943471 deg,
      new cmd heading: 16.557012 deg.

2021-01-27T19:23:02.458Z,1611775382.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:03.223Z,1611775383.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:03.657Z,1611775383.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:04.465Z,1611775384.465 [Micromodem](INFO): Nmea in: $SNTTA,0.001590,,,,192304.62*44

2021-01-27T19:23:04.502Z,1611775384.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 160.386762 deg, deltaT: 4.392798 s, approachRate: 0.000000 m/s, LOS rate: -1.327929 deg/s, posRepo size: 4
2021-01-27T19:23:04.504Z,1611775384.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 160.386762 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.327929 deg/s,
      cmd update: -3.983786 deg/s,
      cmd heading: 20.808887 deg,
      new cmd heading: 21.312955 deg.

2021-01-27T19:23:06.897Z,1611775386.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:07.698Z,1611775387.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:08.088Z,1611775388.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:08.909Z,1611775388.909 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,,,,192309.10*44

2021-01-27T19:23:08.965Z,1611775388.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 158.457274 deg, deltaT: 4.452926 s, approachRate: 0.000000 m/s, LOS rate: -0.433308 deg/s, posRepo size: 4
2021-01-27T19:23:08.967Z,1611775388.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 158.457274 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.433308 deg/s,
      cmd update: -1.299923 deg/s,
      cmd heading: 3.001103 deg,
      new cmd heading: 1.224987 deg.

2021-01-27T19:23:09.255Z,1611775389.255 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:23:09.255Z,1611775389.255 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:23:09.255Z,1611775389.255 [DDM](ERROR): Hardware Fault
2021-01-27T19:23:09.403Z,1611775389.403 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:23:09.674Z,1611775389.674 [DDM](INFO): Powering down
2021-01-27T19:23:10.575Z,1611775390.575 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:23:10.575Z,1611775390.575 [DDM] No Fault, FailCount= 1
2021-01-27T19:23:11.355Z,1611775391.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:12.086Z,1611775392.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:12.492Z,1611775392.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:13.350Z,1611775393.350 [Micromodem](INFO): Nmea in: $SNTTA,0.001649,,0.020212,,192313.48*50

2021-01-27T19:23:13.390Z,1611775393.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 170.083267 deg, deltaT: 4.413542 s, approachRate: 0.000000 m/s, LOS rate: 2.634164 deg/s, posRepo size: 4
2021-01-27T19:23:13.392Z,1611775393.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 170.083267 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.634164 deg/s,
      cmd update: 7.902491 deg/s,
      cmd heading: 357.263821 deg,
      new cmd heading: 356.668538 deg.

2021-01-27T19:23:14.905Z,1611775394.905 [DDM](INFO): Powering up
2021-01-27T19:23:14.905Z,1611775394.905 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:23:15.757Z,1611775395.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:16.532Z,1611775396.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:16.936Z,1611775396.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:17.757Z,1611775397.757 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,,,192317.93*40

2021-01-27T19:23:17.814Z,1611775397.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 153.050920 deg, deltaT: 4.467187 s, approachRate: 0.000000 m/s, LOS rate: -3.812768 deg/s, posRepo size: 4
2021-01-27T19:23:17.817Z,1611775397.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 153.050920 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.812768 deg/s,
      cmd update: -11.438304 deg/s,
      cmd heading: 32.564890 deg,
      new cmd heading: 35.847727 deg.

2021-01-27T19:23:20.194Z,1611775400.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:20.976Z,1611775400.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:21.374Z,1611775401.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:22.205Z,1611775402.205 [Micromodem](INFO): Nmea in: $SNTTA,0.001614,,,,192322.37*4F

2021-01-27T19:23:22.241Z,1611775402.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 149.586020 deg, deltaT: 4.437269 s, approachRate: 0.000000 m/s, LOS rate: -0.780863 deg/s, posRepo size: 4
2021-01-27T19:23:22.243Z,1611775402.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 149.586020 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.780863 deg/s,
      cmd update: -2.342590 deg/s,
      cmd heading: 341.765063 deg,
      new cmd heading: 337.186641 deg.

2021-01-27T19:23:24.678Z,1611775404.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:25.418Z,1611775405.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:25.832Z,1611775405.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:26.668Z,1611775406.668 [Micromodem](INFO): Nmea in: $SNTTA,0.001599,,,,192326.82*43

2021-01-27T19:23:26.701Z,1611775406.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 144.304412 deg, deltaT: 4.416284 s, approachRate: 0.000000 m/s, LOS rate: -1.195939 deg/s, posRepo size: 4
2021-01-27T19:23:26.703Z,1611775406.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 144.304412 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.195939 deg/s,
      cmd update: -3.587818 deg/s,
      cmd heading: 331.456567 deg,
      new cmd heading: 330.377519 deg.

2021-01-27T19:23:29.082Z,1611775409.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:29.863Z,1611775409.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:30.287Z,1611775410.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:30.674Z,1611775410.674 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:23:31.145Z,1611775411.145 [Micromodem](INFO): Nmea in: $SNTTA,0.001643,,,,192331.26*4F

2021-01-27T19:23:31.178Z,1611775411.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 145.773094 deg, deltaT: 4.599754 s, approachRate: 0.013044 m/s, LOS rate: 0.319296 deg/s, posRepo size: 4
2021-01-27T19:23:31.180Z,1611775411.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 145.773094 deg,
      approachRate: 0.013044 m/s,
      LOS rate: 0.319296 deg/s,
      cmd update: 0.957887 deg/s,
      cmd heading: 314.953605 deg,
      new cmd heading: 313.742332 deg.

2021-01-27T19:23:33.569Z,1611775413.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:34.348Z,1611775414.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:34.740Z,1611775414.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:35.574Z,1611775415.574 [Micromodem](INFO): Nmea in: $SNTTA,0.001568,,,,192335.75*47

2021-01-27T19:23:35.666Z,1611775415.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 138.068217 deg, deltaT: 4.299837 s, approachRate: -0.027908 m/s, LOS rate: -1.791900 deg/s, posRepo size: 4
2021-01-27T19:23:35.672Z,1611775415.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 138.068217 deg,
      approachRate: -0.027908 m/s,
      LOS rate: -1.791900 deg/s,
      cmd update: -5.375699 deg/s,
      cmd heading: 319.087687 deg,
      new cmd heading: 319.576060 deg.

2021-01-27T19:23:38.019Z,1611775418.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:38.783Z,1611775418.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:39.199Z,1611775419.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:40.029Z,1611775420.029 [Micromodem](INFO): Nmea in: $SNTTA,0.001589,,,,192340.18*41

2021-01-27T19:23:40.043Z,1611775420.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 137.698198 deg, deltaT: 4.535934 s, approachRate: 0.013228 m/s, LOS rate: -0.081575 deg/s, posRepo size: 4
2021-01-27T19:23:40.045Z,1611775420.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 137.698198 deg,
      approachRate: 0.013228 m/s,
      LOS rate: -0.081575 deg/s,
      cmd update: -0.244725 deg/s,
      cmd heading: 294.704645 deg,
      new cmd heading: 292.817382 deg.

2021-01-27T19:23:42.439Z,1611775422.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:43.226Z,1611775423.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:43.642Z,1611775423.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:44.461Z,1611775424.461 [Micromodem](INFO): Nmea in: $SNTTA,0.001579,,,,192344.62*47

2021-01-27T19:23:44.506Z,1611775424.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 141.082229 deg, deltaT: 4.362661 s, approachRate: 0.000000 m/s, LOS rate: 0.775680 deg/s, posRepo size: 4
2021-01-27T19:23:44.508Z,1611775424.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 141.082229 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.775680 deg/s,
      cmd update: 2.327041 deg/s,
      cmd heading: 293.637548 deg,
      new cmd heading: 293.526662 deg.

2021-01-27T19:23:46.905Z,1611775426.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:47.682Z,1611775427.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:48.068Z,1611775428.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:48.901Z,1611775428.901 [Micromodem](INFO): Nmea in: $SNTTA,0.001611,,,,192349.08*4B

2021-01-27T19:23:48.944Z,1611775428.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 144.056490 deg, deltaT: 4.432899 s, approachRate: 0.000000 m/s, LOS rate: 0.670952 deg/s, posRepo size: 4
2021-01-27T19:23:48.946Z,1611775428.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 144.056490 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.670952 deg/s,
      cmd update: 2.012855 deg/s,
      cmd heading: 303.958698 deg,
      new cmd heading: 305.020015 deg.

2021-01-27T19:23:51.361Z,1611775431.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:52.110Z,1611775432.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:52.532Z,1611775432.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:53.373Z,1611775433.373 [Micromodem](INFO): Nmea in: $SNTTA,0.001590,,,,192353.51*46

2021-01-27T19:23:53.397Z,1611775433.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 142.025451 deg, deltaT: 4.482129 s, approachRate: 0.000000 m/s, LOS rate: -0.453142 deg/s, posRepo size: 4
2021-01-27T19:23:53.399Z,1611775433.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 142.025451 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.453142 deg/s,
      cmd update: -1.359425 deg/s,
      cmd heading: 312.972211 deg,
      new cmd heading: 313.841003 deg.

2021-01-27T19:23:55.789Z,1611775435.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:23:56.558Z,1611775436.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:23:56.960Z,1611775436.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:23:58.013Z,1611775438.013 [Micromodem](INFO): Nmea in: $SNTTA,0.001586,,,,192357.96*4E

2021-01-27T19:23:58.037Z,1611775438.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 142.387232 deg, deltaT: 4.444008 s, approachRate: 0.000000 m/s, LOS rate: 0.081409 deg/s, posRepo size: 4
2021-01-27T19:23:58.039Z,1611775438.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 142.387232 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.081409 deg/s,
      cmd update: 0.244226 deg/s,
      cmd heading: 306.925374 deg,
      new cmd heading: 306.079122 deg.

2021-01-27T19:24:00.221Z,1611775440.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:00.961Z,1611775440.961 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:24:00.962Z,1611775440.962 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:24:00.962Z,1611775440.962 [DDM](ERROR): Hardware Fault
2021-01-27T19:24:00.965Z,1611775440.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:01.176Z,1611775441.176 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:24:01.367Z,1611775441.367 [DDM](INFO): Powering down
2021-01-27T19:24:01.456Z,1611775441.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:02.209Z,1611775442.209 [Micromodem](INFO): Nmea in: $SNTTA,0.001580,,,,192402.36*45

2021-01-27T19:24:02.231Z,1611775442.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 154.723688 deg, deltaT: 4.395850 s, approachRate: 0.000000 m/s, LOS rate: 2.806387 deg/s, posRepo size: 4
2021-01-27T19:24:02.233Z,1611775442.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 154.723688 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.806387 deg/s,
      cmd update: 8.419161 deg/s,
      cmd heading: 307.998988 deg,
      new cmd heading: 308.101825 deg.

2021-01-27T19:24:02.282Z,1611775442.282 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:24:02.282Z,1611775442.282 [DDM] No Fault, FailCount= 1
2021-01-27T19:24:04.670Z,1611775444.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:05.420Z,1611775445.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:05.814Z,1611775445.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:06.648Z,1611775446.648 [DDM](INFO): Powering up
2021-01-27T19:24:06.649Z,1611775446.649 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:24:06.697Z,1611775446.697 [Micromodem](INFO): Nmea in: $SNTTA,0.001589,,,,192406.82*47

2021-01-27T19:24:06.759Z,1611775446.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 149.656493 deg, deltaT: 4.420996 s, approachRate: 0.000000 m/s, LOS rate: -1.146166 deg/s, posRepo size: 4
2021-01-27T19:24:06.765Z,1611775446.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 149.656493 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.146166 deg/s,
      cmd update: -3.438497 deg/s,
      cmd heading: 345.218961 deg,
      new cmd heading: 349.663226 deg.

2021-01-27T19:24:08.730Z,1611775448.730 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-01-27T19:24:08.730Z,1611775448.730 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-01-27T19:24:08.730Z,1611775448.730 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-01-27T19:24:08.730Z,1611775448.730 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T19:24:08.730Z,1611775448.730 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-01-27T19:24:09.108Z,1611775449.108 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A81160100000005D00000400320000000000000000151D80030C5669C010EAB3032DFE11CB406DBD14CE4957DBF2A4CE7D151F0E05B1E6E07D1DC93FE9787D
2021-01-27T19:24:09.109Z,1611775449.109 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 987AF72B2000
2021-01-27T19:24:09.109Z,1611775449.109 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T19:24:09.184Z,1611775449.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:09.458Z,1611775449.458 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T19:24:09.854Z,1611775449.854 [Micromodem](INFO): Nmea in: $CADRQ,192410,1,10,0,64,1*79

2021-01-27T19:24:09.855Z,1611775449.855 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A81160100000005D00000400320000000000000000151D80030C5669C010EAB3032DFE11CB406DBD14CE4957DBF2A4CE7D151F0E05B1E6E07D1DC93FE9787D*3D

2021-01-27T19:24:10.257Z,1611775450.257 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T19:24:10.257Z,1611775450.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:10.699Z,1611775450.699 [Micromodem](INFO): Nmea in: $CADRQ,192411,1,10,0,64,2*7B

2021-01-27T19:24:10.699Z,1611775450.699 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,192411,1,10,0,64,2*7B

2021-01-27T19:24:11.079Z,1611775451.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:11.496Z,1611775451.496 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,0.010925,,,192411.65*59

2021-01-27T19:24:11.520Z,1611775451.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 148.478764 deg, deltaT: 4.939568 s, approachRate: 0.000000 m/s, LOS rate: -0.238428 deg/s, posRepo size: 4
2021-01-27T19:24:11.522Z,1611775451.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 148.478764 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.238428 deg/s,
      cmd update: -0.715283 deg/s,
      cmd heading: 328.247615 deg,
      new cmd heading: 327.032880 deg.

2021-01-27T19:24:13.935Z,1611775453.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:14.718Z,1611775454.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:15.114Z,1611775455.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:15.945Z,1611775455.945 [Micromodem](INFO): Nmea in: $SNTTA,0.001617,0.022393,,,192416.12*5C

2021-01-27T19:24:15.969Z,1611775455.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 145.949504 deg, deltaT: 4.393488 s, approachRate: 0.013657 m/s, LOS rate: -0.575684 deg/s, posRepo size: 4
2021-01-27T19:24:15.971Z,1611775455.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 145.949504 deg,
      approachRate: 0.013657 m/s,
      LOS rate: -0.575684 deg/s,
      cmd update: -1.727052 deg/s,
      cmd heading: 325.105061 deg,
      new cmd heading: 324.812655 deg.

2021-01-27T19:24:18.425Z,1611775458.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:19.154Z,1611775459.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:19.552Z,1611775459.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:20.391Z,1611775460.391 [Micromodem](INFO): Nmea in: $SNTTA,0.001647,,,,192420.60*4E

2021-01-27T19:24:20.442Z,1611775460.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 160.541629 deg, deltaT: 4.426223 s, approachRate: 0.000000 m/s, LOS rate: 3.296744 deg/s, posRepo size: 4
2021-01-27T19:24:20.448Z,1611775460.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 160.541629 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.296744 deg/s,
      cmd update: 9.890233 deg/s,
      cmd heading: 317.453764 deg,
      new cmd heading: 316.672991 deg.

2021-01-27T19:24:22.374Z,1611775462.374 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:24:22.523Z,1611775462.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:23.227Z,1611775463.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:23.638Z,1611775463.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:24.465Z,1611775464.465 [Micromodem](INFO): Nmea in: $SNTTA,0.001588,,,,192424.62*48

2021-01-27T19:24:24.505Z,1611775464.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 152.791851 deg, deltaT: 4.050549 s, approachRate: -0.014813 m/s, LOS rate: -1.913266 deg/s, posRepo size: 4
2021-01-27T19:24:24.507Z,1611775464.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 152.791851 deg,
      approachRate: -0.014813 m/s,
      LOS rate: -1.913266 deg/s,
      cmd update: -5.739799 deg/s,
      cmd heading: 357.514457 deg,
      new cmd heading: 2.106443 deg.

2021-01-27T19:24:26.883Z,1611775466.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:27.690Z,1611775467.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:28.064Z,1611775468.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:28.887Z,1611775468.887 [Micromodem](INFO): Nmea in: $SNTTA,0.001719,,,,192429.09*42

2021-01-27T19:24:28.935Z,1611775468.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 164.128940 deg, deltaT: 4.450571 s, approachRate: 0.013482 m/s, LOS rate: 2.547334 deg/s, posRepo size: 4
2021-01-27T19:24:28.941Z,1611775468.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 164.128940 deg,
      approachRate: 0.013482 m/s,
      LOS rate: 2.547334 deg/s,
      cmd update: 7.642002 deg/s,
      cmd heading: 331.969145 deg,
      new cmd heading: 329.423797 deg.

2021-01-27T19:24:31.372Z,1611775471.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:32.114Z,1611775472.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:32.516Z,1611775472.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:33.381Z,1611775473.381 [Micromodem](INFO): Nmea in: $SNTTA,0.001619,,,,192433.51*45

2021-01-27T19:24:33.417Z,1611775473.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 157.543108 deg, deltaT: 4.463106 s, approachRate: -0.013444 m/s, LOS rate: -1.475616 deg/s, posRepo size: 4
2021-01-27T19:24:33.419Z,1611775473.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 157.543108 deg,
      approachRate: -0.013444 m/s,
      LOS rate: -1.475616 deg/s,
      cmd update: -4.426849 deg/s,
      cmd heading: 6.076453 deg,
      new cmd heading: 9.608563 deg.

2021-01-27T19:24:35.806Z,1611775475.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:36.550Z,1611775476.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:36.963Z,1611775476.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:37.829Z,1611775477.829 [Micromodem](INFO): Nmea in: $SNTTA,0.001580,,,,192437.95*4A

2021-01-27T19:24:37.911Z,1611775477.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 150.581410 deg, deltaT: 4.460456 s, approachRate: -0.013452 m/s, LOS rate: -1.560759 deg/s, posRepo size: 4
2021-01-27T19:24:37.917Z,1611775477.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 150.581410 deg,
      approachRate: -0.013452 m/s,
      LOS rate: -1.560759 deg/s,
      cmd update: -4.682277 deg/s,
      cmd heading: 346.331421 deg,
      new cmd heading: 344.133234 deg.

2021-01-27T19:24:40.194Z,1611775480.194 [Micromodem](INFO): Nmea in: $CAERR,192441,DATA_TIMEOUT,2*46

2021-01-27T19:24:40.241Z,1611775480.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:40.602Z,1611775480.602 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-01-27T19:24:40.994Z,1611775480.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:42.206Z,1611775482.206 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-01-27T19:24:42.206Z,1611775482.206 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-01-27T19:24:42.612Z,1611775482.612 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,192441.297028,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4A

2021-01-27T19:24:42.612Z,1611775482.612 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,192441.297028,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4A

2021-01-27T19:24:43.119Z,1611775483.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:43.822Z,1611775483.822 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T19:24:44.229Z,1611775484.229 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127192444.036959,06,11449,40,0302,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,26.3,8.00,19,-5.00,-01,0.25,39,14500,4000*67

2021-01-27T19:24:44.229Z,1611775484.229 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127192444.036959,06,11449,40,0302,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,26.3,8.00,19,-5.00,-01,0.25,39,14500,4000*67

2021-01-27T19:24:45.891Z,1611775485.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:48.777Z,1611775488.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:51.531Z,1611775491.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:52.314Z,1611775492.314 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:52.681Z,1611775492.681 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:24:52.682Z,1611775492.682 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:24:52.682Z,1611775492.682 [DDM](ERROR): Hardware Fault
2021-01-27T19:24:52.686Z,1611775492.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:52.832Z,1611775492.832 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:24:53.077Z,1611775493.077 [DDM](INFO): Powering down
2021-01-27T19:24:53.515Z,1611775493.515 [Micromodem](INFO): Nmea in: $SNTTA,0.001589,,0.018175,0.006700,192453.71*40

2021-01-27T19:24:53.563Z,1611775493.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 147.682419 deg, deltaT: 15.758380 s, approachRate: 0.000000 m/s, LOS rate: -0.183965 deg/s, posRepo size: 4
2021-01-27T19:24:53.565Z,1611775493.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 147.682419 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.183965 deg/s,
      cmd update: -0.551895 deg/s,
      cmd heading: 272.546783 deg,
      new cmd heading: 270.719061 deg.

2021-01-27T19:24:54.139Z,1611775494.139 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:24:54.139Z,1611775494.139 [DDM] No Fault, FailCount= 1
2021-01-27T19:24:56.024Z,1611775496.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:24:56.717Z,1611775496.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:24:57.123Z,1611775497.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:24:57.961Z,1611775497.961 [Micromodem](INFO): Nmea in: $SNTTA,0.001585,,,,192458.12*49

2021-01-27T19:24:58.001Z,1611775498.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 141.110738 deg, deltaT: 4.378576 s, approachRate: 0.000000 m/s, LOS rate: -1.500872 deg/s, posRepo size: 4
2021-01-27T19:24:58.003Z,1611775498.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 141.110738 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.500872 deg/s,
      cmd update: -4.502614 deg/s,
      cmd heading: 270.130233 deg,
      new cmd heading: 269.891443 deg.

2021-01-27T19:24:58.357Z,1611775498.357 [DDM](INFO): Powering up
2021-01-27T19:24:58.358Z,1611775498.358 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:25:00.499Z,1611775500.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:01.186Z,1611775501.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:01.572Z,1611775501.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:02.405Z,1611775502.405 [Micromodem](INFO): Nmea in: $SNTTA,0.001582,,,,192502.59*4F

2021-01-27T19:25:02.549Z,1611775502.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 140.289791 deg, deltaT: 4.476543 s, approachRate: 0.000000 m/s, LOS rate: -0.183389 deg/s, posRepo size: 4
2021-01-27T19:25:02.551Z,1611775502.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 140.289791 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.183389 deg/s,
      cmd update: -0.550166 deg/s,
      cmd heading: 249.973299 deg,
      new cmd heading: 247.628747 deg.

2021-01-27T19:25:04.841Z,1611775504.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:05.606Z,1611775505.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:06.010Z,1611775506.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:06.841Z,1611775506.841 [Micromodem](INFO): Nmea in: $SNTTA,0.001594,,,,192507.00*41

2021-01-27T19:25:06.959Z,1611775506.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 145.962795 deg, deltaT: 4.449952 s, approachRate: 0.013483 m/s, LOS rate: 1.274846 deg/s, posRepo size: 4
2021-01-27T19:25:06.961Z,1611775506.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 145.962795 deg,
      approachRate: 0.013483 m/s,
      LOS rate: 1.274846 deg/s,
      cmd update: 3.824539 deg/s,
      cmd heading: 247.525074 deg,
      new cmd heading: 247.260488 deg.

2021-01-27T19:25:09.256Z,1611775509.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:10.049Z,1611775510.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:10.472Z,1611775510.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:11.281Z,1611775511.281 [Micromodem](INFO): Nmea in: $SNTTA,0.001590,,0.020926,,192511.45*52

2021-01-27T19:25:11.358Z,1611775511.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 152.548805 deg, deltaT: 4.430899 s, approachRate: 0.000000 m/s, LOS rate: 1.486382 deg/s, posRepo size: 4
2021-01-27T19:25:11.360Z,1611775511.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 152.548805 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.486382 deg/s,
      cmd update: 4.459147 deg/s,
      cmd heading: 264.439583 deg,
      new cmd heading: 266.181940 deg.

2021-01-27T19:25:13.440Z,1611775513.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:14.087Z,1611775514.087 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:25:14.218Z,1611775514.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:14.531Z,1611775514.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:14.544Z,1611775514.544 [Micromodem](ERROR): Buffer fill timout failure.
2021-01-27T19:25:14.997Z,1611775514.997 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B8A81160100000005D00000400320000000000000000151D80030C5669C010EAB3032DFE11CB406DBD14CE4957DBF2A4CE7D151F0E05B1E6E07D1DC93FE9787D
2021-01-27T19:25:14.998Z,1611775514.998 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 987AF72B2000
2021-01-27T19:25:14.998Z,1611775514.998 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-01-27T19:25:15.445Z,1611775515.445 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-01-27T19:25:15.580Z,1611775515.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 159.070024 deg, deltaT: 4.170671 s, approachRate: 0.000000 m/s, LOS rate: 1.563590 deg/s, posRepo size: 4
2021-01-27T19:25:15.582Z,1611775515.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 159.070024 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.563590 deg/s,
      cmd update: 4.690769 deg/s,
      cmd heading: 283.056058 deg,
      new cmd heading: 285.216693 deg.

2021-01-27T19:25:15.761Z,1611775515.761 [Micromodem](INFO): Nmea in: $CADRQ,192516,1,10,0,64,1*7E

2021-01-27T19:25:15.762Z,1611775515.762 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B8A81160100000005D00000400320000000000000000151D80030C5669C010EAB3032DFE11CB406DBD14CE4957DBF2A4CE7D151F0E05B1E6E07D1DC93FE9787D*3D

2021-01-27T19:25:16.187Z,1611775516.187 [Micromodem](INFO): Nmea in: $SNTTA,0.001620,,,,192515.62*4A

2021-01-27T19:25:16.187Z,1611775516.187 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.001620,,,,192515.62*4A

2021-01-27T19:25:17.401Z,1611775517.401 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-01-27T19:25:17.770Z,1611775517.770 [Micromodem](INFO): Nmea in: $CADRQ,192517,1,10,0,64,2*7C

2021-01-27T19:25:17.770Z,1611775517.770 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,987AF72B2000*3D

2021-01-27T19:25:17.843Z,1611775517.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:18.175Z,1611775518.175 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-01-27T19:25:18.582Z,1611775518.582 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-01-27T19:25:18.582Z,1611775518.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:20.670Z,1611775520.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:20.998Z,1611775520.998 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-01-27T19:25:20.998Z,1611775520.998 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-01-27T19:25:21.409Z,1611775521.409 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,192519.144942,3,0,200,4000,14500,1,1,10,1,2,2,3,70*48

2021-01-27T19:25:21.410Z,1611775521.410 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,192519.144942,3,0,200,4000,14500,1,1,10,1,2,2,3,70*48

2021-01-27T19:25:23.441Z,1611775523.441 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-01-27T19:25:23.467Z,1611775523.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:23.819Z,1611775523.819 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-01-27T19:25:23.821Z,1611775523.821 [Micromodem](INFO): Sent 62 bytes from file Logs/20210127T175400/Courier0016.lzma.parts
2021-01-27T19:25:23.821Z,1611775523.821 [Micromodem](INFO): Packets left to send: 0
2021-01-27T19:25:24.339Z,1611775524.339 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127192523.677944,06,14413,41,0374,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,24.4,9.00,21,-6.00,-01,0.16,40,14500,4000*60

2021-01-27T19:25:24.339Z,1611775524.339 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127192523.677944,06,14413,41,0374,0150,07,00,00,00,01,1,010,001,0,4,1,0,150,24.4,9.00,21,-6.00,-01,0.16,40,14500,4000*60

2021-01-27T19:25:24.443Z,1611775524.443 [lineCaptureDepth:MicromodemComms] Stopped
2021-01-27T19:25:24.444Z,1611775524.444 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-01-27T19:25:24.444Z,1611775524.444 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-01-27T19:25:24.444Z,1611775524.444 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-01-27T19:25:24.444Z,1611775524.444 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-01-27T19:25:26.453Z,1611775526.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:29.097Z,1611775529.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:29.885Z,1611775529.885 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:30.293Z,1611775530.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:31.138Z,1611775531.138 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,,,,192531.28*42

2021-01-27T19:25:31.161Z,1611775531.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 162.828691 deg, deltaT: 15.670504 s, approachRate: 0.000000 m/s, LOS rate: 0.239856 deg/s, posRepo size: 4
2021-01-27T19:25:31.164Z,1611775531.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 162.828691 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.239856 deg/s,
      cmd update: 0.719568 deg/s,
      cmd heading: 356.581735 deg,
      new cmd heading: 358.500199 deg.

2021-01-27T19:25:33.567Z,1611775533.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:34.362Z,1611775534.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:34.736Z,1611775534.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:35.573Z,1611775535.573 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,,,192535.76*4D

2021-01-27T19:25:35.617Z,1611775535.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 150.448003 deg, deltaT: 4.402202 s, approachRate: 0.000000 m/s, LOS rate: -2.812385 deg/s, posRepo size: 4
2021-01-27T19:25:35.619Z,1611775535.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 150.448003 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.812385 deg/s,
      cmd update: -8.437156 deg/s,
      cmd heading: 359.749404 deg,
      new cmd heading: 0.083577 deg.

2021-01-27T19:25:37.666Z,1611775537.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:38.470Z,1611775538.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:38.784Z,1611775538.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:39.690Z,1611775539.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 149.471655 deg, deltaT: 4.062787 s, approachRate: 0.014768 m/s, LOS rate: -0.240315 deg/s, posRepo size: 4
2021-01-27T19:25:39.697Z,1611775539.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 149.471655 deg,
      approachRate: 0.014768 m/s,
      LOS rate: -0.240315 deg/s,
      cmd update: -0.720945 deg/s,
      cmd heading: 325.507511 deg,
      new cmd heading: 321.461287 deg.

2021-01-27T19:25:39.989Z,1611775539.989 [Micromodem](INFO): Nmea in: $SNTTA,0.001619,,,,192539.87*45

2021-01-27T19:25:42.036Z,1611775542.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:42.820Z,1611775542.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:43.220Z,1611775543.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:44.061Z,1611775544.061 [Micromodem](INFO): Nmea in: $SNTTA,0.001634,,,,192544.22*4F

2021-01-27T19:25:44.086Z,1611775544.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 152.647379 deg, deltaT: 4.497970 s, approachRate: 0.000000 m/s, LOS rate: 0.706035 deg/s, posRepo size: 4
2021-01-27T19:25:44.089Z,1611775544.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 152.647379 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.706035 deg/s,
      cmd update: 2.118105 deg/s,
      cmd heading: 322.261756 deg,
      new cmd heading: 321.992554 deg.

2021-01-27T19:25:44.394Z,1611775544.394 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:25:44.394Z,1611775544.394 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:25:44.394Z,1611775544.394 [DDM](ERROR): Hardware Fault
2021-01-27T19:25:44.509Z,1611775544.509 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:25:44.797Z,1611775544.797 [DDM](INFO): Powering down
2021-01-27T19:25:45.752Z,1611775545.752 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:25:45.752Z,1611775545.752 [DDM] No Fault, FailCount= 1
2021-01-27T19:25:46.465Z,1611775546.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:47.227Z,1611775547.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:47.672Z,1611775547.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:48.457Z,1611775548.457 [Micromodem](INFO): Nmea in: $SNTTA,0.001638,,0.178596,,192548.62*51

2021-01-27T19:25:48.495Z,1611775548.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 154.997456 deg, deltaT: 4.360949 s, approachRate: -0.013759 m/s, LOS rate: 0.538891 deg/s, posRepo size: 4
2021-01-27T19:25:48.498Z,1611775548.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 154.997456 deg,
      approachRate: -0.013759 m/s,
      LOS rate: 0.538891 deg/s,
      cmd update: 1.616673 deg/s,
      cmd heading: 331.453472 deg,
      new cmd heading: 332.391256 deg.

2021-01-27T19:25:50.050Z,1611775550.050 [DDM](INFO): Powering up
2021-01-27T19:25:50.050Z,1611775550.050 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:25:50.895Z,1611775550.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:51.682Z,1611775551.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:52.080Z,1611775552.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:52.909Z,1611775552.909 [Micromodem](INFO): Nmea in: $SNTTA,0.001614,,,,192553.08*43

2021-01-27T19:25:52.939Z,1611775552.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 147.635878 deg, deltaT: 4.429207 s, approachRate: 0.000000 m/s, LOS rate: -1.662053 deg/s, posRepo size: 4
2021-01-27T19:25:52.965Z,1611775552.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 147.635878 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.662053 deg/s,
      cmd update: -4.986160 deg/s,
      cmd heading: 338.648954 deg,
      new cmd heading: 339.353080 deg.

2021-01-27T19:25:55.377Z,1611775555.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:25:56.118Z,1611775556.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:25:56.520Z,1611775556.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:25:56.928Z,1611775556.928 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T19:25:57.381Z,1611775557.381 [Micromodem](INFO): Nmea in: $SNTTA,0.001630,,,,192557.52*4E

2021-01-27T19:25:57.414Z,1611775557.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 141.738528 deg, deltaT: 4.475348 s, approachRate: 0.013407 m/s, LOS rate: -1.317741 deg/s, posRepo size: 4
2021-01-27T19:25:57.416Z,1611775557.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 141.738528 deg,
      approachRate: 0.013407 m/s,
      LOS rate: -1.317741 deg/s,
      cmd update: -3.953223 deg/s,
      cmd heading: 316.354213 deg,
      new cmd heading: 314.166012 deg.

2021-01-27T19:25:59.802Z,1611775559.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:00.562Z,1611775560.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:00.968Z,1611775560.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:01.789Z,1611775561.789 [Micromodem](INFO): Nmea in: $SNTTA,0.001616,,,,192601.96*42

2021-01-27T19:26:01.813Z,1611775561.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 138.763926 deg, deltaT: 4.523421 s, approachRate: -0.026529 m/s, LOS rate: -0.657600 deg/s, posRepo size: 4
2021-01-27T19:26:01.815Z,1611775561.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 138.763926 deg,
      approachRate: -0.026529 m/s,
      LOS rate: -0.657600 deg/s,
      cmd update: -1.972800 deg/s,
      cmd heading: 298.534981 deg,
      new cmd heading: 297.228295 deg.

2021-01-27T19:26:02.606Z,1611775562.606 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-01-27T19:26:03.013Z,1611775563.013 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-01-27T19:26:03.013Z,1611775563.013 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:26:03.013Z,1611775563.013 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-01-27T19:26:03.013Z,1611775563.013 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:26:03.013Z,1611775563.013 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-01-27T19:26:03.014Z,1611775563.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.339998 m 
2021-01-27T19:26:03.014Z,1611775563.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-01-27T19:26:03.014Z,1611775563.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-01-27T19:26:03.014Z,1611775563.014 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-01-27T19:26:03.444Z,1611775563.444 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T192603: (41.551998, -70.709610)
2021-01-27T19:26:03.444Z,1611775563.444 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-01-27T19:26:03.444Z,1611775563.444 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-01-27T19:26:03.444Z,1611775563.444 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:26:03.444Z,1611775563.444 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-01-27T19:26:03.444Z,1611775563.444 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-01-27T19:26:03.445Z,1611775563.445 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-01-27T19:26:03.445Z,1611775563.445 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-01-27T19:26:03.445Z,1611775563.445 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-01-27T19:26:04.221Z,1611775564.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:05.006Z,1611775565.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:05.412Z,1611775565.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:06.269Z,1611775566.269 [Micromodem](INFO): Nmea in: $SNTTA,0.001633,,,,192606.40*49

2021-01-27T19:26:06.292Z,1611775566.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 133.241650 deg, deltaT: 4.365694 s, approachRate: 0.013744 m/s, LOS rate: -1.264925 deg/s, posRepo size: 4
2021-01-27T19:26:06.336Z,1611775566.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 133.241650 deg,
      approachRate: 0.013744 m/s,
      LOS rate: -1.264925 deg/s,
      cmd update: -3.794775 deg/s,
      cmd heading: 289.891228 deg,
      new cmd heading: 289.048489 deg.

2021-01-27T19:26:08.744Z,1611775568.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:09.464Z,1611775569.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:09.863Z,1611775569.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:10.697Z,1611775570.697 [Micromodem](INFO): Nmea in: $SNTTA,0.001609,,,,192610.86*4D

2021-01-27T19:26:10.761Z,1611775570.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 127.971572 deg, deltaT: 4.462917 s, approachRate: 0.000000 m/s, LOS rate: -1.180860 deg/s, posRepo size: 4
2021-01-27T19:26:10.763Z,1611775570.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 127.971572 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.180860 deg/s,
      cmd update: -3.542579 deg/s,
      cmd heading: 273.044645 deg,
      new cmd heading: 271.323551 deg.

2021-01-27T19:26:13.116Z,1611775573.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:13.898Z,1611775573.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:14.334Z,1611775574.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:15.110Z,1611775575.110 [DDM](FAULT): failed to initialize; deviceResponse_ loaded: À!C pture 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
COVERY_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: 442
2021-01-27T19:26:15.110Z,1611775575.110 [DDM] Communications Fault, FailCount= 2
2021-01-27T19:26:15.110Z,1611775575.110 [DDM](ERROR): Communications Fault
2021-01-27T19:26:15.125Z,1611775575.125 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,,,192615.30*4E

2021-01-27T19:26:15.204Z,1611775575.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 128.200246 deg, deltaT: 4.422609 s, approachRate: -0.013567 m/s, LOS rate: 0.051706 deg/s, posRepo size: 4
2021-01-27T19:26:15.206Z,1611775575.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 128.200246 deg,
      approachRate: -0.013567 m/s,
      LOS rate: 0.051706 deg/s,
      cmd update: 0.155118 deg/s,
      cmd heading: 257.309750 deg,
      new cmd heading: 255.726437 deg.

2021-01-27T19:26:15.331Z,1611775575.331 [CBIT](ERROR): Communications Fault in component: DDM
2021-01-27T19:26:15.512Z,1611775575.512 [DDM](INFO): Powering down
2021-01-27T19:26:16.480Z,1611775576.480 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:26:16.480Z,1611775576.480 [DDM] No Fault, FailCount= 2
2021-01-27T19:26:17.585Z,1611775577.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:18.353Z,1611775578.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:18.743Z,1611775578.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:19.577Z,1611775579.577 [Micromodem](INFO): Nmea in: $SNTTA,0.001646,,0.005489,,192619.75*5D

2021-01-27T19:26:19.620Z,1611775579.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 130.411233 deg, deltaT: 4.406931 s, approachRate: 0.013615 m/s, LOS rate: 0.501707 deg/s, posRepo size: 4
2021-01-27T19:26:19.622Z,1611775579.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 130.411233 deg,
      approachRate: 0.013615 m/s,
      LOS rate: 0.501707 deg/s,
      cmd update: 1.505120 deg/s,
      cmd heading: 257.994680 deg,
      new cmd heading: 258.065962 deg.

2021-01-27T19:26:20.754Z,1611775580.754 [DDM](INFO): Powering up
2021-01-27T19:26:20.754Z,1611775580.754 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:26:21.676Z,1611775581.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:22.373Z,1611775582.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:22.786Z,1611775582.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:23.621Z,1611775583.621 [Micromodem](INFO): Nmea in: $SNTTA,0.001574,,,,192623.77*4A

2021-01-27T19:26:23.703Z,1611775583.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 127.429227 deg, deltaT: 4.051255 s, approachRate: -0.014810 m/s, LOS rate: -0.736070 deg/s, posRepo size: 4
2021-01-27T19:26:23.705Z,1611775583.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 127.429227 deg,
      approachRate: -0.014810 m/s,
      LOS rate: -0.736070 deg/s,
      cmd update: -2.208209 deg/s,
      cmd heading: 264.086229 deg,
      new cmd heading: 264.831509 deg.

2021-01-27T19:26:26.054Z,1611775586.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:26.824Z,1611775586.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:27.223Z,1611775587.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:28.071Z,1611775588.071 [Micromodem](INFO): Nmea in: $SNTTA,0.001600,0.003637,,,192628.22*5E

2021-01-27T19:26:28.092Z,1611775588.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 138.255938 deg, deltaT: 4.504017 s, approachRate: 0.026643 m/s, LOS rate: 2.403790 deg/s, posRepo size: 4
2021-01-27T19:26:28.094Z,1611775588.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 138.255938 deg,
      approachRate: 0.026643 m/s,
      LOS rate: 2.403790 deg/s,
      cmd update: 7.211370 deg/s,
      cmd heading: 254.167493 deg,
      new cmd heading: 253.300506 deg.

2021-01-27T19:26:30.514Z,1611775590.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:31.272Z,1611775591.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:31.689Z,1611775591.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:32.501Z,1611775592.501 [Micromodem](INFO): Nmea in: $SNTTA,0.001655,,,,192632.67*4B

2021-01-27T19:26:32.545Z,1611775592.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 145.617994 deg, deltaT: 4.372315 s, approachRate: 0.000000 m/s, LOS rate: 1.683789 deg/s, posRepo size: 4
2021-01-27T19:26:32.547Z,1611775592.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 145.617994 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.683789 deg/s,
      cmd update: 5.051367 deg/s,
      cmd heading: 285.815520 deg,
      new cmd heading: 289.110006 deg.

2021-01-27T19:26:34.935Z,1611775594.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:35.705Z,1611775595.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:36.118Z,1611775596.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:36.510Z,1611775596.510 [DDM](INFO): Dynamic Docking Module:!Capture Rev 1.1
2021-01-27T19:26:36.981Z,1611775596.981 [Micromodem](INFO): Nmea in: $SNTTA,0.001592,,,,192637.10*46

2021-01-27T19:26:37.003Z,1611775597.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 141.064006 deg, deltaT: 4.625091 s, approachRate: -0.025946 m/s, LOS rate: -0.984627 deg/s, posRepo size: 4
2021-01-27T19:26:37.006Z,1611775597.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 141.064006 deg,
      approachRate: -0.025946 m/s,
      LOS rate: -0.984627 deg/s,
      cmd update: -2.953880 deg/s,
      cmd heading: 309.170996 deg,
      new cmd heading: 310.645945 deg.

2021-01-27T19:26:39.407Z,1611775599.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:40.182Z,1611775600.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:40.588Z,1611775600.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:41.433Z,1611775601.433 [Micromodem](INFO): Nmea in: $SNTTA,0.001600,0.029600,,,192641.58*50

2021-01-27T19:26:41.458Z,1611775601.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 148.176911 deg, deltaT: 4.314764 s, approachRate: 0.013906 m/s, LOS rate: 1.648504 deg/s, posRepo size: 4
2021-01-27T19:26:41.460Z,1611775601.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 148.176911 deg,
      approachRate: 0.013906 m/s,
      LOS rate: 1.648504 deg/s,
      cmd update: 4.945511 deg/s,
      cmd heading: 296.421386 deg,
      new cmd heading: 295.151773 deg.

2021-01-27T19:26:43.854Z,1611775603.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:44.633Z,1611775604.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:45.032Z,1611775605.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:45.877Z,1611775605.877 [Micromodem](INFO): Nmea in: $SNTTA,0.001607,,,,192646.03*4D

2021-01-27T19:26:45.901Z,1611775605.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 147.800308 deg, deltaT: 4.437794 s, approachRate: 0.000000 m/s, LOS rate: -0.084863 deg/s, posRepo size: 4
2021-01-27T19:26:45.903Z,1611775605.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 147.800308 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.084863 deg/s,
      cmd update: -0.254588 deg/s,
      cmd heading: 318.368600 deg,
      new cmd heading: 320.519927 deg.

2021-01-27T19:26:48.296Z,1611775608.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:49.075Z,1611775609.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:49.476Z,1611775609.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:50.333Z,1611775610.333 [Micromodem](INFO): Nmea in: $SNTTA,0.001603,,,,192650.47*4E

2021-01-27T19:26:50.382Z,1611775610.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 147.938687 deg, deltaT: 4.460612 s, approachRate: 0.013451 m/s, LOS rate: 0.031023 deg/s, posRepo size: 4
2021-01-27T19:26:50.384Z,1611775610.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 147.938687 deg,
      approachRate: 0.013451 m/s,
      LOS rate: 0.031023 deg/s,
      cmd update: 0.093068 deg/s,
      cmd heading: 317.233999 deg,
      new cmd heading: 317.116994 deg.

2021-01-27T19:26:52.762Z,1611775612.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:53.510Z,1611775613.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:53.936Z,1611775613.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:54.363Z,1611775614.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:26:54.769Z,1611775614.769 [Micromodem](INFO): Nmea in: $SNTTA,0.001583,,,,192654.91*4A

2021-01-27T19:26:54.793Z,1611775614.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 147.940805 deg, deltaT: 4.450422 s, approachRate: -0.013482 m/s, LOS rate: 0.000476 deg/s, posRepo size: 4
2021-01-27T19:26:54.795Z,1611775614.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 147.940805 deg,
      approachRate: -0.013482 m/s,
      LOS rate: 0.000476 deg/s,
      cmd update: 0.001427 deg/s,
      cmd heading: 317.648561 deg,
      new cmd heading: 317.687279 deg.

2021-01-27T19:26:57.170Z,1611775617.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:26:57.966Z,1611775617.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:26:58.384Z,1611775618.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:26:59.197Z,1611775619.197 [Micromodem](INFO): Nmea in: $SNTTA,0.001623,,,,192659.36*43

2021-01-27T19:26:59.219Z,1611775619.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 154.676601 deg, deltaT: 4.421222 s, approachRate: 0.000000 m/s, LOS rate: 1.523515 deg/s, posRepo size: 4
2021-01-27T19:26:59.222Z,1611775619.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 154.676601 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.523515 deg/s,
      cmd update: 4.570544 deg/s,
      cmd heading: 317.654871 deg,
      new cmd heading: 317.655473 deg.

2021-01-27T19:27:01.677Z,1611775621.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:02.406Z,1611775622.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:02.816Z,1611775622.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:03.657Z,1611775623.657 [Micromodem](INFO): Nmea in: $SNTTA,0.001589,,,,192703.80*43

2021-01-27T19:27:03.713Z,1611775623.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 151.762842 deg, deltaT: 4.451853 s, approachRate: 0.000000 m/s, LOS rate: -0.654505 deg/s, posRepo size: 4
2021-01-27T19:27:03.715Z,1611775623.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 151.762842 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.654505 deg/s,
      cmd update: -1.963514 deg/s,
      cmd heading: 337.984087 deg,
      new cmd heading: 340.121442 deg.

2021-01-27T19:27:05.759Z,1611775625.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:06.442Z,1611775626.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:06.809Z,1611775626.809 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:27:06.810Z,1611775626.810 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:27:06.810Z,1611775626.810 [DDM](ERROR): Hardware Fault
2021-01-27T19:27:06.839Z,1611775626.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:06.936Z,1611775626.936 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:27:07.219Z,1611775627.219 [DDM](INFO): Powering down
2021-01-27T19:27:07.669Z,1611775627.669 [Micromodem](INFO): Nmea in: $SNTTA,0.001568,,,,192707.84*4C

2021-01-27T19:27:07.748Z,1611775627.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.339998 m, bearing: 146.022491 deg, deltaT: 4.114357 s, approachRate: -0.014583 m/s, LOS rate: -1.395200 deg/s, posRepo size: 4
2021-01-27T19:27:07.750Z,1611775627.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 146.022491 deg,
      approachRate: -0.014583 m/s,
      LOS rate: -1.395200 deg/s,
      cmd update: -4.185600 deg/s,
      cmd heading: 329.905599 deg,
      new cmd heading: 329.160270 deg.

2021-01-27T19:27:08.104Z,1611775628.104 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:27:08.104Z,1611775628.104 [DDM] No Fault, FailCount= 1
2021-01-27T19:27:10.062Z,1611775630.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:10.859Z,1611775630.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:11.319Z,1611775631.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:12.093Z,1611775632.093 [Micromodem](INFO): Nmea in: $SNTTA,0.001615,0.006304,,0.053815,192712.26*42

2021-01-27T19:27:12.143Z,1611775632.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 152.443702 deg, deltaT: 4.351824 s, approachRate: 0.027575 m/s, LOS rate: 1.475522 deg/s, posRepo size: 4
2021-01-27T19:27:12.154Z,1611775632.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 152.443702 deg,
      approachRate: 0.027575 m/s,
      LOS rate: 1.475522 deg/s,
      cmd update: 4.426565 deg/s,
      cmd heading: 311.690451 deg,
      new cmd heading: 309.884109 deg.

2021-01-27T19:27:12.465Z,1611775632.465 [DDM](INFO): Powering up
2021-01-27T19:27:12.466Z,1611775632.466 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:27:14.531Z,1611775634.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:15.310Z,1611775635.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:15.708Z,1611775635.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:16.541Z,1611775636.541 [Micromodem](INFO): Nmea in: $SNTTA,0.001591,,,,192716.71*40

2021-01-27T19:27:16.566Z,1611775636.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 150.946511 deg, deltaT: 4.416492 s, approachRate: -0.013586 m/s, LOS rate: -0.339000 deg/s, posRepo size: 4
2021-01-27T19:27:16.568Z,1611775636.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 150.946511 deg,
      approachRate: -0.013586 m/s,
      LOS rate: -0.339000 deg/s,
      cmd update: -1.017000 deg/s,
      cmd heading: 331.258056 deg,
      new cmd heading: 333.176388 deg.

2021-01-27T19:27:18.959Z,1611775638.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:19.741Z,1611775639.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:20.148Z,1611775640.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:20.981Z,1611775640.981 [Micromodem](INFO): Nmea in: $SNTTA,0.001621,,,,192721.14*4F

2021-01-27T19:27:21.008Z,1611775641.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 155.108706 deg, deltaT: 4.442832 s, approachRate: 0.000000 m/s, LOS rate: 0.936834 deg/s, posRepo size: 4
2021-01-27T19:27:21.010Z,1611775641.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 155.108706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.936834 deg/s,
      cmd update: 2.810501 deg/s,
      cmd heading: 326.739852 deg,
      new cmd heading: 326.299320 deg.

2021-01-27T19:27:23.403Z,1611775643.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:24.190Z,1611775644.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:24.597Z,1611775644.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:25.425Z,1611775645.425 [Micromodem](INFO): Nmea in: $SNTTA,0.001595,,,,192725.59*4E

2021-01-27T19:27:25.449Z,1611775645.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 149.568971 deg, deltaT: 4.442441 s, approachRate: 0.000000 m/s, LOS rate: -1.247002 deg/s, posRepo size: 4
2021-01-27T19:27:25.451Z,1611775645.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 149.568971 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.247002 deg/s,
      cmd update: -3.741007 deg/s,
      cmd heading: 339.225837 deg,
      new cmd heading: 340.439246 deg.

2021-01-27T19:27:27.861Z,1611775647.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:28.222Z,1611775648.222 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:27:28.678Z,1611775648.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:29.072Z,1611775649.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:29.901Z,1611775649.901 [Micromodem](INFO): Nmea in: $SNTTA,0.001624,,,,192730.08*47

2021-01-27T19:27:29.936Z,1611775649.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.459999 m, bearing: 154.647463 deg, deltaT: 4.497067 s, approachRate: 0.013342 m/s, LOS rate: 1.129290 deg/s, posRepo size: 4
2021-01-27T19:27:29.938Z,1611775649.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.459999 m,
      bearing: 154.647463 deg,
      approachRate: 0.013342 m/s,
      LOS rate: 1.129290 deg/s,
      cmd update: 3.387869 deg/s,
      cmd heading: 322.417510 deg,
      new cmd heading: 320.827395 deg.

2021-01-27T19:27:32.370Z,1611775652.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:33.113Z,1611775653.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:33.504Z,1611775653.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:34.368Z,1611775654.368 [Micromodem](INFO): Nmea in: $SNTTA,0.001587,,0.137318,,192734.51*54

2021-01-27T19:27:34.413Z,1611775654.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 146.808428 deg, deltaT: 4.436085 s, approachRate: -0.013526 m/s, LOS rate: -1.767107 deg/s, posRepo size: 4
2021-01-27T19:27:34.415Z,1611775654.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 146.808428 deg,
      approachRate: -0.013526 m/s,
      LOS rate: -1.767107 deg/s,
      cmd update: -5.301320 deg/s,
      cmd heading: 337.460005 deg,
      new cmd heading: 338.957768 deg.

2021-01-27T19:27:36.785Z,1611775656.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:37.550Z,1611775657.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:37.965Z,1611775657.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:38.785Z,1611775658.785 [Micromodem](INFO): Nmea in: $SNTTA,0.001640,,,,192738.95*49

2021-01-27T19:27:38.829Z,1611775658.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 151.745971 deg, deltaT: 4.469382 s, approachRate: 0.000000 m/s, LOS rate: 1.104749 deg/s, posRepo size: 4
2021-01-27T19:27:38.830Z,1611775658.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 151.745971 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.104749 deg/s,
      cmd update: 3.314246 deg/s,
      cmd heading: 313.766454 deg,
      new cmd heading: 311.623899 deg.

2021-01-27T19:27:41.221Z,1611775661.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:41.998Z,1611775661.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:42.408Z,1611775662.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:43.245Z,1611775663.245 [Micromodem](INFO): Nmea in: $SNTTA,0.001594,,,0.021666,192743.40*5C

2021-01-27T19:27:43.267Z,1611775663.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 148.243286 deg, deltaT: 4.432573 s, approachRate: 0.000000 m/s, LOS rate: -0.790215 deg/s, posRepo size: 4
2021-01-27T19:27:43.269Z,1611775663.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 148.243286 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.790215 deg/s,
      cmd update: -2.370644 deg/s,
      cmd heading: 328.456445 deg,
      new cmd heading: 329.830605 deg.

2021-01-27T19:27:45.713Z,1611775665.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:46.442Z,1611775666.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:46.461Z,1611775666.461 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:27:46.865Z,1611775666.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:47.705Z,1611775667.705 [Micromodem](INFO): Nmea in: $SNTTA,0.001595,,,,192747.84*4A

2021-01-27T19:27:47.768Z,1611775667.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 141.934090 deg, deltaT: 4.407609 s, approachRate: 0.000000 m/s, LOS rate: -1.431433 deg/s, posRepo size: 4
2021-01-27T19:27:47.770Z,1611775667.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 141.934090 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.431433 deg/s,
      cmd update: -4.294298 deg/s,
      cmd heading: 318.007531 deg,
      new cmd heading: 316.870748 deg.

2021-01-27T19:27:50.125Z,1611775670.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:50.886Z,1611775670.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:51.341Z,1611775671.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:52.138Z,1611775672.138 [Micromodem](INFO): Nmea in: $SNTTA,0.001583,,,,192752.28*4F

2021-01-27T19:27:52.177Z,1611775672.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 142.803450 deg, deltaT: 4.482719 s, approachRate: 0.000000 m/s, LOS rate: 0.193936 deg/s, posRepo size: 4
2021-01-27T19:27:52.179Z,1611775672.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 142.803450 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.193936 deg/s,
      cmd update: 0.581808 deg/s,
      cmd heading: 298.756664 deg,
      new cmd heading: 296.910095 deg.

2021-01-27T19:27:54.536Z,1611775674.536 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:27:54.551Z,1611775674.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:55.358Z,1611775675.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:55.732Z,1611775675.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:27:56.565Z,1611775676.565 [Micromodem](INFO): Nmea in: $SNTTA,0.001579,,,,192756.76*45

2021-01-27T19:27:56.570Z,1611775676.570 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:27:56.607Z,1611775676.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 143.751126 deg, deltaT: 4.416094 s, approachRate: 0.000000 m/s, LOS rate: 0.214596 deg/s, posRepo size: 4
2021-01-27T19:27:56.620Z,1611775676.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 143.751126 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.214596 deg/s,
      cmd update: 0.643787 deg/s,
      cmd heading: 301.325989 deg,
      new cmd heading: 301.586474 deg.

2021-01-27T19:27:58.536Z,1611775678.536 [DDM](FAULT): Failed to close latch before timeout.
2021-01-27T19:27:58.537Z,1611775678.537 [DDM] Hardware Fault, FailCount= 1
2021-01-27T19:27:58.537Z,1611775678.537 [DDM](ERROR): Hardware Fault
2021-01-27T19:27:58.727Z,1611775678.727 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:27:58.925Z,1611775678.925 [DDM](INFO): Powering down
2021-01-27T19:27:59.027Z,1611775679.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:27:59.742Z,1611775679.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:27:59.971Z,1611775679.971 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:27:59.971Z,1611775679.971 [DDM] No Fault, FailCount= 1
2021-01-27T19:28:00.166Z,1611775680.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:00.969Z,1611775680.969 [Micromodem](INFO): Nmea in: $SNTTA,0.001618,,,0.041698,192801.14*54

2021-01-27T19:28:01.007Z,1611775681.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 155.627609 deg, deltaT: 4.448988 s, approachRate: 0.000000 m/s, LOS rate: 2.669480 deg/s, posRepo size: 4
2021-01-27T19:28:01.010Z,1611775681.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 155.627609 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.669480 deg/s,
      cmd update: 8.008439 deg/s,
      cmd heading: 304.182838 deg,
      new cmd heading: 304.447161 deg.

2021-01-27T19:28:03.413Z,1611775683.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:28:04.183Z,1611775684.183 [DDM](INFO): Powering up
2021-01-27T19:28:04.183Z,1611775684.183 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:28:04.206Z,1611775684.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:28:04.604Z,1611775684.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:05.425Z,1611775685.425 [Micromodem](INFO): Nmea in: $SNTTA,0.001598,,,,192805.60*44

2021-01-27T19:28:05.469Z,1611775685.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.399999 m, bearing: 156.245987 deg, deltaT: 4.400513 s, approachRate: 0.000000 m/s, LOS rate: 0.140524 deg/s, posRepo size: 4
2021-01-27T19:28:05.471Z,1611775685.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.399999 m,
      bearing: 156.245987 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.140524 deg/s,
      cmd update: 0.421572 deg/s,
      cmd heading: 339.515737 deg,
      new cmd heading: 343.204600 deg.

2021-01-27T19:28:06.655Z,1611775686.655 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-01-27T19:28:07.843Z,1611775687.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-01-27T19:28:08.657Z,1611775688.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:28:09.036Z,1611775689.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:09.457Z,1611775689.457 [lineCaptureDepth](INFO): Timed out from 2021-01-27T17:58:09.2Z
2021-01-27T19:28:09.457Z,1611775689.457 [MissionManager](INFO): lineCaptureDepth is completed.
2021-01-27T19:28:09.458Z,1611775689.458 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science:B] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science:C] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-01-27T19:28:09.458Z,1611775689.458 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:J.] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:LineCapture] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-01-27T19:28:09.459Z,1611775689.459 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:G] Stopped
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:H] Stopped
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-01-27T19:28:09.460Z,1611775689.460 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-01-27T19:28:09.461Z,1611775689.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:Lap] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:Lap:B] Stopped
2021-01-27T19:28:09.462Z,1611775689.462 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-01-27T19:28:09.845Z,1611775689.845 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-01-27T19:28:09.864Z,1611775689.864 [Micromodem](INFO): Nmea in: $SNTTA,0.001628,,,,192810.06*48

2021-01-27T19:28:09.885Z,1611775689.885 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-01-27T19:28:09.885Z,1611775689.885 [DefaultWithUndock] Running Loop=1
2021-01-27T19:28:09.885Z,1611775689.885 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-01-27T19:28:09.886Z,1611775689.886 [DefaultWithUndock:A.Wait] Running Loop=1
2021-01-27T19:28:09.886Z,1611775689.886 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-01-27T19:28:19.937Z,1611775699.937 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:28:31.743Z,1611775711.743 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:28:36.567Z,1611775716.567 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:28:40.208Z,1611775720.208 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-01-27T19:28:40.208Z,1611775720.208 [DefaultWithUndock:A.Wait] Stopped
2021-01-27T19:28:40.208Z,1611775720.208 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-01-27T19:28:40.209Z,1611775720.209 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-01-27T19:28:41.002Z,1611775721.002 [PowerOnly](INFO): Powering up loadControl
2021-01-27T19:28:41.439Z,1611775721.439 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-01-27T19:28:43.038Z,1611775723.038 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:28:43.843Z,1611775723.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:28:44.232Z,1611775724.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:45.065Z,1611775725.065 [Micromodem](INFO): Nmea in: $SNTTA,0.002478,,,,192845.24*4C

2021-01-27T19:28:47.499Z,1611775727.499 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:28:48.279Z,1611775728.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:28:48.688Z,1611775728.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:49.501Z,1611775729.501 [Micromodem](INFO): Nmea in: $SNTTA,0.002620,,,0.011995,192849.68*5C

2021-01-27T19:28:51.043Z,1611775731.043 [DDM](FAULT): Failed to retract whisker before timeout in Pausing.
2021-01-27T19:28:51.043Z,1611775731.043 [DDM] Hardware Fault, FailCount= 2
2021-01-27T19:28:51.043Z,1611775731.043 [DDM](ERROR): Hardware Fault
2021-01-27T19:28:51.177Z,1611775731.177 [CBIT](ERROR): Hardware Fault in component: DDM
2021-01-27T19:28:51.445Z,1611775731.445 [DDM](INFO): Powering down
2021-01-27T19:28:51.887Z,1611775731.887 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:28:52.408Z,1611775732.408 [CBIT](INFO): Clearing failed state for component DDM
2021-01-27T19:28:52.408Z,1611775732.408 [DDM] No Fault, FailCount= 2
2021-01-27T19:28:52.674Z,1611775732.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:28:53.068Z,1611775733.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:53.900Z,1611775733.900 [Micromodem](INFO): Nmea in: $SNTTA,0.002592,,,,192854.07*48

2021-01-27T19:28:56.337Z,1611775736.337 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:28:56.698Z,1611775736.698 [DDM](INFO): Powering up
2021-01-27T19:28:56.698Z,1611775736.698 [DDM](DEBUG): Initializing DDM.
2021-01-27T19:28:57.105Z,1611775737.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:28:57.516Z,1611775737.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:28:58.357Z,1611775738.357 [Micromodem](INFO): Nmea in: $SNTTA,0.002752,0.008458,,,192858.50*57

2021-01-27T19:29:00.770Z,1611775740.770 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:01.554Z,1611775741.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:01.956Z,1611775741.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:02.849Z,1611775742.849 [Micromodem](INFO): Nmea in: $SNTTA,0.002895,,0.015720,,192902.95*54

2021-01-27T19:29:05.197Z,1611775745.197 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:05.993Z,1611775745.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:06.403Z,1611775746.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:07.230Z,1611775747.230 [Micromodem](INFO): Nmea in: $SNTTA,0.003113,,,,192907.39*4E

2021-01-27T19:29:09.707Z,1611775749.707 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:10.442Z,1611775750.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:10.845Z,1611775750.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:11.697Z,1611775751.697 [Micromodem](INFO): Nmea in: $SNTTA,0.003386,,,,192911.84*41

2021-01-27T19:29:12.456Z,1611775752.456 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-01-27T19:29:14.141Z,1611775754.141 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:14.938Z,1611775754.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:15.348Z,1611775755.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:16.161Z,1611775756.161 [Micromodem](INFO): Nmea in: $SNTTA,0.003655,,,,192916.34*46

2021-01-27T19:29:18.599Z,1611775758.599 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:19.401Z,1611775759.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:19.788Z,1611775759.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:20.606Z,1611775760.606 [Micromodem](INFO): Nmea in: $SNTTA,0.003835,,,,192920.80*44

2021-01-27T19:29:23.029Z,1611775763.029 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:23.834Z,1611775763.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:24.297Z,1611775764.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:25.057Z,1611775765.057 [Micromodem](INFO): Nmea in: $SNTTA,0.004046,,,0.012251,192925.23*58

2021-01-27T19:29:27.475Z,1611775767.475 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:28.251Z,1611775768.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:28.679Z,1611775768.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:29.481Z,1611775769.481 [Micromodem](INFO): Nmea in: $SNTTA,0.004371,,,0.048327,192929.65*5E

2021-01-27T19:29:30.352Z,1611775770.352 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-01-27T19:29:30.723Z,1611775770.723 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-01-27T19:29:31.911Z,1611775771.911 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:32.714Z,1611775772.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:33.100Z,1611775773.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:33.925Z,1611775773.925 [Micromodem](INFO): Nmea in: $SNTTA,0.004506,,,,192934.11*43

2021-01-27T19:29:36.366Z,1611775776.366 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:37.134Z,1611775777.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:37.549Z,1611775777.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:38.393Z,1611775778.393 [Micromodem](INFO): Nmea in: $SNTTA,0.004793,,,,192938.53*47

2021-01-27T19:29:40.798Z,1611775780.798 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-01-27T19:29:40.798Z,1611775780.798 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:41.578Z,1611775781.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:41.989Z,1611775781.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:42.825Z,1611775782.825 [Micromodem](INFO): Nmea in: $SNTTA,0.005455,,,,192942.98*45

2021-01-27T19:29:45.226Z,1611775785.226 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:46.022Z,1611775786.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:46.444Z,1611775786.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:47.257Z,1611775787.257 [Micromodem](INFO): Nmea in: $SNTTA,0.006217,,,,192947.42*44

2021-01-27T19:29:49.716Z,1611775789.716 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:50.471Z,1611775790.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:50.872Z,1611775790.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:51.733Z,1611775791.733 [Micromodem](INFO): Nmea in: $SNTTA,0.006825,,,,192951.87*41

2021-01-27T19:29:51.792Z,1611775791.792 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-01-27T19:29:54.127Z,1611775794.127 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:54.907Z,1611775794.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:55.335Z,1611775795.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:29:56.153Z,1611775796.153 [Micromodem](INFO): Nmea in: $SNTTA,0.007369,,,,192956.31*49

2021-01-27T19:29:58.575Z,1611775798.575 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:29:59.374Z,1611775799.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:29:59.760Z,1611775799.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:00.589Z,1611775800.589 [Micromodem](INFO): Nmea in: $SNTTA,0.007884,,,,193000.77*48

2021-01-27T19:30:03.028Z,1611775803.028 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:30:03.798Z,1611775803.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:30:04.211Z,1611775804.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:05.025Z,1611775805.025 [Micromodem](INFO): Nmea in: $SNTTA,0.008392,0.015260,,,193005.20*52

2021-01-27T19:30:07.463Z,1611775807.463 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:30:08.242Z,1611775808.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:30:08.673Z,1611775808.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:09.477Z,1611775809.477 [Micromodem](INFO): Nmea in: $SNTTA,0.008973,,,,193009.64*45

2021-01-27T19:30:11.908Z,1611775811.908 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 13.26 m. Transitioning DDM to standby.
2021-01-27T19:30:11.909Z,1611775811.909 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:30:12.288Z,1611775812.288 [PowerOnly](INFO): Powering down loadControl
2021-01-27T19:30:12.709Z,1611775812.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:30:13.099Z,1611775813.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:13.914Z,1611775813.914 [Micromodem](INFO): Nmea in: $SNTTA,0.009537,,,,193014.11*46

2021-01-27T19:30:16.364Z,1611775816.364 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:30:17.134Z,1611775817.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:30:17.536Z,1611775817.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:18.385Z,1611775818.385 [Micromodem](INFO): Nmea in: $SNTTA,0.010024,,,,193018.53*43

2021-01-27T19:30:20.794Z,1611775820.794 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:30:21.574Z,1611775821.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:30:21.989Z,1611775821.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:22.817Z,1611775822.817 [Micromodem](INFO): Nmea in: $SNTTA,0.010547,,,,193022.97*42

2021-01-27T19:30:25.229Z,1611775825.229 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-01-27T19:30:25.707Z,1611775825.707 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-01-27T19:30:26.030Z,1611775826.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-01-27T19:30:26.102Z,1611775826.102 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-01-27T19:30:26.102Z,1611775826.102 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-01-27T19:30:26.103Z,1611775826.103 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-01-27T19:30:26.103Z,1611775826.103 [DefaultWithUndock:LeaveDock] Stopped
2021-01-27T19:30:26.104Z,1611775826.104 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-01-27T19:30:26.108Z,1611775826.108 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-01-27T19:30:26.108Z,1611775826.108 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-01-27T19:30:26.109Z,1611775826.109 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-01-27T19:30:26.109Z,1611775826.109 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-01-27T19:30:26.109Z,1611775826.109 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-01-27T19:30:26.109Z,1611775826.109 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-01-27T19:30:26.109Z,1611775826.109 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-01-27T19:30:26.110Z,1611775826.110 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-01-27T19:30:26.110Z,1611775826.110 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-01-27T19:30:26.110Z,1611775826.110 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-01-27T19:30:26.111Z,1611775826.111 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-01-27T19:30:26.111Z,1611775826.111 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-01-27T19:30:26.117Z,1611775826.117 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-01-27T19:30:26.117Z,1611775826.117 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-01-27T19:30:26.390Z,1611775826.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-01-27T19:30:26.484Z,1611775826.484 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-01-27T19:30:26.484Z,1611775826.484 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-01-27T19:30:26.485Z,1611775826.485 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-01-27T19:30:26.486Z,1611775826.486 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2021-01-27T19:30:26.853Z,1611775826.853 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators).
2021-01-27T19:30:27.068Z,1611775827.068 [Radio_Surface](INFO): Powering up
2021-01-27T19:30:27.218Z,1611775827.218 [Micromodem](INFO): Nmea in: $SNTTA,0.010927,0.019389,,,193027.43*50

2021-01-27T19:30:32.860Z,1611775832.860 [DataOverHttps](INFO): Radio surface powered ON.
2021-01-27T19:31:03.012Z,1611775863.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T19:31:38.160Z,1611775898.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T19:32:12.737Z,1611775932.737 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -1.13
2021-01-27T19:32:13.309Z,1611775933.309 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T19:32:48.448Z,1611775968.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-01-27T19:32:58.779Z,1611775978.779 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-01-27T19:32:59.134Z,1611775979.134 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-01-27T19:33:00.352Z,1611775980.352 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-01-27T19:33:00.352Z,1611775980.352 [NAL9602] Data Fault, FailCount= 1
2021-01-27T19:33:00.353Z,1611775980.353 [NAL9602](ERROR): Data Fault
2021-01-27T19:33:00.522Z,1611775980.522 [CBIT](ERROR): Data Fault in component: NAL9602
2021-01-27T19:33:00.758Z,1611775980.758 [NAL9602](INFO): Powering down
2021-01-27T19:33:01.782Z,1611775981.782 [CBIT](INFO): Clearing failed state for component NAL9602
2021-01-27T19:33:01.782Z,1611775981.782 [NAL9602] No Fault, FailCount= 1
2021-01-27T19:33:21.755Z,1611776001.755 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-01-27T19:33:23.588Z,1611776003.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-01-27T19:33:31.016Z,1611776011.016 [NAL9602](INFO): Powering up NAL9602
2021-01-27T19:33:41.925Z,1611776021.925 [NAL9602](INFO): NAL9602 initialized
2021-01-27T19:33:52.708Z,1611776032.708 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003337
2021-01-27T19:34:02.948Z,1611776042.948 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-01-27T19:34:11.830Z,1611776051.830 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T19:34:18.695Z,1611776058.695 [NAL9602](INFO): SBD MO Status=0, MOMSN=13142, MT Status=0, MTMSN=0
2021-01-27T19:34:18.696Z,1611776058.696 [NAL9602](INFO): No messages in MT queue
2021-01-27T19:34:31.713Z,1611776071.713 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-01-27T19:35:26.991Z,1611776126.991 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-01-27T19:37:58.944Z,1611776278.944 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](INFO): Timed out from 2021-01-27T19:32:58.8Z
2021-01-27T19:37:58.944Z,1611776278.944 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-01-27T19:37:58.945Z,1611776278.945 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-01-27T19:37:59.367Z,1611776279.367 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-01-27T19:38:02.731Z,1611776282.731 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T175400/Courier0019.lzma
2021-01-27T19:38:03.734Z,1611776283.734 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Courier0019.lzma.bak
2021-01-27T19:38:03.734Z,1611776283.734 [DataOverHttps](INFO): SBD MOMSN=68975
2021-01-27T19:38:12.772Z,1611776292.772 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T175400/Courier0022.lzma
2021-01-27T19:38:13.774Z,1611776293.774 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Courier0022.lzma.bak
2021-01-27T19:38:13.774Z,1611776293.774 [DataOverHttps](INFO): SBD MOMSN=68977
2021-01-27T19:38:23.126Z,1611776303.126 [DataOverHttps](INFO): Sending 810 bytes from file Logs/20210127T175400/Express0001.lzma
2021-01-27T19:38:23.826Z,1611776303.826 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0001.lzma.bak
2021-01-27T19:38:23.826Z,1611776303.826 [DataOverHttps](INFO): SBD MOMSN=68979
2021-01-27T19:38:31.230Z,1611776311.230 [NAL9602](INFO): Not Powering down - fast GPS
2021-01-27T19:38:32.875Z,1611776312.875 [DataOverHttps](INFO): Sending 1345 bytes from file Logs/20210127T175400/Express0005.lzma
2021-01-27T19:38:33.874Z,1611776313.874 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0005.lzma.bak
2021-01-27T19:38:33.874Z,1611776313.874 [DataOverHttps](INFO): SBD MOMSN=68995
2021-01-27T19:38:42.912Z,1611776322.912 [DataOverHttps](INFO): Sending 194 bytes from file Logs/20210127T175400/Express0008.lzma
2021-01-27T19:38:43.913Z,1611776323.913 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0008.lzma.bak
2021-01-27T19:38:43.914Z,1611776323.914 [DataOverHttps](INFO): SBD MOMSN=69019
2021-01-27T19:38:52.952Z,1611776332.952 [DataOverHttps](INFO): Sending 298 bytes from file Logs/20210127T175400/Express0011.lzma
2021-01-27T19:38:53.954Z,1611776333.954 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0011.lzma.bak
2021-01-27T19:38:53.954Z,1611776333.954 [DataOverHttps](INFO): SBD MOMSN=69021
2021-01-27T19:39:02.993Z,1611776342.993 [DataOverHttps](INFO): Sending 454 bytes from file Logs/20210127T175400/Express0014.lzma
2021-01-27T19:39:03.994Z,1611776343.994 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0014.lzma.bak
2021-01-27T19:39:03.994Z,1611776343.994 [DataOverHttps](INFO): SBD MOMSN=69023
2021-01-27T19:39:13.032Z,1611776353.032 [DataOverHttps](INFO): Sending 347 bytes from file Logs/20210127T175400/Express0017.lzma
2021-01-27T19:39:14.042Z,1611776354.042 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0017.lzma.bak
2021-01-27T19:39:14.042Z,1611776354.042 [DataOverHttps](INFO): SBD MOMSN=69026
2021-01-27T19:39:23.081Z,1611776363.081 [DataOverHttps](INFO): Sending 470 bytes from file Logs/20210127T175400/Express0020.lzma
2021-01-27T19:39:24.082Z,1611776364.082 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0020.lzma.bak
2021-01-27T19:39:24.082Z,1611776364.082 [DataOverHttps](INFO): SBD MOMSN=69054
2021-01-27T19:39:33.119Z,1611776373.119 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T175400/Express0023.lzma
2021-01-27T19:39:34.122Z,1611776374.122 [DataOverHttps](INFO): Moved sent file to Logs/20210127T175400/Express0023.lzma.bak
2021-01-27T19:39:34.122Z,1611776374.122 [DataOverHttps](INFO): SBD MOMSN=69065
2021-01-27T19:39:35.514Z,1611776375.514 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-01-27T19:39:35.514Z,1611776375.514 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-01-27T19:39:35.514Z,1611776375.514 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-01-27T19:41:25.565Z,1611776485.565 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T194125
2021-01-27T19:41:29.583Z,1611776489.583 [DataOverHttps](INFO): Received command:restart sys
2021-01-27T19:41:29.601Z,1611776489.601 [CommandLine](IMPORTANT): got command restart system
2021-01-27T19:41:31.748Z,1611776491.748 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-01-27T19:41:31.748Z,1611776491.748 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-01-27T19:41:31.749Z,1611776491.749 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:31.784Z,1611776491.784 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-01-27T19:41:31.784Z,1611776491.784 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:31.785Z,1611776491.785 [CommandLine](INFO): Join timeout helper Thread ID is 1470
2021-01-27T19:41:31.785Z,1611776491.785 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-01-27T19:41:31.785Z,1611776491.785 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:31.786Z,1611776491.786 [NavChartDb](INFO): Join timeout helper Thread ID is 1471
2021-01-27T19:41:32.076Z,1611776492.076 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-01-27T19:41:32.077Z,1611776492.077 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:32.080Z,1611776492.080 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2021-01-27T19:41:32.080Z,1611776492.080 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:32.081Z,1611776492.081 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1472
2021-01-27T19:41:32.384Z,1611776492.384 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2021-01-27T19:41:32.385Z,1611776492.385 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-01-27T19:41:32.386Z,1611776492.386 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:32.392Z,1611776492.392 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2021-01-27T19:41:32.392Z,1611776492.392 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-01-27T19:41:32.392Z,1611776492.392 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1473
2021-01-27T19:41:32.568Z,1611776492.568 [CTD_Seabird](INFO): Powering down
2021-01-27T19:41:32.580Z,1611776492.580 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2021-01-27T19:41:32.580Z,1611776492.580 [CTD_Seabird](INFO): Powering down
2021-01-27T19:41:32.596Z,1611776492.