2021-01-27T21:21:38.617Z,1611782498.617 [CommandLine](IMPORTANT): got command restart logs 2021-01-27T21:24:10.864Z,1611782650.864 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-01-27T21:24:10.864Z,1611782650.864 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-01-27T21:24:10.864Z,1611782650.864 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-01-27T21:24:10.864Z,1611782650.864 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-01-27T21:24:11.300Z,1611782651.300 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-01-27T21:24:11.301Z,1611782651.301 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-01-27T21:24:11.690Z,1611782651.690 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 97.762061 min 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #19 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=19 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T21:24:11.691Z,1611782651.691 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-01-27T21:24:13.671Z,1611782653.671 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212413.00,A,4133.19480,N,07042.73834,W,1.108,312.35,270121,,,D*7C 2021-01-27T21:24:13.673Z,1611782653.673 [NAL9602](INFO): GPS fix at 20210127T212413: (41.553247, -70.712306) 2021-01-27T21:24:13.703Z,1611782653.703 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-01-27T21:24:13.703Z,1611782653.703 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-01-27T21:24:17.275Z,1611782657.275 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T194239/Courier0064.lzma 2021-01-27T21:24:18.282Z,1611782658.282 [DataOverHttps](INFO): Moved sent file to Logs/20210127T194239/Courier0064.lzma.bak 2021-01-27T21:24:18.282Z,1611782658.282 [DataOverHttps](INFO): SBD MOMSN=69611 2021-01-27T21:24:27.323Z,1611782667.323 [DataOverHttps](INFO): Sending 261 bytes from file Logs/20210127T212138/Courier0000.lzma 2021-01-27T21:24:28.321Z,1611782668.321 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0000.lzma.bak 2021-01-27T21:24:28.321Z,1611782668.321 [DataOverHttps](INFO): SBD MOMSN=69613 2021-01-27T21:24:37.355Z,1611782677.355 [DataOverHttps](INFO): Sending 42 bytes from file Logs/20210127T212138/Courier0003.lzma 2021-01-27T21:24:38.357Z,1611782678.357 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0003.lzma.bak 2021-01-27T21:24:38.358Z,1611782678.358 [DataOverHttps](INFO): SBD MOMSN=69617 2021-01-27T21:24:42.007Z,1611782682.007 [NAL9602](INFO): SBD MO Status=1, MOMSN=13163, MT Status=0, MTMSN=0 2021-01-27T21:24:42.008Z,1611782682.008 [NAL9602](INFO): No messages in MT queue 2021-01-27T21:24:47.396Z,1611782687.396 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20210127T194239/Express0065.lzma 2021-01-27T21:24:48.398Z,1611782688.398 [DataOverHttps](INFO): Moved sent file to Logs/20210127T194239/Express0065.lzma.bak 2021-01-27T21:24:48.398Z,1611782688.398 [DataOverHttps](INFO): SBD MOMSN=69619 2021-01-27T21:24:57.436Z,1611782697.436 [DataOverHttps](INFO): Sending 345 bytes from file Logs/20210127T212138/Express0001.lzma 2021-01-27T21:24:58.437Z,1611782698.437 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0001.lzma.bak 2021-01-27T21:24:58.438Z,1611782698.438 [DataOverHttps](INFO): SBD MOMSN=69622 2021-01-27T21:25:07.475Z,1611782707.475 [DataOverHttps](INFO): Sending 42 bytes from file Logs/20210127T212138/Express0002.lzma 2021-01-27T21:25:08.477Z,1611782708.477 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0002.lzma.bak 2021-01-27T21:25:08.478Z,1611782708.478 [DataOverHttps](INFO): SBD MOMSN=69626 2021-01-27T21:25:09.900Z,1611782709.900 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-01-27T21:25:09.900Z,1611782709.900 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-01-27T21:25:09.900Z,1611782709.900 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-01-27T21:25:12.714Z,1611782712.714 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T21:25:49.646Z,1611782749.646 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T212549 2021-01-27T21:25:53.664Z,1611782753.664 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 5 count;set lineCaptureDepth.MinAltitude 3 meter" 2tnih 1 2 2021-01-27T21:25:53.697Z,1611782753.697 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 5 count;set lineCaptureDepth.MinAltitude 3 meter" 2tnih 1 2.000000 2021-01-27T21:25:53.697Z,1611782753.697 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tnih 2021-01-27T21:25:53.698Z,1611782753.698 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='2tnih'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 minute;set lineCaptureDepth.MicromodemCommsInterval 20 minute;set lineCaptureDepth.Repeat 5 count;set lineCaptureDepth.MinAltitude 3 meter" ASAP 2021-01-27T21:25:54.665Z,1611782754.665 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T212554 2021-01-27T21:25:58.683Z,1611782758.683 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tnih 2 2 2021-01-27T21:25:58.697Z,1611782758.697 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 2tnih 2 2.000000 2021-01-27T21:25:58.697Z,1611782758.697 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tnih 2021-01-27T21:25:58.698Z,1611782758.698 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='2tnih'): "set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP 2021-01-27T21:25:58.828Z,1611782758.828 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml 2021-01-27T21:25:58.828Z,1611782758.828 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml 2021-01-27T21:25:58.919Z,1611782758.919 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h 2021-01-27T21:25:58.922Z,1611782758.922 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min 2021-01-27T21:25:58.926Z,1611782758.926 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min 2021-01-27T21:25:58.930Z,1611782758.930 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count 2021-01-27T21:25:58.933Z,1611782758.933 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min 2021-01-27T21:25:58.936Z,1611782758.936 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count 2021-01-27T21:25:58.939Z,1611782758.939 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s 2021-01-27T21:25:58.941Z,1611782758.941 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count 2021-01-27T21:25:58.944Z,1611782758.944 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m 2021-01-27T21:25:58.947Z,1611782758.947 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m 2021-01-27T21:25:58.950Z,1611782758.950 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km 2021-01-27T21:25:58.990Z,1611782758.990 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count 2021-01-27T21:25:58.991Z,1611782758.991 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml 2021-01-27T21:25:59.357Z,1611782759.357 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool 2021-01-27T21:25:59.360Z,1611782759.360 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min 2021-01-27T21:25:59.363Z,1611782759.363 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool 2021-01-27T21:25:59.365Z,1611782759.365 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool 2021-01-27T21:25:59.368Z,1611782759.368 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count 2021-01-27T21:25:59.371Z,1611782759.371 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count 2021-01-27T21:25:59.374Z,1611782759.374 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 % 2021-01-27T21:25:59.377Z,1611782759.377 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool 2021-01-27T21:25:59.379Z,1611782759.379 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool 2021-01-27T21:25:59.382Z,1611782759.382 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool 2021-01-27T21:25:59.385Z,1611782759.385 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2021-01-27T21:25:59.388Z,1611782759.388 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool 2021-01-27T21:25:59.392Z,1611782759.392 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool 2021-01-27T21:25:59.395Z,1611782759.395 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool 2021-01-27T21:25:59.415Z,1611782759.415 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool 2021-01-27T21:25:59.422Z,1611782759.422 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool 2021-01-27T21:25:59.434Z,1611782759.434 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool 2021-01-27T21:25:59.437Z,1611782759.437 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count 2021-01-27T21:25:59.444Z,1611782759.444 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count 2021-01-27T21:25:59.447Z,1611782759.447 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m 2021-01-27T21:25:59.454Z,1611782759.454 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m 2021-01-27T21:25:59.457Z,1611782759.457 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l 2021-01-27T21:25:59.468Z,1611782759.468 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m 2021-01-27T21:25:59.471Z,1611782759.471 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC 2021-01-27T21:25:59.482Z,1611782759.482 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg 2021-01-27T21:25:59.485Z,1611782759.485 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg 2021-01-27T21:25:59.492Z,1611782759.492 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l 2021-01-27T21:25:59.495Z,1611782759.495 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m 2021-01-27T21:25:59.503Z,1611782759.503 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg 2021-01-27T21:25:59.507Z,1611782759.507 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg 2021-01-27T21:25:59.518Z,1611782759.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m 2021-01-27T21:25:59.525Z,1611782759.525 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m 2021-01-27T21:25:59.532Z,1611782759.532 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg 2021-01-27T21:25:59.535Z,1611782759.535 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg 2021-01-27T21:25:59.542Z,1611782759.542 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m 2021-01-27T21:25:59.546Z,1611782759.546 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3 2021-01-27T21:25:59.592Z,1611782759.592 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m 2021-01-27T21:25:59.597Z,1611782759.597 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg 2021-01-27T21:25:59.604Z,1611782759.604 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg 2021-01-27T21:25:59.607Z,1611782759.607 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb 2021-01-27T21:25:59.619Z,1611782759.619 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m 2021-01-27T21:25:59.626Z,1611782759.626 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg 2021-01-27T21:25:59.641Z,1611782759.641 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg 2021-01-27T21:25:59.647Z,1611782759.647 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m 2021-01-27T21:25:59.721Z,1611782759.721 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-01-27T21:25:59.745Z,1611782759.745 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2021-01-27T21:25:59.777Z,1611782759.777 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-01-27T21:25:59.795Z,1611782759.795 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-01-27T21:25:59.822Z,1611782759.822 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2021-01-27T21:25:59.852Z,1611782759.852 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml 2021-01-27T21:25:59.900Z,1611782759.900 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m 2021-01-27T21:25:59.903Z,1611782759.903 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m 2021-01-27T21:25:59.910Z,1611782759.910 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m 2021-01-27T21:25:59.911Z,1611782759.911 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2021-01-27T21:25:59.941Z,1611782759.941 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2021-01-27T21:25:59.993Z,1611782759.993 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2021-01-27T21:26:00.020Z,1611782760.020 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml 2021-01-27T21:26:00.146Z,1611782760.146 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h 2021-01-27T21:26:00.149Z,1611782760.149 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min 2021-01-27T21:26:00.173Z,1611782760.173 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg 2021-01-27T21:26:00.176Z,1611782760.176 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s 2021-01-27T21:26:00.179Z,1611782760.179 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s 2021-01-27T21:26:00.181Z,1611782760.181 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min 2021-01-27T21:26:00.190Z,1611782760.190 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min 2021-01-27T21:26:00.196Z,1611782760.196 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface. 2021-01-27T21:26:00.251Z,1611782760.251 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml 2021-01-27T21:26:00.292Z,1611782760.292 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min 2021-01-27T21:26:00.306Z,1611782760.306 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min 2021-01-27T21:26:00.335Z,1611782760.335 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval 2021-01-27T21:26:00.409Z,1611782760.409 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml 2021-01-27T21:26:00.716Z,1611782760.716 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552000 arcdeg 2021-01-27T21:26:00.719Z,1611782760.719 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.709610 arcdeg 2021-01-27T21:26:00.726Z,1611782760.726 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min 2021-01-27T21:26:00.734Z,1611782760.734 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m 2021-01-27T21:26:00.738Z,1611782760.738 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s 2021-01-27T21:26:00.750Z,1611782760.750 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h 2021-01-27T21:26:00.754Z,1611782760.754 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m 2021-01-27T21:26:00.767Z,1611782760.767 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min 2021-01-27T21:26:00.799Z,1611782760.799 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h 2021-01-27T21:26:00.828Z,1611782760.828 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m 2021-01-27T21:26:00.831Z,1611782760.831 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m 2021-01-27T21:26:00.842Z,1611782760.842 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool 2021-01-27T21:26:00.861Z,1611782760.861 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m 2021-01-27T21:26:00.868Z,1611782760.868 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg 2021-01-27T21:26:00.874Z,1611782760.874 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m 2021-01-27T21:26:00.877Z,1611782760.877 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m 2021-01-27T21:26:00.884Z,1611782760.884 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m 2021-01-27T21:26:00.887Z,1611782760.887 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count 2021-01-27T21:26:00.902Z,1611782760.902 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count 2021-01-27T21:26:00.909Z,1611782760.909 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count 2021-01-27T21:26:00.916Z,1611782760.916 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count 2021-01-27T21:26:00.919Z,1611782760.919 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count 2021-01-27T21:26:00.926Z,1611782760.926 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a 2021-01-27T21:26:00.930Z,1611782760.930 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m 2021-01-27T21:26:00.941Z,1611782760.941 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min 2021-01-27T21:26:00.948Z,1611782760.948 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m 2021-01-27T21:26:00.956Z,1611782760.956 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml 2021-01-27T21:26:00.988Z,1611782760.988 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m 2021-01-27T21:26:00.991Z,1611782760.991 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m 2021-01-27T21:26:00.995Z,1611782760.995 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m 2021-01-27T21:26:01.005Z,1611782761.005 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2021-01-27T21:26:01.020Z,1611782761.020 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2021-01-27T21:26:01.037Z,1611782761.037 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2021-01-27T21:26:01.078Z,1611782761.078 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct. 2021-01-27T21:26:01.083Z,1611782761.083 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy. 2021-01-27T21:26:01.109Z,1611782761.109 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct. 2021-01-27T21:26:01.109Z,1611782761.109 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-01-27T21:26:01.226Z,1611782761.226 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct. 2021-01-27T21:26:01.229Z,1611782761.229 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct. 2021-01-27T21:26:01.243Z,1611782761.243 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint. 2021-01-27T21:26:01.277Z,1611782761.277 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct. 2021-01-27T21:26:01.363Z,1611782761.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct. 2021-01-27T21:26:01.371Z,1611782761.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct. 2021-01-27T21:26:01.415Z,1611782761.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-01-27T21:26:01.415Z,1611782761.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-01-27T21:26:01.419Z,1611782761.419 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait. 2021-01-27T21:26:01.443Z,1611782761.443 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml 2021-01-27T21:26:01.487Z,1611782761.487 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552000 arcdeg 2021-01-27T21:26:01.499Z,1611782761.499 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.709610 arcdeg 2021-01-27T21:26:01.509Z,1611782761.509 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m 2021-01-27T21:26:01.513Z,1611782761.513 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min 2021-01-27T21:26:01.523Z,1611782761.523 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav. 2021-01-27T21:26:01.552Z,1611782761.552 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct. 2021-01-27T21:26:01.553Z,1611782761.553 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values. 2021-01-27T21:26:01.575Z,1611782761.575 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct. 2021-01-27T21:26:01.575Z,1611782761.575 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2021-01-27T21:26:01.708Z,1611782761.708 [MissionManager](DEBUG): 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. Maximum length of mission 4 How often to surface for commumications 240 How often to trigger Umodem communications 5 Number of times the vehicle should try to cycle through the homing sequence. 1 Time duration to wait on the dock after a successful line capture. 5 Transponder Address. How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. -1 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. 0 -99 Mode 0 Waiting on dock for Breaking off. Range: . 2021-01-27T21:26:01.709Z,1611782761.709 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml 2021-01-27T21:26:12.018Z,1611782772.018 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 45.000000 minute 2021-01-27T21:26:12.019Z,1611782772.019 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute 2021-01-27T21:26:12.020Z,1611782772.020 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 5.000000 count 2021-01-27T21:26:12.021Z,1611782772.021 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter 2021-01-27T21:26:16.225Z,1611782776.225 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter 2021-01-27T21:26:16.226Z,1611782776.226 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter 2021-01-27T21:26:16.226Z,1611782776.226 [CommandLine](IMPORTANT): got command run 2021-01-27T21:26:16.234Z,1611782776.234 [CommandLine](IMPORTANT): Running 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock] Stopped 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock:SurfaceDefault] Stopped 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-01-27T21:26:16.562Z,1611782776.562 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T21:26:16.563Z,1611782776.563 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-01-27T21:26:16.563Z,1611782776.563 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-01-27T21:26:16.563Z,1611782776.563 [MissionManager](IMPORTANT): Started mission lineCaptureDepth 2021-01-27T21:26:16.563Z,1611782776.563 [lineCaptureDepth] Running Loop=1 2021-01-27T21:26:16.563Z,1611782776.563 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth 2021-01-27T21:26:16.563Z,1611782776.563 [lineCaptureDepth:Science] Running Loop=1 2021-01-27T21:26:16.563Z,1611782776.563 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science 2021-01-27T21:26:16.563Z,1611782776.563 [lineCaptureDepth:Science:A] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:B] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:C] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:D] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:E] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:F] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:Read_Oil] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1 2021-01-27T21:26:16.564Z,1611782776.564 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-01-27T21:26:16.567Z,1611782776.567 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1 2021-01-27T21:26:16.567Z,1611782776.567 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport 2021-01-27T21:26:16.567Z,1611782776.567 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2021-01-27T21:26:16.567Z,1611782776.567 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2021-01-27T21:26:16.567Z,1611782776.567 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1 2021-01-27T21:26:16.584Z,1611782776.584 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3 2021-01-27T21:26:16.584Z,1611782776.584 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1 2021-01-27T21:26:16.584Z,1611782776.584 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-01-27T21:26:16.586Z,1611782776.586 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1 2021-01-27T21:26:16.586Z,1611782776.586 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil 2021-01-27T21:26:16.586Z,1611782776.586 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1 2021-01-27T21:26:16.586Z,1611782776.586 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-01-27T21:26:16.588Z,1611782776.588 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1 2021-01-27T21:26:16.589Z,1611782776.589 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM 2021-01-27T21:26:16.589Z,1611782776.589 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1 2021-01-27T21:26:16.589Z,1611782776.589 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize. 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:StandardEnvelopes] Running Loop=1 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-01-27T21:26:16.591Z,1611782776.591 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-01-27T21:26:16.600Z,1611782776.600 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-01-27T21:26:16.600Z,1611782776.600 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-01-27T21:26:16.604Z,1611782776.604 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-01-27T21:26:16.604Z,1611782776.604 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-01-27T21:26:16.604Z,1611782776.604 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-01-27T21:26:16.604Z,1611782776.604 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-01-27T21:26:16.604Z,1611782776.604 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-01-27T21:26:16.604Z,1611782776.604 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-01-27T21:26:16.605Z,1611782776.605 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-01-27T21:26:16.605Z,1611782776.605 [lineCaptureDepth:J.] Running Loop=1 2021-01-27T21:26:16.605Z,1611782776.605 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact. 2021-01-27T21:26:16.605Z,1611782776.605 [lineCaptureDepth:C] Running Loop=1 2021-01-27T21:26:16.606Z,1611782776.606 [lineCaptureDepth:J.] Running Loop=1 2021-01-27T21:26:16.606Z,1611782776.606 [lineCaptureDepth:MicromodemComms] Stopped 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:C] Stopped 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:D] Running Loop=1 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:StandardEnvelopes] Running Loop=1 2021-01-27T21:26:16.607Z,1611782776.607 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-01-27T21:26:16.608Z,1611782776.608 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-01-27T21:26:16.609Z,1611782776.609 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-01-27T21:26:16.610Z,1611782776.610 [lineCaptureDepth:Science] Running Loop=1 2021-01-27T21:26:16.610Z,1611782776.610 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectOil] Stopped 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectNO3] Stopped 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-01-27T21:26:16.611Z,1611782776.611 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped 2021-01-27T21:26:16.612Z,1611782776.612 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport 2021-01-27T21:26:16.612Z,1611782776.612 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2021-01-27T21:26:16.612Z,1611782776.612 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2021-01-27T21:26:16.612Z,1611782776.612 [lineCaptureDepth:Science:PeakDetectChl] Stopped 2021-01-27T21:26:16.613Z,1611782776.613 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl 2021-01-27T21:26:16.613Z,1611782776.613 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped 2021-01-27T21:26:16.613Z,1611782776.613 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize. 2021-01-27T21:26:16.613Z,1611782776.613 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1 2021-01-27T21:26:16.615Z,1611782776.615 [lineCaptureDepth:Science:Read_Oil] Running Loop=1 2021-01-27T21:26:16.615Z,1611782776.615 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water 2021-01-27T21:26:16.624Z,1611782776.624 [lineCaptureDepth:Science:F] Stopped 2021-01-27T21:26:16.624Z,1611782776.624 [lineCaptureDepth:Science:E] Stopped 2021-01-27T21:26:16.624Z,1611782776.624 [lineCaptureDepth:Science:D] Stopped 2021-01-27T21:26:16.624Z,1611782776.624 [lineCaptureDepth:Science:C] Running Loop=1 2021-01-27T21:26:16.625Z,1611782776.625 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature 2021-01-27T21:26:16.626Z,1611782776.626 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity 2021-01-27T21:26:16.626Z,1611782776.626 [lineCaptureDepth:Science:B] Running Loop=1 2021-01-27T21:26:16.626Z,1611782776.626 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature 2021-01-27T21:26:16.627Z,1611782776.627 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity 2021-01-27T21:26:16.627Z,1611782776.627 [lineCaptureDepth:Science:A] Stopped 2021-01-27T21:26:16.712Z,1611782776.712 [WetLabsSeaOWL_UV_A](INFO): Powering up 2021-01-27T21:26:16.965Z,1611782776.965 [lineCaptureDepth:D] Stopped 2021-01-27T21:26:16.965Z,1611782776.965 [lineCaptureDepth:E] Running Loop=1 2021-01-27T21:26:17.385Z,1611782777.385 [lineCaptureDepth:E] Stopped 2021-01-27T21:26:17.385Z,1611782777.385 [lineCaptureDepth:G] Running Loop=1 2021-01-27T21:26:17.777Z,1611782777.777 [lineCaptureDepth:G] Stopped 2021-01-27T21:26:17.777Z,1611782777.777 [lineCaptureDepth:H] Running Loop=1 2021-01-27T21:26:18.201Z,1611782778.201 [lineCaptureDepth:H] Stopped 2021-01-27T21:26:18.201Z,1611782778.201 [lineCaptureDepth:L] Running Loop=1 2021-01-27T21:26:18.588Z,1611782778.588 [lineCaptureDepth:L] Stopped 2021-01-27T21:26:18.588Z,1611782778.588 [lineCaptureDepth:M] Running Loop=1 2021-01-27T21:26:18.981Z,1611782778.981 [lineCaptureDepth:M] Stopped 2021-01-27T21:26:18.981Z,1611782778.981 [lineCaptureDepth:N] Running Loop=1 2021-01-27T21:26:19.412Z,1611782779.412 [lineCaptureDepth:N] Stopped 2021-01-27T21:26:19.412Z,1611782779.412 [lineCaptureDepth:Lap] Running Loop=1 2021-01-27T21:26:19.412Z,1611782779.412 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap 2021-01-27T21:26:19.412Z,1611782779.412 [lineCaptureDepth:Lap:A] Running Loop=1 2021-01-27T21:26:19.413Z,1611782779.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:19.693Z,1611782779.693 [CTD_Seabird](ERROR): Failed to parse device response: 2021-01-27T21:26:19.805Z,1611782779.805 [lineCaptureDepth:Lap:A] Stopped 2021-01-27T21:26:19.806Z,1611782779.806 [lineCaptureDepth:Lap:B] Running Loop=1 2021-01-27T21:26:19.806Z,1611782779.806 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B 2021-01-27T21:26:20.178Z,1611782780.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:20.275Z,1611782780.275 [lineCaptureDepth:LineCapture] Running Loop=1 2021-01-27T21:26:20.280Z,1611782780.280 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture 2021-01-27T21:26:20.280Z,1611782780.280 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-01-27T21:26:20.281Z,1611782780.281 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-01-27T21:26:20.281Z,1611782780.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-01-27T21:26:20.281Z,1611782780.281 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2021-01-27T21:26:20.282Z,1611782780.282 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-01-27T21:26:20.282Z,1611782780.282 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-01-27T21:26:20.283Z,1611782780.283 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-01-27T21:26:20.288Z,1611782780.288 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-01-27T21:26:20.288Z,1611782780.288 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-01-27T21:26:20.288Z,1611782780.288 [lineCaptureDepth:LineCapture:A] Running Loop=1 2021-01-27T21:26:20.288Z,1611782780.288 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-01-27T21:26:20.288Z,1611782780.288 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-01-27T21:26:20.288Z,1611782780.288 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:H] Running Loop=1 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:G] Running Loop=1 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1 2021-01-27T21:26:20.289Z,1611782780.289 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2021-01-27T21:26:20.290Z,1611782780.290 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2021-01-27T21:26:20.290Z,1611782780.290 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2021-01-27T21:26:20.290Z,1611782780.290 [lineCaptureDepth:LineCapture:A] Stopped 2021-01-27T21:26:20.291Z,1611782780.291 [lineCaptureDepth:LineCapture:B] Running Loop=1 2021-01-27T21:26:20.584Z,1611782780.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:20.625Z,1611782780.625 [lineCaptureDepth:LineCapture:B] Stopped 2021-01-27T21:26:20.625Z,1611782780.625 [lineCaptureDepth:LineCapture:D] Running Loop=1 2021-01-27T21:26:21.016Z,1611782781.016 [lineCaptureDepth:LineCapture:D] Stopped 2021-01-27T21:26:21.016Z,1611782781.016 [lineCaptureDepth:LineCapture:E] Running Loop=1 2021-01-27T21:26:21.398Z,1611782781.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212621.95*56 2021-01-27T21:26:21.444Z,1611782781.444 [lineCaptureDepth:LineCapture:E] Stopped 2021-01-27T21:26:21.444Z,1611782781.444 [lineCaptureDepth:LineCapture:F] Running Loop=1 2021-01-27T21:26:21.834Z,1611782781.834 [lineCaptureDepth:LineCapture:F] Stopped 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2021-01-27T21:26:21.835Z,1611782781.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2021-01-27T21:26:21.840Z,1611782781.840 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2021-01-27T21:26:21.840Z,1611782781.840 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-01-27T21:26:21.840Z,1611782781.840 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-01-27T21:26:21.840Z,1611782781.840 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-01-27T21:26:21.840Z,1611782781.840 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-01-27T21:26:21.840Z,1611782781.840 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-01-27T21:26:21.841Z,1611782781.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-01-27T21:26:21.842Z,1611782781.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-01-27T21:26:21.842Z,1611782781.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-01-27T21:26:21.842Z,1611782781.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-01-27T21:26:21.842Z,1611782781.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-01-27T21:26:21.842Z,1611782781.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-01-27T21:26:21.842Z,1611782781.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-01-27T21:26:22.219Z,1611782782.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-01-27T21:26:22.220Z,1611782782.220 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-01-27T21:26:22.221Z,1611782782.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-01-27T21:26:22.221Z,1611782782.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-01-27T21:26:22.221Z,1611782782.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-01-27T21:26:22.221Z,1611782782.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-01-27T21:26:22.221Z,1611782782.221 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-01-27T21:26:22.221Z,1611782782.221 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2021-01-27T21:26:22.223Z,1611782782.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:22.608Z,1611782782.608 [PowerOnly](INFO): Powering up loadControl 2021-01-27T21:26:23.845Z,1611782783.845 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:26:24.724Z,1611782784.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:25.491Z,1611782785.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:25.864Z,1611782785.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:26.701Z,1611782786.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212627.26*58 2021-01-27T21:26:27.143Z,1611782787.143 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock. 2021-01-27T21:26:27.511Z,1611782787.511 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2021-01-27T21:26:29.530Z,1611782789.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:30.322Z,1611782790.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:30.719Z,1611782790.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:31.554Z,1611782791.554 [Micromodem](INFO): Nmea in: $SNTTA,0.188207,,,,212632.10*43 2021-01-27T21:26:32.387Z,1611782792.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:33.947Z,1611782793.947 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:26:35.201Z,1611782795.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:35.963Z,1611782795.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:36.380Z,1611782796.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:37.194Z,1611782797.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212637.74*5E 2021-01-27T21:26:38.013Z,1611782798.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:39.605Z,1611782799.605 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:26:40.844Z,1611782800.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:41.625Z,1611782801.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:42.036Z,1611782802.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:42.870Z,1611782802.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212643.40*5A 2021-01-27T21:26:43.675Z,1611782803.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:45.261Z,1611782805.261 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:26:46.517Z,1611782806.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:47.292Z,1611782807.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:47.688Z,1611782807.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:47.738Z,1611782807.738 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 282.00 m. Transitioning DDM to standby. 2021-01-27T21:26:48.511Z,1611782808.511 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212649.06*52 2021-01-27T21:26:49.360Z,1611782809.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:50.917Z,1611782810.917 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:26:52.153Z,1611782812.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:52.967Z,1611782812.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:53.104Z,1611782813.104 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby. 2021-01-27T21:26:53.382Z,1611782813.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:53.448Z,1611782813.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2021-01-27T21:26:53.448Z,1611782813.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2021-01-27T21:26:53.448Z,1611782813.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2021-01-27T21:26:53.725Z,1611782813.725 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2021-01-27T21:26:53.725Z,1611782813.725 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2021-01-27T21:26:53.725Z,1611782813.725 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2021-01-27T21:26:53.830Z,1611782813.830 [CTD_Seabird](ERROR): Failed to parse device response: 0.11,2.7362,2.87116, 2021-01-27T21:26:54.208Z,1611782814.208 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2021-01-27T21:26:54.208Z,1611782814.208 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-01-27T21:26:54.208Z,1611782814.208 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2021-01-27T21:26:54.209Z,1611782814.209 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide 2021-01-27T21:26:54.209Z,1611782814.209 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-01-27T21:26:54.526Z,1611782814.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212654.78*57 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-01-27T21:26:54.567Z,1611782814.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2021-01-27T21:26:54.568Z,1611782814.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2021-01-27T21:26:54.568Z,1611782814.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2021-01-27T21:26:54.568Z,1611782814.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2021-01-27T21:26:54.569Z,1611782814.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2021-01-27T21:26:54.569Z,1611782814.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2021-01-27T21:26:54.569Z,1611782814.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-01-27T21:26:54.569Z,1611782814.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2021-01-27T21:26:54.570Z,1611782814.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 282.000000 m 2021-01-27T21:26:54.570Z,1611782814.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2021-01-27T21:26:54.570Z,1611782814.570 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2021-01-27T21:26:54.571Z,1611782814.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552000 arcdeg , -70.709610 arcdeg ) 2021-01-27T21:26:54.571Z,1611782814.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2021-01-27T21:26:54.571Z,1611782814.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2021-01-27T21:26:54.571Z,1611782814.571 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2021-01-27T21:26:54.961Z,1611782814.961 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2021-01-27T21:26:54.961Z,1611782814.961 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-01-27T21:26:54.961Z,1611782814.961 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize. 2021-01-27T21:26:54.962Z,1611782814.962 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-01-27T21:26:54.963Z,1611782814.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component. 2021-01-27T21:26:54.963Z,1611782814.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1 2021-01-27T21:26:54.963Z,1611782814.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1 2021-01-27T21:26:54.963Z,1611782814.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1 2021-01-27T21:26:54.968Z,1611782814.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1 2021-01-27T21:26:54.971Z,1611782814.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:55.389Z,1611782815.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-01-27T21:26:55.389Z,1611782815.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-01-27T21:26:55.389Z,1611782815.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2021-01-27T21:26:55.389Z,1611782815.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-01-27T21:26:55.389Z,1611782815.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize. 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2021-01-27T21:26:55.390Z,1611782815.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1 2021-01-27T21:26:55.391Z,1611782815.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1 2021-01-27T21:26:55.391Z,1611782815.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2021-01-27T21:26:55.391Z,1611782815.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2021-01-27T21:26:55.391Z,1611782815.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1 2021-01-27T21:26:55.391Z,1611782815.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize. 2021-01-27T21:26:55.391Z,1611782815.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values. 2021-01-27T21:26:55.392Z,1611782815.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-01-27T21:26:55.393Z,1611782815.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec. 2021-01-27T21:26:55.393Z,1611782815.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-01-27T21:26:55.393Z,1611782815.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2021-01-27T21:26:55.393Z,1611782815.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance 2021-01-27T21:26:55.393Z,1611782815.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2021-01-27T21:26:55.394Z,1611782815.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide 2021-01-27T21:26:55.394Z,1611782815.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2021-01-27T21:26:55.394Z,1611782815.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2021-01-27T21:26:55.394Z,1611782815.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2021-01-27T21:26:55.394Z,1611782815.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2021-01-27T21:26:55.394Z,1611782815.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2021-01-27T21:26:55.763Z,1611782815.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 282.000000 m, bearing: 45.162976 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-01-27T21:26:55.764Z,1611782815.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 45.162976deg and heading rate command to 0 deg/s. 2021-01-27T21:26:56.641Z,1611782816.641 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:26:57.802Z,1611782817.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:26:58.598Z,1611782818.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:26:59.016Z,1611782819.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:26:59.838Z,1611782819.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212700.37*5C 2021-01-27T21:27:00.659Z,1611782820.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:02.229Z,1611782822.229 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:03.481Z,1611782823.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:04.248Z,1611782824.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:04.661Z,1611782824.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:05.487Z,1611782825.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212706.02*5C 2021-01-27T21:27:06.342Z,1611782826.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:06.384Z,1611782826.384 [BuoyancyServo](FAULT): Overload Error 2021-01-27T21:27:06.384Z,1611782826.384 [BuoyancyServo] Hardware Fault, FailCount= 2 2021-01-27T21:27:06.384Z,1611782826.384 [BuoyancyServo](ERROR): Hardware Fault 2021-01-27T21:27:06.576Z,1611782826.576 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo 2021-01-27T21:27:07.893Z,1611782827.893 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:08.376Z,1611782828.376 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo. 2021-01-27T21:27:08.377Z,1611782828.377 [BuoyancyServo](INFO): Powering down 2021-01-27T21:27:09.135Z,1611782829.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:09.236Z,1611782829.236 [CBIT](INFO): Clearing failed state for component BuoyancyServo 2021-01-27T21:27:09.236Z,1611782829.236 [BuoyancyServo] No Fault, FailCount= 2 2021-01-27T21:27:09.584Z,1611782829.584 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-01-27T21:27:09.592Z,1611782829.592 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-01-27T21:27:09.906Z,1611782829.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:10.339Z,1611782830.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:11.147Z,1611782831.147 [Micromodem](INFO): Nmea in: $SNTTA,0.193506,,,,212711.68*40 2021-01-27T21:27:11.979Z,1611782831.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:13.541Z,1611782833.541 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:14.771Z,1611782834.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:15.573Z,1611782835.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:15.990Z,1611782835.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:16.798Z,1611782836.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212717.34*59 2021-01-27T21:27:17.623Z,1611782837.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:19.222Z,1611782839.222 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:20.452Z,1611782840.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:21.226Z,1611782841.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:21.617Z,1611782841.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:22.478Z,1611782842.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212723.00*59 2021-01-27T21:27:23.264Z,1611782843.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:24.858Z,1611782844.858 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:26.114Z,1611782846.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:26.870Z,1611782846.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:27.284Z,1611782847.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:28.114Z,1611782848.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212728.64*50 2021-01-27T21:27:28.909Z,1611782848.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:30.517Z,1611782850.517 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:31.755Z,1611782851.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:32.530Z,1611782852.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:32.945Z,1611782852.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:33.762Z,1611782853.762 [Micromodem](INFO): Nmea in: $SNTTA,0.202235,,,,212734.30*46 2021-01-27T21:27:34.581Z,1611782854.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:36.175Z,1611782856.175 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:37.432Z,1611782857.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:38.182Z,1611782858.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:38.603Z,1611782858.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:39.422Z,1611782859.422 [Micromodem](INFO): Nmea in: $SNTTA,0.204961,,,,212739.96*4B 2021-01-27T21:27:40.293Z,1611782860.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:41.821Z,1611782861.821 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:43.077Z,1611782863.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:43.842Z,1611782863.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:44.248Z,1611782864.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:45.085Z,1611782865.085 [Micromodem](INFO): Nmea in: $SNTTA,0.208066,,,,212745.61*4A 2021-01-27T21:27:45.900Z,1611782865.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:47.485Z,1611782867.485 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:27:48.468Z,1611782868.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:49.115Z,1611782869.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:49.516Z,1611782869.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:50.341Z,1611782870.341 [Micromodem](INFO): Nmea in: $SNTTA,0.211178,,,,212750.89*4E 2021-01-27T21:27:50.802Z,1611782870.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 316.859985 m, bearing: 349.083182 deg, deltaT: 83.628717 s, approachRate: 0.416842 m/s, LOS rate: -0.670581 deg/s, posRepo size: 2 2021-01-27T21:27:50.803Z,1611782870.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.670581 deg/s. Setting heading cmd to target bearing of 349.083182deg and heading rate command to 0 deg/s. 2021-01-27T21:27:53.199Z,1611782873.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:53.948Z,1611782873.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:53.952Z,1611782873.952 [PowerOnly](INFO): Powering down loadControl 2021-01-27T21:27:54.392Z,1611782874.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:27:55.200Z,1611782875.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,212755.72*5D 2021-01-27T21:27:55.601Z,1611782875.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.419983 m, bearing: 340.016844 deg, deltaT: 4.847746 s, approachRate: 0.940643 m/s, LOS rate: -1.870217 deg/s, posRepo size: 3 2021-01-27T21:27:55.603Z,1611782875.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 321.419983 m, bearing: 340.016844 deg, approachRate: 0.940643 m/s, LOS rate: -1.870217 deg/s, cmd update: -9.351086 deg/s, cmd heading: 349.083182 deg, new cmd heading: 349.083182 deg. 2021-01-27T21:27:58.002Z,1611782878.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:27:58.850Z,1611782878.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:27:59.205Z,1611782879.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:00.038Z,1611782880.038 [Micromodem](INFO): Nmea in: $SNTTA,0.217013,,,,212800.62*4B 2021-01-27T21:28:00.459Z,1611782880.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 325.619995 m, bearing: 3.022326 deg, deltaT: 4.894756 s, approachRate: 0.858064 m/s, LOS rate: 4.700027 deg/s, posRepo size: 4 2021-01-27T21:28:00.461Z,1611782880.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 325.619995 m, bearing: 3.022326 deg, approachRate: 0.858064 m/s, LOS rate: 4.700027 deg/s, cmd update: 12.000000 deg/s, cmd heading: 303.347789 deg, new cmd heading: 300.130286 deg. 2021-01-27T21:28:02.860Z,1611782882.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:03.634Z,1611782883.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:04.054Z,1611782884.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:04.870Z,1611782884.870 [Micromodem](INFO): Nmea in: $SNTTA,0.219590,,,,212805.41*4F 2021-01-27T21:28:05.687Z,1611782885.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:07.273Z,1611782887.273 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:28:08.529Z,1611782888.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:09.305Z,1611782889.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:09.701Z,1611782889.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:10.233Z,1611782890.233 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.258865 2021-01-27T21:28:10.532Z,1611782890.532 [Micromodem](INFO): Nmea in: $SNTTA,0.222883,,,,212811.08*40 2021-01-27T21:28:10.591Z,1611782890.591 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-01-27T21:28:10.591Z,1611782890.591 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-01-27T21:28:10.591Z,1611782890.591 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-01-27T21:28:10.591Z,1611782890.591 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-01-27T21:28:10.591Z,1611782890.591 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-01-27T21:28:10.591Z,1611782890.591 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-01-27T21:28:10.597Z,1611782890.597 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2021-01-27T21:28:11.146Z,1611782891.146 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D 2021-01-27T21:28:11.147Z,1611782891.147 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A 2021-01-27T21:28:11.147Z,1611782891.147 [Micromodem](INFO): Outgoing frame #3, 52 bytes: 6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000 2021-01-27T21:28:11.151Z,1611782891.151 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-01-27T21:28:11.223Z,1611782891.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.380005 m, bearing: 333.718699 deg, deltaT: 10.467449 s, approachRate: 0.836881 m/s, LOS rate: -2.799501 deg/s, posRepo size: 4 2021-01-27T21:28:11.230Z,1611782891.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 334.380005 m, bearing: 333.718699 deg, approachRate: 0.836881 m/s, LOS rate: -2.799501 deg/s, cmd update: -12.000000 deg/s, cmd heading: 68.764676 deg, new cmd heading: 76.652385 deg. 2021-01-27T21:28:11.517Z,1611782891.517 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-01-27T21:28:11.897Z,1611782891.897 [Micromodem](INFO): Nmea in: $CADRQ,212812,1,10,0,64,1*7C 2021-01-27T21:28:11.897Z,1611782891.897 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*30 2021-01-27T21:28:12.311Z,1611782892.311 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:28:12.701Z,1611782892.701 [Micromodem](INFO): Nmea in: $CADRQ,212813,1,10,0,64,2*7E 2021-01-27T21:28:12.701Z,1611782892.701 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A*33 2021-01-27T21:28:13.101Z,1611782893.101 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:28:13.151Z,1611782893.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:13.507Z,1611782893.507 [Micromodem](INFO): Nmea in: $CADRQ,212814,1,10,0,64,3*78 2021-01-27T21:28:13.509Z,1611782893.509 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000*34 2021-01-27T21:28:13.913Z,1611782893.913 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,52*4C 2021-01-27T21:28:13.914Z,1611782893.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:14.318Z,1611782894.318 [Micromodem](INFO): Nmea in: $CATXP,180*4B 2021-01-27T21:28:14.318Z,1611782894.318 [Micromodem](ERROR): Response from modem unexpected: $CATXP,180*4B 2021-01-27T21:28:15.964Z,1611782895.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:17.947Z,1611782897.947 [Micromodem](INFO): Nmea in: $CATXF,180*5D 2021-01-27T21:28:17.947Z,1611782897.947 [Micromodem](ERROR): Response from modem unexpected: $CATXF,180*5D 2021-01-27T21:28:18.367Z,1611782898.367 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,212815.318475,3,0,200,4000,14500,1,1,10,1,3,3,3,180*7E 2021-01-27T21:28:18.367Z,1611782898.367 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,212815.318475,3,0,200,4000,14500,1,1,10,1,3,3,3,180*7E 2021-01-27T21:28:18.781Z,1611782898.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:21.603Z,1611782901.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:24.437Z,1611782904.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:25.209Z,1611782905.209 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:25.624Z,1611782905.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:26.468Z,1611782906.468 [Micromodem](INFO): Nmea in: $SNTTA,0.230982,,,,212826.98*4E 2021-01-27T21:28:26.883Z,1611782906.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.379974 m, bearing: 354.099710 deg, deltaT: 15.937954 s, approachRate: 0.752918 m/s, LOS rate: 1.278772 deg/s, posRepo size: 4 2021-01-27T21:28:26.885Z,1611782906.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 346.379974 m, bearing: 354.099710 deg, approachRate: 0.752918 m/s, LOS rate: 1.278772 deg/s, cmd update: 6.393860 deg/s, cmd heading: 237.270424 deg, new cmd heading: 232.958356 deg. 2021-01-27T21:28:29.329Z,1611782909.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:30.056Z,1611782910.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:30.469Z,1611782910.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:31.326Z,1611782911.326 [Micromodem](INFO): Nmea in: $SNTTA,0.233181,,,,212831.83*4A 2021-01-27T21:28:31.740Z,1611782911.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 349.860016 m, bearing: 334.189572 deg, deltaT: 4.865751 s, approachRate: 0.715212 m/s, LOS rate: -4.091894 deg/s, posRepo size: 4 2021-01-27T21:28:31.742Z,1611782911.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 349.860016 m, bearing: 334.189572 deg, approachRate: 0.715212 m/s, LOS rate: -4.091894 deg/s, cmd update: -12.000000 deg/s, cmd heading: 268.382380 deg, new cmd heading: 270.620787 deg. 2021-01-27T21:28:31.764Z,1611782911.764 [Radio_Surface](INFO): Powering down 2021-01-27T21:28:34.159Z,1611782914.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:34.906Z,1611782914.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:35.380Z,1611782915.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:36.160Z,1611782916.160 [Micromodem](INFO): Nmea in: $SNTTA,0.236046,,,,212836.68*47 2021-01-27T21:28:36.666Z,1611782916.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.300018 m, bearing: 323.197749 deg, deltaT: 4.847512 s, approachRate: 0.915934 m/s, LOS rate: -2.267519 deg/s, posRepo size: 4 2021-01-27T21:28:36.668Z,1611782916.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 354.300018 m, bearing: 323.197749 deg, approachRate: 0.915934 m/s, LOS rate: -2.267519 deg/s, cmd update: -11.337593 deg/s, cmd heading: 210.262994 deg, new cmd heading: 205.069466 deg. 2021-01-27T21:28:38.998Z,1611782918.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:39.755Z,1611782919.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:40.164Z,1611782920.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:40.986Z,1611782920.986 [Micromodem](INFO): Nmea in: $SNTTA,0.238207,,,,212841.53*46 2021-01-27T21:28:41.815Z,1611782921.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:43.393Z,1611782923.393 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:28:44.655Z,1611782924.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:45.422Z,1611782925.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:45.847Z,1611782925.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:46.372Z,1611782926.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-01-27T21:28:46.652Z,1611782926.652 [Micromodem](INFO): Nmea in: $SNTTA,0.240531,,,,212847.19*43 2021-01-27T21:28:47.071Z,1611782927.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 360.839996 m, bearing: 215.349526 deg, deltaT: 10.488651 s, approachRate: 0.623529 m/s, LOS rate: -10.282373 deg/s, posRepo size: 4 2021-01-27T21:28:47.095Z,1611782927.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 360.839996 m, bearing: 215.349526 deg, approachRate: 0.623529 m/s, LOS rate: -10.282373 deg/s, cmd update: -12.000000 deg/s, cmd heading: 91.403589 deg, new cmd heading: 87.383052 deg. 2021-01-27T21:28:47.376Z,1611782927.376 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2021-01-27T21:28:49.567Z,1611782929.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:50.267Z,1611782930.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:50.668Z,1611782930.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:51.494Z,1611782931.494 [Micromodem](INFO): Nmea in: $SNTTA,0.241633,,,,212852.04*4B 2021-01-27T21:28:51.905Z,1611782931.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 362.579987 m, bearing: 150.898427 deg, deltaT: 4.909374 s, approachRate: 0.354422 m/s, LOS rate: -13.128171 deg/s, posRepo size: 4 2021-01-27T21:28:51.906Z,1611782931.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.128171 deg/s. Setting heading cmd to target bearing of 150.898427deg and heading rate command to 0 deg/s. 2021-01-27T21:28:54.372Z,1611782934.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:55.131Z,1611782935.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:28:55.516Z,1611782935.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:28:56.355Z,1611782936.355 [Micromodem](INFO): Nmea in: $SNTTA,0.241889,,,,212856.90*4D 2021-01-27T21:28:56.757Z,1611782936.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 362.880005 m, bearing: 179.449451 deg, deltaT: 4.790835 s, approachRate: 0.062623 m/s, LOS rate: 5.959509 deg/s, posRepo size: 4 2021-01-27T21:28:56.759Z,1611782936.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 362.880005 m, bearing: 179.449451 deg, approachRate: 0.062623 m/s, LOS rate: 5.959509 deg/s, cmd update: 12.000000 deg/s, cmd heading: 150.898427 deg, new cmd heading: 150.898427 deg. 2021-01-27T21:28:59.227Z,1611782939.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:28:59.964Z,1611782939.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:00.376Z,1611782940.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:01.196Z,1611782941.196 [Micromodem](INFO): Nmea in: $SNTTA,0.241432,,,,212901.74*48 2021-01-27T21:29:01.609Z,1611782941.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.919983 m, bearing: 121.066496 deg, deltaT: 4.816149 s, approachRate: -0.199334 m/s, LOS rate: -12.122332 deg/s, posRepo size: 4 2021-01-27T21:29:01.610Z,1611782941.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.122332 deg/s. Setting heading cmd to target bearing of 121.066496deg and heading rate command to 0 deg/s. 2021-01-27T21:29:04.041Z,1611782944.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:04.802Z,1611782944.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:05.231Z,1611782945.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:06.044Z,1611782946.044 [Micromodem](INFO): Nmea in: $SNTTA,0.240345,,,,212906.57*48 2021-01-27T21:29:06.474Z,1611782946.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 360.179993 m, bearing: 121.028794 deg, deltaT: 4.866930 s, approachRate: -0.357513 m/s, LOS rate: -0.007747 deg/s, posRepo size: 4 2021-01-27T21:29:06.492Z,1611782946.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 360.179993 m, bearing: 121.028794 deg, approachRate: -0.357513 m/s, LOS rate: -0.007747 deg/s, cmd update: -0.038733 deg/s, cmd heading: 121.066496 deg, new cmd heading: 121.066496 deg. 2021-01-27T21:29:09.310Z,1611782949.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:09.859Z,1611782949.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:10.266Z,1611782950.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:11.107Z,1611782951.107 [Micromodem](INFO): Nmea in: $SNTTA,0.238592,,,,212911.63*4A 2021-01-27T21:29:11.521Z,1611782951.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 357.599976 m, bearing: 119.298092 deg, deltaT: 5.130589 s, approachRate: -0.502870 m/s, LOS rate: -0.337330 deg/s, posRepo size: 4 2021-01-27T21:29:11.523Z,1611782951.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 357.599976 m, bearing: 119.298092 deg, approachRate: -0.502870 m/s, LOS rate: -0.337330 deg/s, cmd update: -1.686650 deg/s, cmd heading: 120.866813 deg, new cmd heading: 120.855906 deg. 2021-01-27T21:29:13.919Z,1611782953.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:14.710Z,1611782954.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:15.128Z,1611782955.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:15.950Z,1611782955.950 [Micromodem](INFO): Nmea in: $SNTTA,0.236843,,,,212916.48*4B 2021-01-27T21:29:16.357Z,1611782956.357 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:29:16.419Z,1611782956.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 354.960022 m, bearing: 120.763345 deg, deltaT: 4.762177 s, approachRate: -0.554359 m/s, LOS rate: 0.307686 deg/s, posRepo size: 4 2021-01-27T21:29:16.425Z,1611782956.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 354.960022 m, bearing: 120.763345 deg, approachRate: -0.554359 m/s, LOS rate: 0.307686 deg/s, cmd update: 1.538428 deg/s, cmd heading: 112.840980 deg, new cmd heading: 112.131172 deg. 2021-01-27T21:29:16.804Z,1611782956.804 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D 2021-01-27T21:29:16.805Z,1611782956.805 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A 2021-01-27T21:29:16.805Z,1611782956.805 [Micromodem](INFO): Outgoing frame #3, 52 bytes: 6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000 2021-01-27T21:29:16.805Z,1611782956.805 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-01-27T21:29:17.185Z,1611782957.185 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-01-27T21:29:17.553Z,1611782957.553 [Micromodem](INFO): Nmea in: $CADRQ,212918,1,10,0,64,1*77 2021-01-27T21:29:17.553Z,1611782957.553 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*30 2021-01-27T21:29:17.971Z,1611782957.971 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:29:18.369Z,1611782958.369 [Micromodem](INFO): Nmea in: $CADRQ,212919,1,10,0,64,2*75 2021-01-27T21:29:18.369Z,1611782958.369 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A*33 2021-01-27T21:29:18.526Z,1611782958.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:18.759Z,1611782958.759 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:29:19.178Z,1611782959.178 [Micromodem](INFO): Nmea in: $CADRQ,212920,1,10,0,64,3*7E 2021-01-27T21:29:19.179Z,1611782959.179 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000*34 2021-01-27T21:29:19.558Z,1611782959.558 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,52*4C 2021-01-27T21:29:19.558Z,1611782959.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:19.959Z,1611782959.959 [Micromodem](INFO): Nmea in: $CATXP,180*4B 2021-01-27T21:29:19.959Z,1611782959.959 [Micromodem](ERROR): Response from modem unexpected: $CATXP,180*4B 2021-01-27T21:29:21.225Z,1611782961.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:23.642Z,1611782963.642 [Micromodem](INFO): Nmea in: $CATXF,180*5D 2021-01-27T21:29:23.642Z,1611782963.642 [Micromodem](ERROR): Response from modem unexpected: $CATXF,180*5D 2021-01-27T21:29:24.039Z,1611782964.039 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,212920.982608,3,0,200,4000,14500,1,1,10,1,3,3,3,180*78 2021-01-27T21:29:24.039Z,1611782964.039 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,212920.982608,3,0,200,4000,14500,1,1,10,1,3,3,3,180*78 2021-01-27T21:29:24.213Z,1611782964.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:26.903Z,1611782966.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:29.756Z,1611782969.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:30.921Z,1611782970.921 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:31.348Z,1611782971.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:32.172Z,1611782972.172 [Micromodem](INFO): Nmea in: $SNTTA,0.230915,,,,212932.69*4A 2021-01-27T21:29:32.581Z,1611782972.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 346.140015 m, bearing: 121.583610 deg, deltaT: 16.193632 s, approachRate: -0.544659 m/s, LOS rate: 0.050654 deg/s, posRepo size: 4 2021-01-27T21:29:32.583Z,1611782972.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 346.140015 m, bearing: 121.583610 deg, approachRate: -0.544659 m/s, LOS rate: 0.050654 deg/s, cmd update: 0.253268 deg/s, cmd heading: 137.760005 deg, new cmd heading: 138.334532 deg. 2021-01-27T21:29:35.069Z,1611782975.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:35.754Z,1611782975.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:36.176Z,1611782976.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:36.992Z,1611782976.992 [Micromodem](INFO): Nmea in: $SNTTA,0.229057,,,,212937.53*41 2021-01-27T21:29:37.421Z,1611782977.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 343.559998 m, bearing: 121.897826 deg, deltaT: 4.963658 s, approachRate: -0.519781 m/s, LOS rate: 0.063303 deg/s, posRepo size: 4 2021-01-27T21:29:37.423Z,1611782977.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 343.559998 m, bearing: 121.897826 deg, approachRate: -0.519781 m/s, LOS rate: 0.063303 deg/s, cmd update: 0.316517 deg/s, cmd heading: 139.017138 deg, new cmd heading: 139.082430 deg. 2021-01-27T21:29:39.810Z,1611782979.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:40.611Z,1611782980.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:41.012Z,1611782981.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:41.824Z,1611782981.824 [Micromodem](INFO): Nmea in: $SNTTA,0.227218,,,,212942.38*49 2021-01-27T21:29:42.262Z,1611782982.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 340.679962 m, bearing: 121.649508 deg, deltaT: 4.679238 s, approachRate: -0.615492 m/s, LOS rate: -0.053068 deg/s, posRepo size: 4 2021-01-27T21:29:42.264Z,1611782982.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 340.679962 m, bearing: 121.649508 deg, approachRate: -0.615492 m/s, LOS rate: -0.053068 deg/s, cmd update: -0.265341 deg/s, cmd heading: 140.498198 deg, new cmd heading: 140.632285 deg. 2021-01-27T21:29:44.701Z,1611782984.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:45.454Z,1611782985.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:45.883Z,1611782985.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:46.712Z,1611782986.712 [Micromodem](INFO): Nmea in: $SNTTA,0.225327,,,,212947.22*48 2021-01-27T21:29:47.132Z,1611782987.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.799988 m, bearing: 121.739502 deg, deltaT: 4.901290 s, approachRate: -0.587595 m/s, LOS rate: 0.018361 deg/s, posRepo size: 4 2021-01-27T21:29:47.134Z,1611782987.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 337.799988 m, bearing: 121.739502 deg, approachRate: -0.587595 m/s, LOS rate: 0.018361 deg/s, cmd update: 0.091807 deg/s, cmd heading: 139.197724 deg, new cmd heading: 139.094613 deg. 2021-01-27T21:29:49.545Z,1611782989.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:50.366Z,1611782990.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:50.752Z,1611782990.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:51.591Z,1611782991.591 [Micromodem](INFO): Nmea in: $SNTTA,0.223407,,,,212952.14*4A 2021-01-27T21:29:52.018Z,1611782992.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 334.979980 m, bearing: 121.139566 deg, deltaT: 4.875899 s, approachRate: -0.578356 m/s, LOS rate: -0.123041 deg/s, posRepo size: 4 2021-01-27T21:29:52.021Z,1611782992.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 334.979980 m, bearing: 121.139566 deg, approachRate: -0.578356 m/s, LOS rate: -0.123041 deg/s, cmd update: -0.615206 deg/s, cmd heading: 139.645371 deg, new cmd heading: 139.682348 deg. 2021-01-27T21:29:54.512Z,1611782994.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:29:55.194Z,1611782995.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:29:55.616Z,1611782995.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:29:56.436Z,1611782996.436 [Micromodem](INFO): Nmea in: $SNTTA,0.221579,,,,212956.97*4F 2021-01-27T21:29:56.853Z,1611782996.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 332.220001 m, bearing: 121.509625 deg, deltaT: 4.948810 s, approachRate: -0.557706 m/s, LOS rate: 0.074778 deg/s, posRepo size: 4 2021-01-27T21:29:56.855Z,1611782996.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 332.220001 m, bearing: 121.509625 deg, approachRate: -0.557706 m/s, LOS rate: 0.074778 deg/s, cmd update: 0.373888 deg/s, cmd heading: 136.600779 deg, new cmd heading: 136.422975 deg. 2021-01-27T21:29:59.318Z,1611782999.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:00.042Z,1611783000.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:00.476Z,1611783000.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:01.312Z,1611783001.312 [Micromodem](INFO): Nmea in: $SNTTA,0.219911,,,,213001.82*48 2021-01-27T21:30:01.696Z,1611783001.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 329.459991 m, bearing: 121.748382 deg, deltaT: 4.809336 s, approachRate: -0.573886 m/s, LOS rate: 0.049644 deg/s, posRepo size: 4 2021-01-27T21:30:01.698Z,1611783001.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 329.459991 m, bearing: 121.748382 deg, approachRate: -0.573886 m/s, LOS rate: 0.049644 deg/s, cmd update: 0.248221 deg/s, cmd heading: 138.395961 deg, new cmd heading: 138.519279 deg. 2021-01-27T21:30:04.149Z,1611783004.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:04.902Z,1611783004.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:05.324Z,1611783005.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:06.154Z,1611783006.154 [Micromodem](INFO): Nmea in: $SNTTA,0.217920,,,,213006.67*48 2021-01-27T21:30:06.557Z,1611783006.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.639984 m, bearing: 121.421939 deg, deltaT: 4.803513 s, approachRate: -0.587072 m/s, LOS rate: -0.067959 deg/s, posRepo size: 4 2021-01-27T21:30:06.559Z,1611783006.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 326.639984 m, bearing: 121.421939 deg, approachRate: -0.587072 m/s, LOS rate: -0.067959 deg/s, cmd update: -0.339795 deg/s, cmd heading: 139.590273 deg, new cmd heading: 139.684495 deg. 2021-01-27T21:30:08.995Z,1611783008.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:09.742Z,1611783009.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:10.171Z,1611783010.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:10.979Z,1611783010.979 [Micromodem](INFO): Nmea in: $SNTTA,0.215886,,,,213011.51*44 2021-01-27T21:30:11.430Z,1611783011.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 323.699982 m, bearing: 120.663010 deg, deltaT: 4.859909 s, approachRate: -0.604950 m/s, LOS rate: -0.156161 deg/s, posRepo size: 4 2021-01-27T21:30:11.436Z,1611783011.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 323.699982 m, bearing: 120.663010 deg, approachRate: -0.604950 m/s, LOS rate: -0.156161 deg/s, cmd update: -0.780806 deg/s, cmd heading: 137.940819 deg, new cmd heading: 137.805337 deg. 2021-01-27T21:30:13.879Z,1611783013.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:14.602Z,1611783014.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:15.015Z,1611783015.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:15.816Z,1611783015.816 [Micromodem](INFO): Nmea in: $SNTTA,0.214093,,,,213016.37*4E 2021-01-27T21:30:16.253Z,1611783016.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 320.940002 m, bearing: 121.185273 deg, deltaT: 4.932517 s, approachRate: -0.559548 m/s, LOS rate: 0.105882 deg/s, posRepo size: 4 2021-01-27T21:30:16.274Z,1611783016.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 320.940002 m, bearing: 121.185273 deg, approachRate: -0.559548 m/s, LOS rate: 0.105882 deg/s, cmd update: 0.529409 deg/s, cmd heading: 134.087111 deg, new cmd heading: 133.864433 deg. 2021-01-27T21:30:18.675Z,1611783018.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:19.458Z,1611783019.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:19.844Z,1611783019.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:20.673Z,1611783020.673 [Micromodem](INFO): Nmea in: $SNTTA,0.212256,,,,213021.23*42 2021-01-27T21:30:21.117Z,1611783021.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.119995 m, bearing: 121.290322 deg, deltaT: 4.718419 s, approachRate: -0.597659 m/s, LOS rate: 0.022263 deg/s, posRepo size: 4 2021-01-27T21:30:21.119Z,1611783021.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 318.119995 m, bearing: 121.290322 deg, approachRate: -0.597659 m/s, LOS rate: 0.022263 deg/s, cmd update: 0.111317 deg/s, cmd heading: 136.586387 deg, new cmd heading: 136.813444 deg. 2021-01-27T21:30:21.872Z,1611783021.872 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:30:22.373Z,1611783022.373 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D 2021-01-27T21:30:22.373Z,1611783022.373 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A 2021-01-27T21:30:22.374Z,1611783022.374 [Micromodem](INFO): Outgoing frame #3, 52 bytes: 6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000 2021-01-27T21:30:22.374Z,1611783022.374 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-01-27T21:30:22.805Z,1611783022.805 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-01-27T21:30:23.178Z,1611783023.178 [Micromodem](INFO): Nmea in: $CADRQ,213024,1,10,0,64,1*70 2021-01-27T21:30:23.179Z,1611783023.179 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*30 2021-01-27T21:30:23.334Z,1611783023.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:23.603Z,1611783023.603 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:30:24.002Z,1611783024.002 [Micromodem](INFO): Nmea in: $CADRQ,213024,1,10,0,64,2*73 2021-01-27T21:30:24.003Z,1611783024.003 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A*33 2021-01-27T21:30:24.394Z,1611783024.394 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:30:24.394Z,1611783024.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:24.806Z,1611783024.806 [Micromodem](INFO): Nmea in: $CADRQ,213025,1,10,0,64,3*73 2021-01-27T21:30:24.807Z,1611783024.807 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,213025,1,10,0,64,3*73 2021-01-27T21:30:25.223Z,1611783025.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:25.639Z,1611783025.639 [Micromodem](INFO): Nmea in: $SNTTA,0.210232,,,0.212745,213026.17*5B 2021-01-27T21:30:26.061Z,1611783026.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.239990 m, bearing: 121.332423 deg, deltaT: 4.975413 s, approachRate: -0.578847 m/s, LOS rate: 0.008462 deg/s, posRepo size: 4 2021-01-27T21:30:26.067Z,1611783026.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 315.239990 m, bearing: 121.332423 deg, approachRate: -0.578847 m/s, LOS rate: 0.008462 deg/s, cmd update: 0.042309 deg/s, cmd heading: 137.140236 deg, new cmd heading: 137.184517 deg. 2021-01-27T21:30:28.521Z,1611783028.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:29.261Z,1611783029.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:29.666Z,1611783029.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:30.476Z,1611783030.476 [Micromodem](INFO): Nmea in: $SNTTA,0.208597,,,,213031.03*40 2021-01-27T21:30:30.930Z,1611783030.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 312.720001 m, bearing: 122.243720 deg, deltaT: 4.857678 s, approachRate: -0.518764 m/s, LOS rate: 0.187599 deg/s, posRepo size: 4 2021-01-27T21:30:30.932Z,1611783030.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 312.720001 m, bearing: 122.243720 deg, approachRate: -0.518764 m/s, LOS rate: 0.187599 deg/s, cmd update: 0.937997 deg/s, cmd heading: 137.345758 deg, new cmd heading: 137.363070 deg. 2021-01-27T21:30:33.441Z,1611783033.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:34.107Z,1611783034.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:34.509Z,1611783034.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:35.355Z,1611783035.355 [Micromodem](INFO): Nmea in: $SNTTA,0.206608,,,,213035.88*4C 2021-01-27T21:30:35.770Z,1611783035.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 309.659973 m, bearing: 122.554262 deg, deltaT: 4.999254 s, approachRate: -0.612097 m/s, LOS rate: 0.062118 deg/s, posRepo size: 4 2021-01-27T21:30:35.773Z,1611783035.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 309.659973 m, bearing: 122.554262 deg, approachRate: -0.612097 m/s, LOS rate: 0.062118 deg/s, cmd update: 0.310588 deg/s, cmd heading: 142.031469 deg, new cmd heading: 142.269548 deg. 2021-01-27T21:30:38.191Z,1611783038.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:38.942Z,1611783038.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:39.364Z,1611783039.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:40.176Z,1611783040.176 [Micromodem](INFO): Nmea in: $SNTTA,0.205008,,,,213040.71*4D 2021-01-27T21:30:40.619Z,1611783040.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 307.320007 m, bearing: 123.437774 deg, deltaT: 4.699628 s, approachRate: -0.497904 m/s, LOS rate: 0.187996 deg/s, posRepo size: 4 2021-01-27T21:30:40.621Z,1611783040.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 307.320007 m, bearing: 123.437774 deg, approachRate: -0.497904 m/s, LOS rate: 0.187996 deg/s, cmd update: 0.939981 deg/s, cmd heading: 143.492362 deg, new cmd heading: 143.610622 deg. 2021-01-27T21:30:43.023Z,1611783043.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:43.798Z,1611783043.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:44.196Z,1611783044.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:45.032Z,1611783045.032 [Micromodem](INFO): Nmea in: $SNTTA,0.203254,,,,213045.57*41 2021-01-27T21:30:45.483Z,1611783045.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.679993 m, bearing: 123.166247 deg, deltaT: 4.890820 s, approachRate: -0.539790 m/s, LOS rate: -0.055518 deg/s, posRepo size: 4 2021-01-27T21:30:45.485Z,1611783045.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 304.679993 m, bearing: 123.166247 deg, approachRate: -0.539790 m/s, LOS rate: -0.055518 deg/s, cmd update: -0.277589 deg/s, cmd heading: 148.061030 deg, new cmd heading: 148.439302 deg. 2021-01-27T21:30:47.883Z,1611783047.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:48.646Z,1611783048.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:49.044Z,1611783049.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:49.880Z,1611783049.880 [Micromodem](INFO): Nmea in: $SNTTA,0.201530,,,,213050.42*46 2021-01-27T21:30:50.334Z,1611783050.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.100006 m, bearing: 124.457357 deg, deltaT: 4.804078 s, approachRate: -0.537041 m/s, LOS rate: 0.268753 deg/s, posRepo size: 4 2021-01-27T21:30:50.336Z,1611783050.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 302.100006 m, bearing: 124.457357 deg, approachRate: -0.537041 m/s, LOS rate: 0.268753 deg/s, cmd update: 1.343765 deg/s, cmd heading: 146.724598 deg, new cmd heading: 146.602624 deg. 2021-01-27T21:30:52.787Z,1611783052.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:53.482Z,1611783053.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:53.895Z,1611783053.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:30:54.308Z,1611783054.308 [Micromodem](INFO): Nmea in: $CAERR,213055,DATA_TIMEOUT,3*4C 2021-01-27T21:30:54.707Z,1611783054.707 [Micromodem](INFO): Nmea in: $CATXP,128*49 2021-01-27T21:30:55.152Z,1611783055.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.459991 m, bearing: 124.439339 deg, deltaT: 4.909197 s, approachRate: -0.537769 m/s, LOS rate: -0.003670 deg/s, posRepo size: 4 2021-01-27T21:30:55.154Z,1611783055.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 299.459991 m, bearing: 124.439339 deg, approachRate: -0.537769 m/s, LOS rate: -0.003670 deg/s, cmd update: -0.018351 deg/s, cmd heading: 153.347967 deg, new cmd heading: 153.789240 deg. 2021-01-27T21:30:57.526Z,1611783057.526 [Micromodem](INFO): Nmea in: $CATXF,128*5F 2021-01-27T21:30:57.580Z,1611783057.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:30:57.938Z,1611783057.938 [Micromodem](INFO): Nmea in: $SNTTA,0.199760,,,,213055.25*47 2021-01-27T21:30:58.355Z,1611783058.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:30:59.140Z,1611783059.140 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,213055.831205,3,0,200,4000,14500,1,1,10,1,3,2,3,128*71 2021-01-27T21:30:59.141Z,1611783059.141 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,213055.831205,3,0,200,4000,14500,1,1,10,1,3,2,3,128*71 2021-01-27T21:30:59.567Z,1611783059.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:00.446Z,1611783060.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:01.970Z,1611783061.970 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:31:03.216Z,1611783063.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:04.008Z,1611783064.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:04.400Z,1611783064.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:05.217Z,1611783065.217 [Micromodem](INFO): Nmea in: $SNTTA,0.196653,,,,213105.78*45 2021-01-27T21:31:05.727Z,1611783065.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.539978 m, bearing: 122.795176 deg, deltaT: 10.478821 s, approachRate: -0.469520 m/s, LOS rate: -0.156903 deg/s, posRepo size: 4 2021-01-27T21:31:05.730Z,1611783065.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 294.539978 m, bearing: 122.795176 deg, approachRate: -0.469520 m/s, LOS rate: -0.156903 deg/s, cmd update: -0.784517 deg/s, cmd heading: 153.156139 deg, new cmd heading: 153.147874 deg. 2021-01-27T21:31:08.065Z,1611783068.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:08.838Z,1611783068.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:09.240Z,1611783069.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:10.072Z,1611783070.072 [Micromodem](INFO): Nmea in: $SNTTA,0.194929,,,,213110.61*49 2021-01-27T21:31:10.502Z,1611783070.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.959991 m, bearing: 121.763066 deg, deltaT: 4.829097 s, approachRate: -0.534259 m/s, LOS rate: -0.213727 deg/s, posRepo size: 4 2021-01-27T21:31:10.504Z,1611783070.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 291.959991 m, bearing: 121.763066 deg, approachRate: -0.534259 m/s, LOS rate: -0.213727 deg/s, cmd update: -1.068637 deg/s, cmd heading: 149.353530 deg, new cmd heading: 149.056697 deg. 2021-01-27T21:31:12.914Z,1611783072.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:13.686Z,1611783073.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:14.112Z,1611783074.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:14.924Z,1611783074.924 [Micromodem](INFO): Nmea in: $SNTTA,0.193298,,,,213115.46*4F 2021-01-27T21:31:15.388Z,1611783075.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 289.499969 m, bearing: 123.210971 deg, deltaT: 4.817818 s, approachRate: -0.510609 m/s, LOS rate: 0.300531 deg/s, posRepo size: 4 2021-01-27T21:31:15.390Z,1611783075.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 289.499969 m, bearing: 123.210971 deg, approachRate: -0.510609 m/s, LOS rate: 0.300531 deg/s, cmd update: 1.502656 deg/s, cmd heading: 144.198996 deg, new cmd heading: 143.728049 deg. 2021-01-27T21:31:17.738Z,1611783077.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:18.530Z,1611783078.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:18.941Z,1611783078.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:19.776Z,1611783079.776 [Micromodem](INFO): Nmea in: $SNTTA,0.191433,,,,213120.30*4D 2021-01-27T21:31:20.203Z,1611783080.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.979980 m, bearing: 121.964093 deg, deltaT: 4.884883 s, approachRate: -0.515875 m/s, LOS rate: -0.255252 deg/s, posRepo size: 4 2021-01-27T21:31:20.205Z,1611783080.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 286.979980 m, bearing: 121.964093 deg, approachRate: -0.515875 m/s, LOS rate: -0.255252 deg/s, cmd update: -1.276262 deg/s, cmd heading: 151.542793 deg, new cmd heading: 152.096424 deg. 2021-01-27T21:31:22.600Z,1611783082.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:23.390Z,1611783083.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:23.792Z,1611783083.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:24.614Z,1611783084.614 [Micromodem](INFO): Nmea in: $SNTTA,0.189975,,,,213125.16*4A 2021-01-27T21:31:25.138Z,1611783085.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:27.033Z,1611783087.033 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:31:27.421Z,1611783087.421 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:31:27.887Z,1611783087.887 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D 2021-01-27T21:31:27.887Z,1611783087.887 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A 2021-01-27T21:31:27.888Z,1611783087.888 [Micromodem](INFO): Outgoing frame #3, 52 bytes: 6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000 2021-01-27T21:31:27.889Z,1611783087.889 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-01-27T21:31:27.969Z,1611783087.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:28.235Z,1611783088.235 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-01-27T21:31:28.642Z,1611783088.642 [Micromodem](INFO): Nmea in: $CADRQ,213129,1,10,0,64,1*7C 2021-01-27T21:31:28.643Z,1611783088.643 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*30 2021-01-27T21:31:29.042Z,1611783089.042 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:31:29.042Z,1611783089.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:29.455Z,1611783089.455 [Micromodem](INFO): Nmea in: $CADRQ,213130,1,10,0,64,2*77 2021-01-27T21:31:29.455Z,1611783089.455 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,213130,1,10,0,64,2*77 2021-01-27T21:31:29.848Z,1611783089.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:30.317Z,1611783090.317 [Micromodem](INFO): Nmea in: $SNTTA,0.187840,,,,213130.81*49 2021-01-27T21:31:30.710Z,1611783090.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.579987 m, bearing: 121.709914 deg, deltaT: 10.528598 s, approachRate: -0.512888 m/s, LOS rate: -0.024142 deg/s, posRepo size: 4 2021-01-27T21:31:30.711Z,1611783090.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 281.579987 m, bearing: 121.709914 deg, approachRate: -0.512888 m/s, LOS rate: -0.024142 deg/s, cmd update: -0.120709 deg/s, cmd heading: 138.105604 deg, new cmd heading: 137.663628 deg. 2021-01-27T21:31:33.173Z,1611783093.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:33.922Z,1611783093.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:34.369Z,1611783094.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:35.172Z,1611783095.172 [Micromodem](INFO): Nmea in: $SNTTA,0.186000,,,,213135.69*47 2021-01-27T21:31:35.582Z,1611783095.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.819977 m, bearing: 121.125537 deg, deltaT: 4.852383 s, approachRate: -0.568795 m/s, LOS rate: -0.120431 deg/s, posRepo size: 4 2021-01-27T21:31:35.584Z,1611783095.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 278.819977 m, bearing: 121.125537 deg, approachRate: -0.568795 m/s, LOS rate: -0.120431 deg/s, cmd update: -0.602155 deg/s, cmd heading: 137.522303 deg, new cmd heading: 137.475694 deg. 2021-01-27T21:31:38.151Z,1611783098.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:38.770Z,1611783098.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:39.180Z,1611783099.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:40.015Z,1611783100.015 [Micromodem](INFO): Nmea in: $SNTTA,0.184285,,,,213140.54*46 2021-01-27T21:31:40.445Z,1611783100.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 276.239990 m, bearing: 121.166955 deg, deltaT: 4.972233 s, approachRate: -0.518879 m/s, LOS rate: 0.008330 deg/s, posRepo size: 4 2021-01-27T21:31:40.447Z,1611783100.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 276.239990 m, bearing: 121.166955 deg, approachRate: -0.518879 m/s, LOS rate: 0.008330 deg/s, cmd update: 0.041650 deg/s, cmd heading: 134.516086 deg, new cmd heading: 134.361022 deg. 2021-01-27T21:31:42.826Z,1611783102.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:43.615Z,1611783103.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:44.028Z,1611783104.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:44.852Z,1611783104.852 [Micromodem](INFO): Nmea in: $SNTTA,0.182535,,,,213145.39*42 2021-01-27T21:31:45.281Z,1611783105.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.599976 m, bearing: 120.000263 deg, deltaT: 4.698685 s, approachRate: -0.561862 m/s, LOS rate: -0.248302 deg/s, posRepo size: 4 2021-01-27T21:31:45.308Z,1611783105.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 273.599976 m, bearing: 120.000263 deg, approachRate: -0.561862 m/s, LOS rate: -0.248302 deg/s, cmd update: -1.241509 deg/s, cmd heading: 134.710938 deg, new cmd heading: 134.728017 deg. 2021-01-27T21:31:47.715Z,1611783107.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:48.466Z,1611783108.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:48.872Z,1611783108.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:49.706Z,1611783109.706 [Micromodem](INFO): Nmea in: $SNTTA,0.180689,,0.183428,,213150.24*56 2021-01-27T21:31:50.158Z,1611783110.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.839996 m, bearing: 120.197177 deg, deltaT: 4.870398 s, approachRate: -0.566685 m/s, LOS rate: 0.040431 deg/s, posRepo size: 4 2021-01-27T21:31:50.164Z,1611783110.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 270.839996 m, bearing: 120.197177 deg, approachRate: -0.566685 m/s, LOS rate: 0.040431 deg/s, cmd update: 0.202154 deg/s, cmd heading: 128.639334 deg, new cmd heading: 128.141424 deg. 2021-01-27T21:31:52.551Z,1611783112.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:53.342Z,1611783113.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:53.720Z,1611783113.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:54.549Z,1611783114.549 [Micromodem](INFO): Nmea in: $SNTTA,0.178770,,,,213155.11*4F 2021-01-27T21:31:54.986Z,1611783114.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.899994 m, bearing: 120.241369 deg, deltaT: 4.841332 s, approachRate: -0.607271 m/s, LOS rate: 0.009128 deg/s, posRepo size: 4 2021-01-27T21:31:54.988Z,1611783114.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 267.899994 m, bearing: 120.241369 deg, approachRate: -0.607271 m/s, LOS rate: 0.009128 deg/s, cmd update: 0.045640 deg/s, cmd heading: 129.617207 deg, new cmd heading: 129.696137 deg. 2021-01-27T21:31:57.476Z,1611783117.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:31:58.172Z,1611783118.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:31:58.579Z,1611783118.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:31:58.967Z,1611783118.967 [Micromodem](INFO): Nmea in: $CAERR,213200,DATA_TIMEOUT,2*4F 2021-01-27T21:31:59.383Z,1611783119.383 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-01-27T21:31:59.811Z,1611783119.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 265.019989 m, bearing: 120.248281 deg, deltaT: 4.943079 s, approachRate: -0.582634 m/s, LOS rate: 0.001398 deg/s, posRepo size: 4 2021-01-27T21:31:59.813Z,1611783119.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 265.019989 m, bearing: 120.248281 deg, approachRate: -0.582634 m/s, LOS rate: 0.001398 deg/s, cmd update: 0.006992 deg/s, cmd heading: 129.842817 deg, new cmd heading: 129.855307 deg. 2021-01-27T21:32:01.057Z,1611783121.057 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-01-27T21:32:01.429Z,1611783121.429 [Micromodem](INFO): Nmea in: $SNTTA,0.176820,,,,213159.94*4A 2021-01-27T21:32:01.823Z,1611783121.823 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,213200.457566,3,0,200,4000,14500,1,1,10,1,3,1,3,64*47 2021-01-27T21:32:02.268Z,1611783122.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:03.022Z,1611783123.022 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-01-27T21:32:03.023Z,1611783123.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:03.427Z,1611783123.427 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127213203.586948,06,650,22,0224,0150,59,02,02,01,02,1,010,001,0,4,1,0,150,11.1,4.00,11,-1.00,-01,1.13,35,14500,4000*6A 2021-01-27T21:32:03.428Z,1611783123.428 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127213203.586948,06,650,22,0224,0150,59,02,02,01,02,1,010,001,0,4,1,0,150,11.1,4.00,11,-1.00,-01,1.13,35,14500,4000*6A 2021-01-27T21:32:04.667Z,1611783124.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:04.721Z,1611783124.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.379974 m, bearing: 120.635020 deg, deltaT: 4.793971 s, approachRate: -0.550695 m/s, LOS rate: 0.080672 deg/s, posRepo size: 4 2021-01-27T21:32:04.723Z,1611783124.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 262.379974 m, bearing: 120.635020 deg, approachRate: -0.550695 m/s, LOS rate: 0.080672 deg/s, cmd update: 0.403360 deg/s, cmd heading: 129.876330 deg, new cmd heading: 129.879062 deg. 2021-01-27T21:32:07.127Z,1611783127.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:07.866Z,1611783127.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:08.298Z,1611783128.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:09.126Z,1611783129.126 [Micromodem](INFO): Nmea in: $SNTTA,0.173221,,,,213209.64*4D 2021-01-27T21:32:09.521Z,1611783129.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.619995 m, bearing: 121.059161 deg, deltaT: 4.818730 s, approachRate: -0.572761 m/s, LOS rate: 0.088019 deg/s, posRepo size: 4 2021-01-27T21:32:09.523Z,1611783129.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 259.619995 m, bearing: 121.059161 deg, approachRate: -0.572761 m/s, LOS rate: 0.088019 deg/s, cmd update: 0.440096 deg/s, cmd heading: 131.820298 deg, new cmd heading: 131.970131 deg. 2021-01-27T21:32:11.965Z,1611783131.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:12.722Z,1611783132.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:13.152Z,1611783133.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:13.954Z,1611783133.954 [Micromodem](INFO): Nmea in: $SNTTA,0.171254,,,,213214.49*4E 2021-01-27T21:32:14.418Z,1611783134.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.679993 m, bearing: 121.396996 deg, deltaT: 4.844422 s, approachRate: -0.606884 m/s, LOS rate: 0.069737 deg/s, posRepo size: 4 2021-01-27T21:32:14.419Z,1611783134.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 256.679993 m, bearing: 121.396996 deg, approachRate: -0.606884 m/s, LOS rate: 0.069737 deg/s, cmd update: 0.348684 deg/s, cmd heading: 133.952366 deg, new cmd heading: 134.138498 deg. 2021-01-27T21:32:16.850Z,1611783136.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:17.562Z,1611783137.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:17.982Z,1611783137.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:18.813Z,1611783138.813 [Micromodem](INFO): Nmea in: $SNTTA,0.169460,,,,213219.33*46 2021-01-27T21:32:19.232Z,1611783139.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.919983 m, bearing: 121.607584 deg, deltaT: 4.918780 s, approachRate: -0.561117 m/s, LOS rate: 0.042813 deg/s, posRepo size: 4 2021-01-27T21:32:19.234Z,1611783139.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 253.919983 m, bearing: 121.607584 deg, approachRate: -0.561117 m/s, LOS rate: 0.042813 deg/s, cmd update: 0.214066 deg/s, cmd heading: 135.668863 deg, new cmd heading: 135.772989 deg. 2021-01-27T21:32:21.652Z,1611783141.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:22.419Z,1611783142.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:22.816Z,1611783142.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:23.644Z,1611783143.644 [Micromodem](INFO): Nmea in: $SNTTA,0.167379,,,,213224.19*41 2021-01-27T21:32:24.072Z,1611783144.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.800003 m, bearing: 120.869213 deg, deltaT: 4.761363 s, approachRate: -0.655270 m/s, LOS rate: -0.155076 deg/s, posRepo size: 4 2021-01-27T21:32:24.074Z,1611783144.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 250.800003 m, bearing: 120.869213 deg, approachRate: -0.655270 m/s, LOS rate: -0.155076 deg/s, cmd update: -0.775378 deg/s, cmd heading: 136.687178 deg, new cmd heading: 136.772188 deg. 2021-01-27T21:32:26.512Z,1611783146.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:27.258Z,1611783147.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:27.656Z,1611783147.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:28.500Z,1611783148.500 [Micromodem](INFO): Nmea in: $SNTTA,0.165790,,,,213229.03*46 2021-01-27T21:32:28.915Z,1611783148.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.459991 m, bearing: 120.580009 deg, deltaT: 4.887195 s, approachRate: -0.478805 m/s, LOS rate: -0.059176 deg/s, posRepo size: 4 2021-01-27T21:32:28.917Z,1611783148.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 248.459991 m, bearing: 120.580009 deg, approachRate: -0.478805 m/s, LOS rate: -0.059176 deg/s, cmd update: -0.295879 deg/s, cmd heading: 132.897655 deg, new cmd heading: 132.623638 deg. 2021-01-27T21:32:31.366Z,1611783151.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:32.123Z,1611783152.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:32.508Z,1611783152.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:32.909Z,1611783152.909 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:32:33.373Z,1611783153.373 [Micromodem](INFO): Nmea in: $SNTTA,0.163964,,,,213233.89*4C 2021-01-27T21:32:33.448Z,1611783153.448 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D 2021-01-27T21:32:33.448Z,1611783153.448 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A 2021-01-27T21:32:33.449Z,1611783153.449 [Micromodem](INFO): Outgoing frame #3, 52 bytes: 6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000 2021-01-27T21:32:33.449Z,1611783153.449 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B 2021-01-27T21:32:33.798Z,1611783153.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.699997 m, bearing: 120.361689 deg, deltaT: 4.995859 s, approachRate: -0.552456 m/s, LOS rate: -0.043700 deg/s, posRepo size: 4 2021-01-27T21:32:33.804Z,1611783153.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 245.699997 m, bearing: 120.361689 deg, approachRate: -0.552456 m/s, LOS rate: -0.043700 deg/s, cmd update: -0.218501 deg/s, cmd heading: 131.419479 deg, new cmd heading: 131.348246 deg. 2021-01-27T21:32:34.553Z,1611783154.553 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69 2021-01-27T21:32:34.965Z,1611783154.965 [Micromodem](INFO): Nmea in: $CADRQ,213235,1,10,0,64,1*72 2021-01-27T21:32:34.966Z,1611783154.966 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160050000005D00000400C80000000000000000151D80030C5669BF3148E2FA22188B6A388EEAC6A51C9E58EC1F659FAAC29EC6B6809026000B359BD85D*30 2021-01-27T21:32:35.378Z,1611783155.378 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:32:35.773Z,1611783155.773 [Micromodem](INFO): Nmea in: $CADRQ,213236,1,10,0,64,2*72 2021-01-27T21:32:35.773Z,1611783155.773 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9B611AD4AA2A8E62565A435B65ED29BA533C31029DE315B93284E0D9CE73F4FC2C529B7B8F12502991ED1A01D83DB6F5F8EA6F37DC7256593DEA331239FBFB4A*33 2021-01-27T21:32:36.158Z,1611783156.158 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:32:36.322Z,1611783156.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:36.571Z,1611783156.571 [Micromodem](INFO): Nmea in: $CADRQ,213237,1,10,0,64,3*72 2021-01-27T21:32:36.573Z,1611783156.573 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6B228430DDB08A2327DFC1CCA8026B134A3C8538237F3CD6AABC5794D599A50A654C46784EE69772FC7403B2E452FB2189578000*34 2021-01-27T21:32:36.968Z,1611783156.968 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,52*4C 2021-01-27T21:32:36.969Z,1611783156.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:37.370Z,1611783157.370 [Micromodem](INFO): Nmea in: $CATXP,180*4B 2021-01-27T21:32:37.370Z,1611783157.370 [Micromodem](ERROR): Response from modem unexpected: $CATXP,180*4B 2021-01-27T21:32:39.014Z,1611783159.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:41.035Z,1611783161.035 [Micromodem](INFO): Nmea in: $CATXF,180*5D 2021-01-27T21:32:41.035Z,1611783161.035 [Micromodem](ERROR): Response from modem unexpected: $CATXF,180*5D 2021-01-27T21:32:41.423Z,1611783161.423 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,213238.383336,3,0,200,4000,14500,1,1,10,1,3,3,3,180*78 2021-01-27T21:32:41.423Z,1611783161.423 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,213238.383336,3,0,200,4000,14500,1,1,10,1,3,3,3,180*78 2021-01-27T21:32:41.846Z,1611783161.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:44.638Z,1611783164.638 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-01-27T21:32:44.754Z,1611783164.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:45.051Z,1611783165.051 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-01-27T21:32:45.460Z,1611783165.460 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79 2021-01-27T21:32:45.461Z,1611783165.461 [Micromodem](INFO): Sent 172 bytes from file Logs/20210127T212138/Courier0005.lzma.parts 2021-01-27T21:32:45.461Z,1611783165.461 [Micromodem](INFO): Packets left to send: 0 2021-01-27T21:32:45.857Z,1611783165.857 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127213245.175342,06,1530,25,0274,0150,59,02,02,01,04,1,010,001,0,4,1,0,150,10.6,4.00,07,-1.00,-01,1.00,35,14500,4000*53 2021-01-27T21:32:45.858Z,1611783165.858 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127213245.175342,06,1530,25,0274,0150,59,02,02,01,04,1,010,001,0,4,1,0,150,10.6,4.00,07,-1.00,-01,1.00,35,14500,4000*53 2021-01-27T21:32:45.994Z,1611783165.994 [lineCaptureDepth:MicromodemComms] Stopped 2021-01-27T21:32:45.994Z,1611783165.994 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-01-27T21:32:45.994Z,1611783165.994 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-01-27T21:32:45.995Z,1611783165.995 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-01-27T21:32:45.995Z,1611783165.995 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-01-27T21:32:47.517Z,1611783167.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:48.294Z,1611783168.294 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:48.684Z,1611783168.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:49.596Z,1611783169.596 [Micromodem](INFO): Nmea in: $SNTTA,0.157879,,,,213250.07*45 2021-01-27T21:32:50.027Z,1611783170.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.639984 m, bearing: 121.469355 deg, deltaT: 16.050231 s, approachRate: -0.564479 m/s, LOS rate: 0.069012 deg/s, posRepo size: 4 2021-01-27T21:32:50.029Z,1611783170.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 236.639984 m, bearing: 121.469355 deg, approachRate: -0.564479 m/s, LOS rate: 0.069012 deg/s, cmd update: 0.345062 deg/s, cmd heading: 127.911621 deg, new cmd heading: 127.820831 deg. 2021-01-27T21:32:52.494Z,1611783172.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:53.223Z,1611783173.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:53.632Z,1611783173.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:54.452Z,1611783174.452 [Micromodem](INFO): Nmea in: $SNTTA,0.156105,,,,213254.99*45 2021-01-27T21:32:54.871Z,1611783174.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.939987 m, bearing: 120.884964 deg, deltaT: 4.922302 s, approachRate: -0.548523 m/s, LOS rate: -0.118723 deg/s, posRepo size: 4 2021-01-27T21:32:54.873Z,1611783174.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 233.939987 m, bearing: 120.884964 deg, approachRate: -0.548523 m/s, LOS rate: -0.118723 deg/s, cmd update: -0.593616 deg/s, cmd heading: 129.606158 deg, new cmd heading: 129.726425 deg. 2021-01-27T21:32:57.333Z,1611783177.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:32:58.075Z,1611783178.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:32:58.480Z,1611783178.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:32:59.322Z,1611783179.322 [Micromodem](INFO): Nmea in: $SNTTA,0.154343,,,,213259.85*47 2021-01-27T21:32:59.734Z,1611783179.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.360001 m, bearing: 121.357080 deg, deltaT: 4.861538 s, approachRate: -0.530693 m/s, LOS rate: 0.097113 deg/s, posRepo size: 4 2021-01-27T21:32:59.737Z,1611783179.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 231.360001 m, bearing: 121.357080 deg, approachRate: -0.530693 m/s, LOS rate: 0.097113 deg/s, cmd update: 0.485563 deg/s, cmd heading: 126.715707 deg, new cmd heading: 126.512334 deg. 2021-01-27T21:33:02.164Z,1611783182.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:02.914Z,1611783182.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:03.356Z,1611783183.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:04.160Z,1611783184.160 [Micromodem](INFO): Nmea in: $SNTTA,0.152552,,,,213304.69*4C 2021-01-27T21:33:04.574Z,1611783184.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.599976 m, bearing: 121.393963 deg, deltaT: 4.820578 s, approachRate: -0.572551 m/s, LOS rate: 0.007651 deg/s, posRepo size: 4 2021-01-27T21:33:04.576Z,1611783184.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 228.599976 m, bearing: 121.393963 deg, approachRate: -0.572551 m/s, LOS rate: 0.007651 deg/s, cmd update: 0.038256 deg/s, cmd heading: 129.058256 deg, new cmd heading: 129.231846 deg. 2021-01-27T21:33:06.989Z,1611783186.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:07.783Z,1611783187.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:08.180Z,1611783188.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:09.000Z,1611783189.000 [Micromodem](INFO): Nmea in: $SNTTA,0.150918,,,,213309.56*4D 2021-01-27T21:33:09.452Z,1611783189.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.139999 m, bearing: 121.607038 deg, deltaT: 4.798836 s, approachRate: -0.512619 m/s, LOS rate: 0.044401 deg/s, posRepo size: 4 2021-01-27T21:33:09.454Z,1611783189.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 226.139999 m, bearing: 121.607038 deg, approachRate: -0.512619 m/s, LOS rate: 0.044401 deg/s, cmd update: 0.222007 deg/s, cmd heading: 129.241848 deg, new cmd heading: 129.258539 deg. 2021-01-27T21:33:11.821Z,1611783191.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:12.619Z,1611783192.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:13.024Z,1611783193.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:13.868Z,1611783193.868 [Micromodem](INFO): Nmea in: $SNTTA,0.149318,,,,213314.39*4A 2021-01-27T21:33:14.320Z,1611783194.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.739990 m, bearing: 121.346807 deg, deltaT: 4.888490 s, approachRate: -0.490951 m/s, LOS rate: -0.053233 deg/s, posRepo size: 4 2021-01-27T21:33:14.322Z,1611783194.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 223.739990 m, bearing: 121.346807 deg, approachRate: -0.490951 m/s, LOS rate: -0.053233 deg/s, cmd update: -0.266166 deg/s, cmd heading: 130.326098 deg, new cmd heading: 130.418676 deg. 2021-01-27T21:33:16.696Z,1611783196.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:17.476Z,1611783197.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:17.874Z,1611783197.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:18.688Z,1611783198.688 [Micromodem](INFO): Nmea in: $SNTTA,0.147645,,,,213319.25*49 2021-01-27T21:33:19.140Z,1611783199.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.220001 m, bearing: 121.755635 deg, deltaT: 4.837440 s, approachRate: -0.520934 m/s, LOS rate: 0.084513 deg/s, posRepo size: 4 2021-01-27T21:33:19.142Z,1611783199.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 221.220001 m, bearing: 121.755635 deg, approachRate: -0.520934 m/s, LOS rate: 0.084513 deg/s, cmd update: 0.422566 deg/s, cmd heading: 129.038320 deg, new cmd heading: 128.931183 deg. 2021-01-27T21:33:19.893Z,1611783199.893 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T21:33:21.528Z,1611783201.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:22.326Z,1611783202.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:22.712Z,1611783202.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:23.552Z,1611783203.552 [Micromodem](INFO): Nmea in: $SNTTA,0.145931,,,,213324.10*4F 2021-01-27T21:33:24.128Z,1611783204.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.699997 m, bearing: 121.880518 deg, deltaT: 4.864462 s, approachRate: -0.518044 m/s, LOS rate: 0.025673 deg/s, posRepo size: 4 2021-01-27T21:33:24.130Z,1611783204.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 218.699997 m, bearing: 121.880518 deg, approachRate: -0.518044 m/s, LOS rate: 0.025673 deg/s, cmd update: 0.128363 deg/s, cmd heading: 131.093793 deg, new cmd heading: 131.306844 deg. 2021-01-27T21:33:24.485Z,1611783204.485 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-01-27T21:33:26.420Z,1611783206.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:27.162Z,1611783207.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:27.568Z,1611783207.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:28.400Z,1611783208.400 [Micromodem](INFO): Nmea in: $SNTTA,0.144167,,,,213328.93*42 2021-01-27T21:33:28.419Z,1611783208.419 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T21:33:28.799Z,1611783208.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.059982 m, bearing: 122.332185 deg, deltaT: 4.827093 s, approachRate: -0.546916 m/s, LOS rate: 0.093569 deg/s, posRepo size: 4 2021-01-27T21:33:28.801Z,1611783208.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 216.059982 m, bearing: 122.332185 deg, approachRate: -0.546916 m/s, LOS rate: 0.093569 deg/s, cmd update: 0.467845 deg/s, cmd heading: 131.713783 deg, new cmd heading: 131.760954 deg. 2021-01-27T21:33:31.219Z,1611783211.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:32.015Z,1611783212.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:32.421Z,1611783212.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:33.240Z,1611783213.240 [Micromodem](INFO): Nmea in: $SNTTA,0.142282,,,,213333.78*43 2021-01-27T21:33:33.687Z,1611783213.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.179977 m, bearing: 121.779090 deg, deltaT: 4.904006 s, approachRate: -0.587276 m/s, LOS rate: -0.112784 deg/s, posRepo size: 4 2021-01-27T21:33:33.693Z,1611783213.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 213.179977 m, bearing: 121.779090 deg, approachRate: -0.587276 m/s, LOS rate: -0.112784 deg/s, cmd update: -0.563922 deg/s, cmd heading: 134.006724 deg, new cmd heading: 134.172342 deg. 2021-01-27T21:33:36.124Z,1611783216.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:36.851Z,1611783216.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:37.264Z,1611783217.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:38.120Z,1611783218.120 [Micromodem](INFO): Nmea in: $SNTTA,0.140734,,,,213338.62*49 2021-01-27T21:33:38.517Z,1611783218.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.899994 m, bearing: 122.083908 deg, deltaT: 4.828717 s, approachRate: -0.472172 m/s, LOS rate: 0.063126 deg/s, posRepo size: 4 2021-01-27T21:33:38.519Z,1611783218.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 210.899994 m, bearing: 122.083908 deg, approachRate: -0.472172 m/s, LOS rate: 0.063126 deg/s, cmd update: 0.315630 deg/s, cmd heading: 131.283680 deg, new cmd heading: 131.083265 deg. 2021-01-27T21:33:40.917Z,1611783220.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:41.714Z,1611783221.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:42.136Z,1611783222.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:42.936Z,1611783222.936 [Micromodem](INFO): Nmea in: $SNTTA,0.138989,,,,213343.48*4A 2021-01-27T21:33:43.398Z,1611783223.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.259979 m, bearing: 121.987411 deg, deltaT: 4.826653 s, approachRate: -0.546966 m/s, LOS rate: -0.019993 deg/s, posRepo size: 4 2021-01-27T21:33:43.401Z,1611783223.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 208.259979 m, bearing: 121.987411 deg, approachRate: -0.546966 m/s, LOS rate: -0.019993 deg/s, cmd update: -0.099963 deg/s, cmd heading: 132.807074 deg, new cmd heading: 132.936621 deg. 2021-01-27T21:33:45.757Z,1611783225.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:46.559Z,1611783226.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:46.954Z,1611783226.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:47.780Z,1611783227.780 [Micromodem](INFO): Nmea in: $SNTTA,0.137287,,,,213348.33*47 2021-01-27T21:33:48.200Z,1611783228.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.739975 m, bearing: 122.237669 deg, deltaT: 4.806357 s, approachRate: -0.524307 m/s, LOS rate: 0.052068 deg/s, posRepo size: 4 2021-01-27T21:33:48.202Z,1611783228.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 205.739975 m, bearing: 122.237669 deg, approachRate: -0.524307 m/s, LOS rate: 0.052068 deg/s, cmd update: 0.260341 deg/s, cmd heading: 132.326256 deg, new cmd heading: 132.286078 deg. 2021-01-27T21:33:48.307Z,1611783228.307 [ThrusterServo](FAULT): getVelocity uart error serial timeout 2021-01-27T21:33:48.320Z,1611783228.320 [ThrusterServo](FAULT): Thruster uart error: serial timeout 2021-01-27T21:33:48.320Z,1611783228.320 [ThrusterServo] Communications Fault, FailCount= 1 2021-01-27T21:33:48.320Z,1611783228.320 [ThrusterServo](ERROR): Communications Fault 2021-01-27T21:33:48.340Z,1611783228.340 [CBIT](ERROR): Communications Fault in component: ThrusterServo 2021-01-27T21:33:48.736Z,1611783228.736 [ThrusterServo](DEBUG): Uninitialize Thruster Servo. 2021-01-27T21:33:48.737Z,1611783228.737 [ThrusterServo](INFO): Powering down 2021-01-27T21:33:49.525Z,1611783229.525 [ThrusterServo](DEBUG): Initializing EZServoServo. 2021-01-27T21:33:49.646Z,1611783229.646 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2021-01-27T21:33:49.653Z,1611783229.653 [CBIT](INFO): Clearing failed state for component ThrusterServo 2021-01-27T21:33:49.653Z,1611783229.653 [ThrusterServo] No Fault, FailCount= 1 2021-01-27T21:33:50.624Z,1611783230.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:51.398Z,1611783231.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:51.482Z,1611783231.482 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:33:51.811Z,1611783231.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:52.644Z,1611783232.644 [Micromodem](INFO): Nmea in: $SNTTA,0.135803,,,,213353.17*4F 2021-01-27T21:33:53.057Z,1611783233.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.519989 m, bearing: 122.646401 deg, deltaT: 4.870580 s, approachRate: -0.455795 m/s, LOS rate: 0.083919 deg/s, posRepo size: 4 2021-01-27T21:33:53.059Z,1611783233.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 203.519989 m, bearing: 122.646401 deg, approachRate: -0.455795 m/s, LOS rate: 0.083919 deg/s, cmd update: 0.419593 deg/s, cmd heading: 133.594343 deg, new cmd heading: 133.695359 deg. 2021-01-27T21:33:55.487Z,1611783235.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:33:56.243Z,1611783236.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:33:56.311Z,1611783236.311 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T21:33:56.656Z,1611783236.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:33:57.480Z,1611783237.480 [Micromodem](INFO): Nmea in: $SNTTA,0.134821,,,,213358.01*42 2021-01-27T21:33:57.899Z,1611783237.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.019989 m, bearing: 122.180760 deg, deltaT: 4.881513 s, approachRate: -0.307282 m/s, LOS rate: -0.095389 deg/s, posRepo size: 4 2021-01-27T21:33:57.901Z,1611783237.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 202.019989 m, bearing: 122.180760 deg, approachRate: -0.307282 m/s, LOS rate: -0.095389 deg/s, cmd update: -0.476944 deg/s, cmd heading: 135.640912 deg, new cmd heading: 135.788921 deg. 2021-01-27T21:34:00.351Z,1611783240.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:01.138Z,1611783241.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:01.155Z,1611783241.155 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:34:01.500Z,1611783241.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:02.342Z,1611783242.342 [Micromodem](INFO): Nmea in: $SNTTA,0.133571,,,,213402.91*4C 2021-01-27T21:34:02.767Z,1611783242.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.099991 m, bearing: 122.476493 deg, deltaT: 4.885970 s, approachRate: -0.392962 m/s, LOS rate: 0.060527 deg/s, posRepo size: 4 2021-01-27T21:34:02.769Z,1611783242.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 200.099991 m, bearing: 122.476493 deg, approachRate: -0.392962 m/s, LOS rate: 0.060527 deg/s, cmd update: 0.302635 deg/s, cmd heading: 133.314887 deg, new cmd heading: 133.150894 deg. 2021-01-27T21:34:05.191Z,1611783245.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:05.972Z,1611783245.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:06.360Z,1611783246.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:06.398Z,1611783246.398 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:34:07.192Z,1611783247.192 [Micromodem](INFO): Nmea in: $SNTTA,0.131942,,,,213407.74*4C 2021-01-27T21:34:07.613Z,1611783247.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.759979 m, bearing: 122.056696 deg, deltaT: 4.785328 s, approachRate: -0.488997 m/s, LOS rate: -0.087726 deg/s, posRepo size: 4 2021-01-27T21:34:07.615Z,1611783247.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 197.759979 m, bearing: 122.056696 deg, approachRate: -0.488997 m/s, LOS rate: -0.087726 deg/s, cmd update: -0.438629 deg/s, cmd heading: 134.765423 deg, new cmd heading: 134.880436 deg. 2021-01-27T21:34:10.022Z,1611783250.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:10.802Z,1611783250.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:11.224Z,1611783251.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:11.240Z,1611783251.240 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:34:12.040Z,1611783252.040 [Micromodem](INFO): Nmea in: $SNTTA,0.130423,,,,213412.57*42 2021-01-27T21:34:12.469Z,1611783252.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 122.171402 deg, deltaT: 4.849201 s, approachRate: -0.482553 m/s, LOS rate: 0.023655 deg/s, posRepo size: 4 2021-01-27T21:34:12.471Z,1611783252.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 195.419983 m, bearing: 122.171402 deg, approachRate: -0.482553 m/s, LOS rate: 0.023655 deg/s, cmd update: 0.118273 deg/s, cmd heading: 132.643049 deg, new cmd heading: 132.461337 deg. 2021-01-27T21:34:14.861Z,1611783254.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:15.654Z,1611783255.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:16.068Z,1611783256.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:16.145Z,1611783256.145 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-01-27T21:34:16.880Z,1611783256.880 [Micromodem](INFO): Nmea in: $SNTTA,0.128734,,0.129884,,213417.43*5E 2021-01-27T21:34:17.358Z,1611783257.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.900009 m, bearing: 121.772110 deg, deltaT: 4.824401 s, approachRate: -0.522339 m/s, LOS rate: -0.082765 deg/s, posRepo size: 4 2021-01-27T21:34:17.365Z,1611783257.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.900009 m, bearing: 121.772110 deg, approachRate: -0.522339 m/s, LOS rate: -0.082765 deg/s, cmd update: -0.413826 deg/s, cmd heading: 133.215514 deg, new cmd heading: 133.270282 deg. 2021-01-27T21:34:19.709Z,1611783259.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:20.499Z,1611783260.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:20.900Z,1611783260.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:21.345Z,1611783261.345 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-01-27T21:34:21.737Z,1611783261.737 [Micromodem](INFO): Nmea in: $SNTTA,0.126981,,,,213422.27*44 2021-01-27T21:34:21.760Z,1611783261.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.900009 m, bearing: 122.920661 deg, deltaT: 4.480335 s, approachRate: 0.000000 m/s, LOS rate: 0.256354 deg/s, posRepo size: 4 2021-01-27T21:34:21.762Z,1611783261.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 192.900009 m, bearing: 122.920661 deg, approachRate: 0.000000 m/s, LOS rate: 0.256354 deg/s, cmd update: 1.281769 deg/s, cmd heading: 131.363027 deg, new cmd heading: 131.202418 deg. 2021-01-27T21:34:24.195Z,1611783264.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:24.952Z,1611783264.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:25.367Z,1611783265.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:26.199Z,1611783266.199 [Micromodem](INFO): Nmea in: $SNTTA,0.125282,,,,213426.72*4B 2021-01-27T21:34:26.601Z,1611783266.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.679993 m, bearing: 122.354124 deg, deltaT: 4.838047 s, approachRate: -1.078951 m/s, LOS rate: -0.117100 deg/s, posRepo size: 4 2021-01-27T21:34:26.603Z,1611783266.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 187.679993 m, bearing: 122.354124 deg, approachRate: -1.078951 m/s, LOS rate: -0.117100 deg/s, cmd update: -0.585502 deg/s, cmd heading: 137.569573 deg, new cmd heading: 138.065444 deg. 2021-01-27T21:34:29.008Z,1611783269.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:29.787Z,1611783269.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:30.196Z,1611783270.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:31.021Z,1611783271.021 [Micromodem](INFO): Nmea in: $SNTTA,0.123423,,,,213431.56*40 2021-01-27T21:34:31.463Z,1611783271.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.980011 m, bearing: 122.536585 deg, deltaT: 4.856312 s, approachRate: -0.555974 m/s, LOS rate: 0.037572 deg/s, posRepo size: 4 2021-01-27T21:34:31.469Z,1611783271.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.980011 m, bearing: 122.536585 deg, approachRate: -0.555974 m/s, LOS rate: 0.037572 deg/s, cmd update: 0.187860 deg/s, cmd heading: 134.741651 deg, new cmd heading: 134.496161 deg. 2021-01-27T21:34:33.839Z,1611783273.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:34.643Z,1611783274.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:35.044Z,1611783275.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:35.876Z,1611783275.876 [Micromodem](INFO): Nmea in: $SNTTA,0.121688,,,,213436.41*40 2021-01-27T21:34:36.334Z,1611783276.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 122.633355 deg, deltaT: 4.840669 s, approachRate: -0.545382 m/s, LOS rate: 0.019991 deg/s, posRepo size: 4 2021-01-27T21:34:36.337Z,1611783276.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.339996 m, bearing: 122.633355 deg, approachRate: -0.545382 m/s, LOS rate: 0.019991 deg/s, cmd update: 0.099955 deg/s, cmd heading: 135.652187 deg, new cmd heading: 135.735357 deg. 2021-01-27T21:34:38.694Z,1611783278.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:39.496Z,1611783279.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:39.896Z,1611783279.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:40.741Z,1611783280.741 [Micromodem](INFO): Nmea in: $SNTTA,0.119813,,,,213441.27*47 2021-01-27T21:34:40.768Z,1611783280.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.339996 m, bearing: 123.153420 deg, deltaT: 4.461212 s, approachRate: 0.000000 m/s, LOS rate: 0.116575 deg/s, posRepo size: 4 2021-01-27T21:34:40.770Z,1611783280.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.339996 m, bearing: 123.153420 deg, approachRate: 0.000000 m/s, LOS rate: 0.116575 deg/s, cmd update: 0.582873 deg/s, cmd heading: 136.098512 deg, new cmd heading: 136.139707 deg. 2021-01-27T21:34:43.190Z,1611783283.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:43.938Z,1611783283.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:44.364Z,1611783284.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:45.189Z,1611783285.189 [Micromodem](INFO): Nmea in: $SNTTA,0.118091,,,,213445.71*43 2021-01-27T21:34:45.585Z,1611783285.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 122.437233 deg, deltaT: 4.841139 s, approachRate: -1.115439 m/s, LOS rate: -0.147938 deg/s, posRepo size: 4 2021-01-27T21:34:45.587Z,1611783285.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.940002 m, bearing: 122.437233 deg, approachRate: -1.115439 m/s, LOS rate: -0.147938 deg/s, cmd update: -0.739688 deg/s, cmd heading: 138.929718 deg, new cmd heading: 139.146105 deg. 2021-01-27T21:34:46.390Z,1611783286.390 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-01-27T21:34:48.017Z,1611783288.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:48.778Z,1611783288.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:49.192Z,1611783289.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:50.029Z,1611783290.029 [Micromodem](INFO): Nmea in: $SNTTA,0.116309,,,,213450.55*4D 2021-01-27T21:34:50.051Z,1611783290.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 122.610146 deg, deltaT: 4.423370 s, approachRate: 0.000000 m/s, LOS rate: 0.039091 deg/s, posRepo size: 4 2021-01-27T21:34:50.053Z,1611783290.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.940002 m, bearing: 122.610146 deg, approachRate: 0.000000 m/s, LOS rate: 0.039091 deg/s, cmd update: 0.195454 deg/s, cmd heading: 135.657804 deg, new cmd heading: 135.351141 deg. 2021-01-27T21:34:52.458Z,1611783292.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:53.222Z,1611783293.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:53.628Z,1611783293.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:54.465Z,1611783294.465 [Micromodem](INFO): Nmea in: $SNTTA,0.114699,,0.124636,,213454.99*5D 2021-01-27T21:34:54.510Z,1611783294.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 121.817257 deg, deltaT: 4.430201 s, approachRate: 0.000000 m/s, LOS rate: -0.178974 deg/s, posRepo size: 4 2021-01-27T21:34:54.513Z,1611783294.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.940002 m, bearing: 121.817257 deg, approachRate: 0.000000 m/s, LOS rate: -0.178974 deg/s, cmd update: -0.894868 deg/s, cmd heading: 136.520446 deg, new cmd heading: 136.610423 deg. 2021-01-27T21:34:56.878Z,1611783296.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:34:57.666Z,1611783297.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:34:58.102Z,1611783298.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:34:58.945Z,1611783298.945 [Micromodem](INFO): Nmea in: $SNTTA,0.112939,,,,213459.44*49 2021-01-27T21:34:58.989Z,1611783298.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 122.417412 deg, deltaT: 4.453806 s, approachRate: 0.000000 m/s, LOS rate: 0.134751 deg/s, posRepo size: 4 2021-01-27T21:34:58.991Z,1611783298.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.940002 m, bearing: 122.417412 deg, approachRate: 0.000000 m/s, LOS rate: 0.134751 deg/s, cmd update: 0.673755 deg/s, cmd heading: 132.519958 deg, new cmd heading: 132.100338 deg. 2021-01-27T21:35:01.364Z,1611783301.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:02.126Z,1611783302.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:02.525Z,1611783302.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:03.369Z,1611783303.369 [Micromodem](INFO): Nmea in: $SNTTA,0.111311,,0.112455,,213503.90*55 2021-01-27T21:35:03.427Z,1611783303.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 120.003610 deg, deltaT: 4.453443 s, approachRate: 0.000000 m/s, LOS rate: -0.542008 deg/s, posRepo size: 4 2021-01-27T21:35:03.433Z,1611783303.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.940002 m, bearing: 120.003610 deg, approachRate: 0.000000 m/s, LOS rate: -0.542008 deg/s, cmd update: -2.710041 deg/s, cmd heading: 135.513512 deg, new cmd heading: 135.825846 deg. 2021-01-27T21:35:05.761Z,1611783305.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:06.554Z,1611783306.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:06.975Z,1611783306.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:07.801Z,1611783307.801 [Micromodem](INFO): Nmea in: $SNTTA,0.109699,,,,213508.33*43 2021-01-27T21:35:07.823Z,1611783307.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 122.106434 deg, deltaT: 4.449106 s, approachRate: -2.832028 m/s, LOS rate: 0.472640 deg/s, posRepo size: 4 2021-01-27T21:35:07.825Z,1611783307.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.340012 m, bearing: 122.106434 deg, approachRate: -2.832028 m/s, LOS rate: 0.472640 deg/s, cmd update: 2.363198 deg/s, cmd heading: 123.428118 deg, new cmd heading: 122.344015 deg. 2021-01-27T21:35:10.238Z,1611783310.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:11.002Z,1611783311.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:11.408Z,1611783311.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:12.254Z,1611783312.254 [Micromodem](INFO): Nmea in: $SNTTA,0.107995,,,,213512.77*45 2021-01-27T21:35:12.337Z,1611783312.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 122.933856 deg, deltaT: 4.419614 s, approachRate: -0.570186 m/s, LOS rate: 0.187216 deg/s, posRepo size: 4 2021-01-27T21:35:12.345Z,1611783312.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.820007 m, bearing: 122.933856 deg, approachRate: -0.570186 m/s, LOS rate: 0.187216 deg/s, cmd update: 0.936080 deg/s, cmd heading: 133.832523 deg, new cmd heading: 135.010188 deg. 2021-01-27T21:35:14.689Z,1611783314.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:15.450Z,1611783315.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:15.848Z,1611783315.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:16.704Z,1611783316.704 [Micromodem](INFO): Nmea in: $SNTTA,0.106392,,,,213517.22*4C 2021-01-27T21:35:16.729Z,1611783316.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.360001 m, bearing: 123.046227 deg, deltaT: 4.487804 s, approachRate: -0.548154 m/s, LOS rate: 0.025039 deg/s, posRepo size: 4 2021-01-27T21:35:16.731Z,1611783316.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.360001 m, bearing: 123.046227 deg, approachRate: -0.548154 m/s, LOS rate: 0.025039 deg/s, cmd update: 0.125195 deg/s, cmd heading: 138.045385 deg, new cmd heading: 138.421723 deg. 2021-01-27T21:35:19.134Z,1611783319.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:19.882Z,1611783319.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:20.307Z,1611783320.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:20.336Z,1611783320.336 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T21:35:21.145Z,1611783321.145 [Micromodem](INFO): Nmea in: $SNTTA,0.104759,,,,213521.65*4B 2021-01-27T21:35:21.190Z,1611783321.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.900009 m, bearing: 122.483925 deg, deltaT: 4.391903 s, approachRate: -0.560120 m/s, LOS rate: -0.128032 deg/s, posRepo size: 4 2021-01-27T21:35:21.192Z,1611783321.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 156.900009 m, bearing: 122.483925 deg, approachRate: -0.560120 m/s, LOS rate: -0.128032 deg/s, cmd update: -0.640158 deg/s, cmd heading: 138.595733 deg, new cmd heading: 138.654279 deg. 2021-01-27T21:35:23.580Z,1611783323.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:24.354Z,1611783324.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:24.744Z,1611783324.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:25.555Z,1611783325.555 [Micromodem](INFO): Nmea in: $SNTTA,0.103047,,,,213526.12*43 2021-01-27T21:35:25.595Z,1611783325.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.380005 m, bearing: 122.350449 deg, deltaT: 4.480211 s, approachRate: -0.562474 m/s, LOS rate: -0.029792 deg/s, posRepo size: 4 2021-01-27T21:35:25.597Z,1611783325.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.380005 m, bearing: 122.350449 deg, approachRate: -0.562474 m/s, LOS rate: -0.029792 deg/s, cmd update: -0.148961 deg/s, cmd heading: 135.727688 deg, new cmd heading: 135.476491 deg. 2021-01-27T21:35:28.013Z,1611783328.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:28.778Z,1611783328.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:29.195Z,1611783329.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:30.017Z,1611783330.017 [Micromodem](INFO): Nmea in: $SNTTA,0.101457,,,,213530.55*40 2021-01-27T21:35:30.061Z,1611783330.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.980011 m, bearing: 121.980130 deg, deltaT: 4.432213 s, approachRate: -0.541489 m/s, LOS rate: -0.083552 deg/s, posRepo size: 4 2021-01-27T21:35:30.066Z,1611783330.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.980011 m, bearing: 121.980130 deg, approachRate: -0.541489 m/s, LOS rate: -0.083552 deg/s, cmd update: -0.417759 deg/s, cmd heading: 135.068033 deg, new cmd heading: 135.004349 deg. 2021-01-27T21:35:32.454Z,1611783332.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:33.218Z,1611783333.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:33.636Z,1611783333.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:34.465Z,1611783334.465 [Micromodem](INFO): Nmea in: $SNTTA,0.099958,,,,213534.99*46 2021-01-27T21:35:34.499Z,1611783334.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 122.261657 deg, deltaT: 4.458254 s, approachRate: -0.511414 m/s, LOS rate: 0.063147 deg/s, posRepo size: 4 2021-01-27T21:35:34.501Z,1611783334.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.699997 m, bearing: 122.261657 deg, approachRate: -0.511414 m/s, LOS rate: 0.063147 deg/s, cmd update: 0.315737 deg/s, cmd heading: 133.212032 deg, new cmd heading: 133.034244 deg. 2021-01-27T21:35:36.866Z,1611783336.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:37.662Z,1611783337.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:38.074Z,1611783338.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:38.913Z,1611783338.913 [Micromodem](INFO): Nmea in: $SNTTA,0.098289,,,,213539.43*4A 2021-01-27T21:35:38.942Z,1611783338.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.240005 m, bearing: 122.837715 deg, deltaT: 4.403010 s, approachRate: -0.558707 m/s, LOS rate: 0.130833 deg/s, posRepo size: 4 2021-01-27T21:35:38.945Z,1611783338.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.240005 m, bearing: 122.837715 deg, approachRate: -0.558707 m/s, LOS rate: 0.130833 deg/s, cmd update: 0.654164 deg/s, cmd heading: 134.608388 deg, new cmd heading: 134.749318 deg. 2021-01-27T21:35:41.350Z,1611783341.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:42.132Z,1611783342.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:42.520Z,1611783342.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:43.373Z,1611783343.373 [Micromodem](INFO): Nmea in: $SNTTA,0.096721,,,,213543.90*40 2021-01-27T21:35:43.407Z,1611783343.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 121.890217 deg, deltaT: 4.466815 s, approachRate: -0.537298 m/s, LOS rate: -0.212119 deg/s, posRepo size: 4 2021-01-27T21:35:43.409Z,1611783343.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.839996 m, bearing: 121.890217 deg, approachRate: -0.537298 m/s, LOS rate: -0.212119 deg/s, cmd update: -1.060596 deg/s, cmd heading: 137.518820 deg, new cmd heading: 137.821043 deg. 2021-01-27T21:35:45.785Z,1611783345.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:46.558Z,1611783346.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:46.966Z,1611783346.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:47.797Z,1611783347.797 [Micromodem](INFO): Nmea in: $SNTTA,0.095054,,,,213548.33*44 2021-01-27T21:35:47.830Z,1611783347.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.380005 m, bearing: 121.965431 deg, deltaT: 4.460860 s, approachRate: -0.551461 m/s, LOS rate: 0.016861 deg/s, posRepo size: 4 2021-01-27T21:35:47.832Z,1611783347.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.380005 m, bearing: 121.965431 deg, approachRate: -0.551461 m/s, LOS rate: 0.016861 deg/s, cmd update: 0.084304 deg/s, cmd heading: 132.769076 deg, new cmd heading: 132.338139 deg. 2021-01-27T21:35:50.257Z,1611783350.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:51.006Z,1611783351.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:51.408Z,1611783351.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:52.255Z,1611783352.255 [Micromodem](INFO): Nmea in: $SNTTA,0.093360,,,,213552.78*42 2021-01-27T21:35:52.326Z,1611783352.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.800003 m, bearing: 121.350824 deg, deltaT: 4.417962 s, approachRate: -0.583980 m/s, LOS rate: -0.139116 deg/s, posRepo size: 4 2021-01-27T21:35:52.332Z,1611783352.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.800003 m, bearing: 121.350824 deg, approachRate: -0.583980 m/s, LOS rate: -0.139116 deg/s, cmd update: -0.695578 deg/s, cmd heading: 133.141533 deg, new cmd heading: 133.182355 deg. 2021-01-27T21:35:54.674Z,1611783354.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:55.443Z,1611783355.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:35:55.863Z,1611783355.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:35:56.697Z,1611783356.697 [Micromodem](INFO): Nmea in: $SNTTA,0.091791,0.100271,,,213557.21*58 2021-01-27T21:35:56.722Z,1611783356.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 122.014636 deg, deltaT: 4.488235 s, approachRate: -0.521362 m/s, LOS rate: 0.147901 deg/s, posRepo size: 4 2021-01-27T21:35:56.744Z,1611783356.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.460007 m, bearing: 122.014636 deg, approachRate: -0.521362 m/s, LOS rate: 0.147901 deg/s, cmd update: 0.739503 deg/s, cmd heading: 130.019624 deg, new cmd heading: 129.746918 deg. 2021-01-27T21:35:59.143Z,1611783359.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:35:59.898Z,1611783359.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:00.316Z,1611783360.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:01.168Z,1611783361.168 [Micromodem](INFO): Nmea in: $SNTTA,0.090121,,,,213601.67*4D 2021-01-27T21:36:01.226Z,1611783361.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 122.486329 deg, deltaT: 4.415170 s, approachRate: -0.543582 m/s, LOS rate: 0.106835 deg/s, posRepo size: 4 2021-01-27T21:36:01.229Z,1611783361.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.059998 m, bearing: 122.486329 deg, approachRate: -0.543582 m/s, LOS rate: 0.106835 deg/s, cmd update: 0.534173 deg/s, cmd heading: 133.278592 deg, new cmd heading: 133.639184 deg. 2021-01-27T21:36:03.565Z,1611783363.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:04.354Z,1611783364.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:04.748Z,1611783364.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:05.582Z,1611783365.582 [Micromodem](INFO): Nmea in: $SNTTA,0.088538,,,,213606.12*4D 2021-01-27T21:36:05.606Z,1611783365.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.599991 m, bearing: 122.209255 deg, deltaT: 4.453141 s, approachRate: -0.552421 m/s, LOS rate: -0.062220 deg/s, posRepo size: 4 2021-01-27T21:36:05.609Z,1611783365.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.599991 m, bearing: 122.209255 deg, approachRate: -0.552421 m/s, LOS rate: -0.062220 deg/s, cmd update: -0.311099 deg/s, cmd heading: 135.661769 deg, new cmd heading: 135.879826 deg. 2021-01-27T21:36:08.018Z,1611783368.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:08.782Z,1611783368.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:09.204Z,1611783369.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:10.029Z,1611783370.029 [Micromodem](INFO): Nmea in: $SNTTA,0.086988,,,,213610.55*40 2021-01-27T21:36:10.051Z,1611783370.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.260010 m, bearing: 122.398725 deg, deltaT: 4.449948 s, approachRate: -0.525845 m/s, LOS rate: 0.042578 deg/s, posRepo size: 4 2021-01-27T21:36:10.053Z,1611783370.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.260010 m, bearing: 122.398725 deg, approachRate: -0.525845 m/s, LOS rate: 0.042578 deg/s, cmd update: 0.212890 deg/s, cmd heading: 134.277374 deg, new cmd heading: 134.152032 deg. 2021-01-27T21:36:12.463Z,1611783372.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:13.230Z,1611783373.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:13.632Z,1611783373.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:14.476Z,1611783374.476 [Micromodem](INFO): Nmea in: $SNTTA,0.085377,,,,213615.00*4C 2021-01-27T21:36:14.511Z,1611783374.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 122.228421 deg, deltaT: 4.465918 s, approachRate: -0.537406 m/s, LOS rate: -0.038134 deg/s, posRepo size: 4 2021-01-27T21:36:14.513Z,1611783374.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.860001 m, bearing: 122.228421 deg, approachRate: -0.537406 m/s, LOS rate: -0.038134 deg/s, cmd update: -0.190671 deg/s, cmd heading: 135.221880 deg, new cmd heading: 135.312559 deg. 2021-01-27T21:36:16.885Z,1611783376.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:17.670Z,1611783377.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:18.103Z,1611783378.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:18.920Z,1611783378.920 [Micromodem](INFO): Nmea in: $SNTTA,0.083657,,,,213619.44*41 2021-01-27T21:36:18.939Z,1611783378.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 121.826259 deg, deltaT: 4.407107 s, approachRate: -0.585417 m/s, LOS rate: -0.091253 deg/s, posRepo size: 4 2021-01-27T21:36:18.941Z,1611783378.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.280006 m, bearing: 121.826259 deg, approachRate: -0.585417 m/s, LOS rate: -0.091253 deg/s, cmd update: -0.456265 deg/s, cmd heading: 134.376056 deg, new cmd heading: 134.296308 deg. 2021-01-27T21:36:21.375Z,1611783381.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:22.134Z,1611783382.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:22.520Z,1611783382.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:23.380Z,1611783383.380 [Micromodem](INFO): Nmea in: $SNTTA,0.082006,,,,213623.91*43 2021-01-27T21:36:23.439Z,1611783383.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 122.423013 deg, deltaT: 4.425202 s, approachRate: -0.569466 m/s, LOS rate: 0.134853 deg/s, posRepo size: 4 2021-01-27T21:36:23.453Z,1611783383.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.760002 m, bearing: 122.423013 deg, approachRate: -0.569466 m/s, LOS rate: 0.134853 deg/s, cmd update: 0.674267 deg/s, cmd heading: 132.357559 deg, new cmd heading: 132.132054 deg. 2021-01-27T21:36:25.765Z,1611783385.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:26.569Z,1611783386.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:26.974Z,1611783386.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:27.801Z,1611783387.801 [Micromodem](INFO): Nmea in: $SNTTA,0.080423,,0.083198,,213628.34*53 2021-01-27T21:36:27.823Z,1611783387.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.419998 m, bearing: 122.438531 deg, deltaT: 4.474887 s, approachRate: -0.522919 m/s, LOS rate: 0.003468 deg/s, posRepo size: 4 2021-01-27T21:36:27.825Z,1611783387.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.419998 m, bearing: 122.438531 deg, approachRate: -0.522919 m/s, LOS rate: 0.003468 deg/s, cmd update: 0.017339 deg/s, cmd heading: 135.375578 deg, new cmd heading: 135.646838 deg. 2021-01-27T21:36:30.239Z,1611783390.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:31.010Z,1611783391.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:31.412Z,1611783391.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:32.241Z,1611783392.241 [Micromodem](INFO): Nmea in: $SNTTA,0.078736,,,,213632.78*45 2021-01-27T21:36:32.325Z,1611783392.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.900009 m, bearing: 122.356705 deg, deltaT: 4.410142 s, approachRate: -0.571408 m/s, LOS rate: -0.018554 deg/s, posRepo size: 4 2021-01-27T21:36:32.327Z,1611783392.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.900009 m, bearing: 122.356705 deg, approachRate: -0.571408 m/s, LOS rate: -0.018554 deg/s, cmd update: -0.092770 deg/s, cmd heading: 135.452052 deg, new cmd heading: 135.460537 deg. 2021-01-27T21:36:34.667Z,1611783394.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:35.446Z,1611783395.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:35.860Z,1611783395.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:36.685Z,1611783396.685 [Micromodem](INFO): Nmea in: $SNTTA,0.077090,,,,213637.22*4B 2021-01-27T21:36:36.730Z,1611783396.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.440010 m, bearing: 122.437739 deg, deltaT: 4.508902 s, approachRate: -0.545587 m/s, LOS rate: 0.017972 deg/s, posRepo size: 4 2021-01-27T21:36:36.736Z,1611783396.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.440010 m, bearing: 122.437739 deg, approachRate: -0.545587 m/s, LOS rate: 0.017972 deg/s, cmd update: 0.089859 deg/s, cmd heading: 135.034171 deg, new cmd heading: 134.997637 deg. 2021-01-27T21:36:39.146Z,1611783399.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:39.890Z,1611783399.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:40.328Z,1611783400.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:41.153Z,1611783401.153 [Micromodem](INFO): Nmea in: $SNTTA,0.075589,,,,213641.66*45 2021-01-27T21:36:41.194Z,1611783401.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.160004 m, bearing: 123.256692 deg, deltaT: 4.382141 s, approachRate: -0.520295 m/s, LOS rate: 0.186884 deg/s, posRepo size: 4 2021-01-27T21:36:41.215Z,1611783401.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 113.160004 m, bearing: 123.256692 deg, approachRate: -0.520295 m/s, LOS rate: 0.186884 deg/s, cmd update: 0.934422 deg/s, cmd heading: 135.428363 deg, new cmd heading: 135.470214 deg. 2021-01-27T21:36:43.585Z,1611783403.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:44.366Z,1611783404.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:44.744Z,1611783404.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:45.573Z,1611783405.573 [Micromodem](INFO): Nmea in: $SNTTA,0.073880,,,,213646.14*45 2021-01-27T21:36:45.610Z,1611783405.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 121.684301 deg, deltaT: 4.479427 s, approachRate: -0.575967 m/s, LOS rate: -0.351025 deg/s, posRepo size: 4 2021-01-27T21:36:45.616Z,1611783405.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.580002 m, bearing: 121.684301 deg, approachRate: -0.575967 m/s, LOS rate: -0.351025 deg/s, cmd update: -1.755126 deg/s, cmd heading: 139.610281 deg, new cmd heading: 139.995408 deg. 2021-01-27T21:36:48.010Z,1611783408.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:48.778Z,1611783408.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:49.193Z,1611783409.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:50.033Z,1611783410.033 [Micromodem](INFO): Nmea in: $SNTTA,0.072331,,0.097006,,213650.55*51 2021-01-27T21:36:50.062Z,1611783410.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.239998 m, bearing: 122.905361 deg, deltaT: 4.422678 s, approachRate: -0.529092 m/s, LOS rate: 0.276091 deg/s, posRepo size: 4 2021-01-27T21:36:50.065Z,1611783410.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 108.239998 m, bearing: 122.905361 deg, approachRate: -0.529092 m/s, LOS rate: 0.276091 deg/s, cmd update: 1.380454 deg/s, cmd heading: 131.841103 deg, new cmd heading: 131.073621 deg. 2021-01-27T21:36:52.451Z,1611783412.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:53.222Z,1611783413.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:53.628Z,1611783413.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:54.465Z,1611783414.465 [Micromodem](INFO): Nmea in: $SNTTA,0.070672,,,,213654.99*43 2021-01-27T21:36:54.515Z,1611783414.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 119.330153 deg, deltaT: 4.420662 s, approachRate: -0.556478 m/s, LOS rate: -0.808749 deg/s, posRepo size: 4 2021-01-27T21:36:54.519Z,1611783414.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 105.779999 m, bearing: 119.330153 deg, approachRate: -0.556478 m/s, LOS rate: -0.808749 deg/s, cmd update: -4.043747 deg/s, cmd heading: 137.943768 deg, new cmd heading: 138.592392 deg. 2021-01-27T21:36:56.902Z,1611783416.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:36:57.675Z,1611783417.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:36:58.072Z,1611783418.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:36:58.910Z,1611783418.910 [Micromodem](INFO): Nmea in: $SNTTA,0.069025,,0.072750,,213659.45*5A 2021-01-27T21:36:58.949Z,1611783418.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 122.294715 deg, deltaT: 4.494405 s, approachRate: -0.547347 m/s, LOS rate: 0.659612 deg/s, posRepo size: 4 2021-01-27T21:36:58.952Z,1611783418.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.320000 m, bearing: 122.294715 deg, approachRate: -0.547347 m/s, LOS rate: 0.659612 deg/s, cmd update: 3.298058 deg/s, cmd heading: 119.771101 deg, new cmd heading: 118.119958 deg. 2021-01-27T21:37:01.356Z,1611783421.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:02.130Z,1611783422.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:02.524Z,1611783422.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:03.381Z,1611783423.381 [Micromodem](INFO): Nmea in: $SNTTA,0.067338,,,,213703.90*44 2021-01-27T21:37:03.443Z,1611783423.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 122.676290 deg, deltaT: 4.397460 s, approachRate: -0.559414 m/s, LOS rate: 0.086772 deg/s, posRepo size: 4 2021-01-27T21:37:03.449Z,1611783423.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.860001 m, bearing: 122.676290 deg, approachRate: -0.559414 m/s, LOS rate: 0.086772 deg/s, cmd update: 0.433859 deg/s, cmd heading: 134.275356 deg, new cmd heading: 135.942445 deg. 2021-01-27T21:37:05.783Z,1611783425.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:06.559Z,1611783426.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:06.962Z,1611783426.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:07.805Z,1611783427.805 [Micromodem](INFO): Nmea in: $SNTTA,0.065916,,,,213708.33*42 2021-01-27T21:37:07.830Z,1611783427.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.700005 m, bearing: 124.650392 deg, deltaT: 4.491046 s, approachRate: -0.480956 m/s, LOS rate: 0.439564 deg/s, posRepo size: 4 2021-01-27T21:37:07.832Z,1611783427.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.700005 m, bearing: 124.650392 deg, approachRate: -0.480956 m/s, LOS rate: 0.439564 deg/s, cmd update: 2.197820 deg/s, cmd heading: 136.222110 deg, new cmd heading: 136.398301 deg. 2021-01-27T21:37:10.223Z,1611783430.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:11.006Z,1611783431.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:11.412Z,1611783431.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:12.249Z,1611783432.249 [Micromodem](INFO): Nmea in: $SNTTA,0.064281,,,,213712.78*42 2021-01-27T21:37:12.321Z,1611783432.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 123.244371 deg, deltaT: 4.396825 s, approachRate: -0.559494 m/s, LOS rate: -0.319781 deg/s, posRepo size: 4 2021-01-27T21:37:12.323Z,1611783432.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.240005 m, bearing: 123.244371 deg, approachRate: -0.559494 m/s, LOS rate: -0.319781 deg/s, cmd update: -1.598906 deg/s, cmd heading: 145.893824 deg, new cmd heading: 146.975086 deg. 2021-01-27T21:37:14.671Z,1611783434.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:15.450Z,1611783435.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:15.853Z,1611783435.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:16.681Z,1611783436.681 [Micromodem](INFO): Nmea in: $SNTTA,0.062769,,,,213717.22*4D 2021-01-27T21:37:16.706Z,1611783436.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 122.987870 deg, deltaT: 4.508967 s, approachRate: -0.505659 m/s, LOS rate: -0.056887 deg/s, posRepo size: 4 2021-01-27T21:37:16.708Z,1611783436.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.960007 m, bearing: 122.987870 deg, approachRate: -0.505659 m/s, LOS rate: -0.056887 deg/s, cmd update: -0.284434 deg/s, cmd heading: 138.690605 deg, new cmd heading: 138.089420 deg. 2021-01-27T21:37:19.139Z,1611783439.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:19.886Z,1611783439.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:20.313Z,1611783440.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:21.137Z,1611783441.137 [Micromodem](INFO): Nmea in: $SNTTA,0.061291,,,,213721.66*49 2021-01-27T21:37:21.162Z,1611783441.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 122.749974 deg, deltaT: 4.396776 s, approachRate: -0.518561 m/s, LOS rate: -0.054107 deg/s, posRepo size: 4 2021-01-27T21:37:21.163Z,1611783441.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.680008 m, bearing: 122.749974 deg, approachRate: -0.518561 m/s, LOS rate: -0.054107 deg/s, cmd update: -0.270534 deg/s, cmd heading: 137.438850 deg, new cmd heading: 137.316333 deg. 2021-01-27T21:37:23.562Z,1611783443.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:24.346Z,1611783444.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:24.732Z,1611783444.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:25.565Z,1611783445.565 [Micromodem](INFO): Nmea in: $SNTTA,0.059707,,,,213726.12*4C 2021-01-27T21:37:25.598Z,1611783445.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.340004 m, bearing: 122.951506 deg, deltaT: 4.460726 s, approachRate: -0.524579 m/s, LOS rate: 0.045179 deg/s, posRepo size: 4 2021-01-27T21:37:25.600Z,1611783445.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 89.340004 m, bearing: 122.951506 deg, approachRate: -0.524579 m/s, LOS rate: 0.045179 deg/s, cmd update: 0.225895 deg/s, cmd heading: 136.232067 deg, new cmd heading: 136.122188 deg. 2021-01-27T21:37:28.007Z,1611783448.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:28.782Z,1611783448.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:29.184Z,1611783449.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:30.021Z,1611783450.021 [Micromodem](INFO): Nmea in: $SNTTA,0.058165,,,,213730.55*4B 2021-01-27T21:37:30.051Z,1611783450.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.000000 m, bearing: 122.423272 deg, deltaT: 4.431744 s, approachRate: -0.528010 m/s, LOS rate: -0.119193 deg/s, posRepo size: 4 2021-01-27T21:37:30.054Z,1611783450.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 87.000000 m, bearing: 122.423272 deg, approachRate: -0.528010 m/s, LOS rate: -0.119193 deg/s, cmd update: -0.595965 deg/s, cmd heading: 137.229541 deg, new cmd heading: 137.329850 deg. 2021-01-27T21:37:32.457Z,1611783452.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:33.218Z,1611783453.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:33.636Z,1611783453.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:34.457Z,1611783454.457 [Micromodem](INFO): Nmea in: $SNTTA,0.056653,,,,213734.99*43 2021-01-27T21:37:34.511Z,1611783454.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 123.146767 deg, deltaT: 4.418073 s, approachRate: -0.420998 m/s, LOS rate: 0.163758 deg/s, posRepo size: 4 2021-01-27T21:37:34.522Z,1611783454.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 85.139999 m, bearing: 123.146767 deg, approachRate: -0.420998 m/s, LOS rate: 0.163758 deg/s, cmd update: 0.818790 deg/s, cmd heading: 134.587146 deg, new cmd heading: 134.306834 deg. 2021-01-27T21:37:36.874Z,1611783456.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:37.671Z,1611783457.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:38.069Z,1611783458.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:38.913Z,1611783458.913 [Micromodem](INFO): Nmea in: $SNTTA,0.055024,,,,213739.44*4B 2021-01-27T21:37:38.943Z,1611783458.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.320000 m, bearing: 121.539897 deg, deltaT: 4.474405 s, approachRate: -0.630251 m/s, LOS rate: -0.359125 deg/s, posRepo size: 4 2021-01-27T21:37:38.945Z,1611783458.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.320000 m, bearing: 121.539897 deg, approachRate: -0.630251 m/s, LOS rate: -0.359125 deg/s, cmd update: -1.795625 deg/s, cmd heading: 138.237880 deg, new cmd heading: 138.601033 deg. 2021-01-27T21:37:41.394Z,1611783461.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:42.118Z,1611783462.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:42.512Z,1611783462.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:43.369Z,1611783463.369 [Micromodem](INFO): Nmea in: $SNTTA,0.053520,,,,213743.89*40 2021-01-27T21:37:43.403Z,1611783463.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.100006 m, bearing: 122.147333 deg, deltaT: 4.448208 s, approachRate: -0.499076 m/s, LOS rate: 0.136557 deg/s, posRepo size: 4 2021-01-27T21:37:43.405Z,1611783463.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 80.100006 m, bearing: 122.147333 deg, approachRate: -0.499076 m/s, LOS rate: 0.136557 deg/s, cmd update: 0.682787 deg/s, cmd heading: 130.225367 deg, new cmd heading: 129.433098 deg. 2021-01-27T21:37:45.758Z,1611783465.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:46.547Z,1611783466.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:46.955Z,1611783466.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:47.789Z,1611783467.789 [Micromodem](INFO): Nmea in: $SNTTA,0.051877,,,,213748.32*46 2021-01-27T21:37:47.811Z,1611783467.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 122.146062 deg, deltaT: 4.463969 s, approachRate: -0.551079 m/s, LOS rate: -0.000285 deg/s, posRepo size: 4 2021-01-27T21:37:47.837Z,1611783467.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.640007 m, bearing: 122.146062 deg, approachRate: -0.551079 m/s, LOS rate: -0.000285 deg/s, cmd update: -0.001423 deg/s, cmd heading: 133.271958 deg, new cmd heading: 133.536371 deg. 2021-01-27T21:37:50.211Z,1611783470.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:51.002Z,1611783471.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:51.420Z,1611783471.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:52.241Z,1611783472.241 [Micromodem](INFO): Nmea in: $SNTTA,0.050472,,,,213752.77*44 2021-01-27T21:37:52.278Z,1611783472.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.479996 m, bearing: 121.909273 deg, deltaT: 4.408715 s, approachRate: -0.489941 m/s, LOS rate: -0.053709 deg/s, posRepo size: 4 2021-01-27T21:37:52.316Z,1611783472.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.479996 m, bearing: 121.909273 deg, approachRate: -0.489941 m/s, LOS rate: -0.053709 deg/s, cmd update: -0.268546 deg/s, cmd heading: 133.265679 deg, new cmd heading: 133.265055 deg. 2021-01-27T21:37:54.677Z,1611783474.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:55.439Z,1611783475.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:37:55.855Z,1611783475.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:37:56.705Z,1611783476.705 [Micromodem](INFO): Nmea in: $SNTTA,0.048758,,,,213757.21*40 2021-01-27T21:37:56.718Z,1611783476.718 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-01-27T21:37:56.731Z,1611783476.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.959999 m, bearing: 121.655887 deg, deltaT: 4.499599 s, approachRate: -0.560049 m/s, LOS rate: -0.056313 deg/s, posRepo size: 4 2021-01-27T21:37:56.745Z,1611783476.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 72.959999 m, bearing: 121.655887 deg, approachRate: -0.560049 m/s, LOS rate: -0.056313 deg/s, cmd update: -0.281565 deg/s, cmd heading: 132.057321 deg, new cmd heading: 131.951272 deg. 2021-01-27T21:37:59.135Z,1611783479.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:37:59.902Z,1611783479.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:00.298Z,1611783480.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:01.125Z,1611783481.125 [Micromodem](INFO): Nmea in: $SNTTA,0.047160,,,,213801.67*4C 2021-01-27T21:38:01.165Z,1611783481.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.500000 m, bearing: 122.141035 deg, deltaT: 4.372281 s, approachRate: -0.562635 m/s, LOS rate: 0.110960 deg/s, posRepo size: 4 2021-01-27T21:38:01.167Z,1611783481.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.500000 m, bearing: 122.141035 deg, approachRate: -0.562635 m/s, LOS rate: 0.110960 deg/s, cmd update: 0.554800 deg/s, cmd heading: 130.826235 deg, new cmd heading: 130.697747 deg. 2021-01-27T21:38:01.516Z,1611783481.516 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T21:38:03.544Z,1611783483.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:04.350Z,1611783484.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:04.740Z,1611783484.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:05.565Z,1611783485.565 [Micromodem](INFO): Nmea in: $SNTTA,0.045570,,,,213806.12*4E 2021-01-27T21:38:05.606Z,1611783485.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 122.124438 deg, deltaT: 4.504109 s, approachRate: -0.519525 m/s, LOS rate: -0.003685 deg/s, posRepo size: 4 2021-01-27T21:38:05.608Z,1611783485.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.160004 m, bearing: 122.124438 deg, approachRate: -0.519525 m/s, LOS rate: -0.003685 deg/s, cmd update: -0.018425 deg/s, cmd heading: 133.322849 deg, new cmd heading: 133.543209 deg. 2021-01-27T21:38:06.372Z,1611783486.372 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:38:08.011Z,1611783488.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:08.778Z,1611783488.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:09.176Z,1611783489.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:10.025Z,1611783490.025 [Micromodem](INFO): Nmea in: $SNTTA,0.044017,,,,213810.55*4F 2021-01-27T21:38:10.040Z,1611783490.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 122.680716 deg, deltaT: 4.415267 s, approachRate: -0.529980 m/s, LOS rate: 0.125990 deg/s, posRepo size: 4 2021-01-27T21:38:10.042Z,1611783490.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 65.820000 m, bearing: 122.680716 deg, approachRate: -0.529980 m/s, LOS rate: 0.125990 deg/s, cmd update: 0.629948 deg/s, cmd heading: 133.241497 deg, new cmd heading: 133.233837 deg. 2021-01-27T21:38:11.616Z,1611783491.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:38:12.451Z,1611783492.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:13.218Z,1611783493.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:13.631Z,1611783493.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:14.457Z,1611783494.457 [Micromodem](INFO): Nmea in: $SNTTA,0.042499,,,,213814.99*4F 2021-01-27T21:38:14.502Z,1611783494.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 121.927264 deg, deltaT: 4.413259 s, approachRate: -0.516625 m/s, LOS rate: -0.170725 deg/s, posRepo size: 4 2021-01-27T21:38:14.504Z,1611783494.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.540001 m, bearing: 121.927264 deg, approachRate: -0.516625 m/s, LOS rate: -0.170725 deg/s, cmd update: -0.853623 deg/s, cmd heading: 136.024013 deg, new cmd heading: 136.314646 deg. 2021-01-27T21:38:16.469Z,1611783496.469 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:38:16.888Z,1611783496.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:17.663Z,1611783497.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:18.067Z,1611783498.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:18.901Z,1611783498.901 [Micromodem](INFO): Nmea in: $SNTTA,0.040913,,,,213819.43*48 2021-01-27T21:38:18.942Z,1611783498.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.200008 m, bearing: 121.967385 deg, deltaT: 4.486724 s, approachRate: -0.521537 m/s, LOS rate: 0.008942 deg/s, posRepo size: 4 2021-01-27T21:38:18.945Z,1611783498.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.200008 m, bearing: 121.967385 deg, approachRate: -0.521537 m/s, LOS rate: 0.008942 deg/s, cmd update: 0.044710 deg/s, cmd heading: 132.197392 deg, new cmd heading: 131.841860 deg. 2021-01-27T21:38:21.331Z,1611783501.331 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T21:38:21.369Z,1611783501.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:22.124Z,1611783502.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:22.508Z,1611783502.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:23.345Z,1611783503.345 [Micromodem](INFO): Nmea in: $SNTTA,0.039405,,,,213823.90*4B 2021-01-27T21:38:23.392Z,1611783503.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 121.764569 deg, deltaT: 4.397446 s, approachRate: -0.518483 m/s, LOS rate: -0.046121 deg/s, posRepo size: 4 2021-01-27T21:38:23.394Z,1611783503.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.920006 m, bearing: 121.764569 deg, approachRate: -0.518483 m/s, LOS rate: -0.046121 deg/s, cmd update: -0.230606 deg/s, cmd heading: 132.394184 deg, new cmd heading: 132.415035 deg. 2021-01-27T21:38:25.761Z,1611783505.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:26.554Z,1611783506.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:26.571Z,1611783506.571 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:38:26.954Z,1611783506.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:27.797Z,1611783507.797 [Micromodem](INFO): Nmea in: $SNTTA,0.037870,,,,213828.32*48 2021-01-27T21:38:27.820Z,1611783507.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 123.218006 deg, deltaT: 4.497355 s, approachRate: -0.520307 m/s, LOS rate: 0.323176 deg/s, posRepo size: 4 2021-01-27T21:38:27.822Z,1611783507.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.580002 m, bearing: 123.218006 deg, approachRate: -0.520307 m/s, LOS rate: 0.323176 deg/s, cmd update: 1.615880 deg/s, cmd heading: 131.357529 deg, new cmd heading: 131.265474 deg. 2021-01-27T21:38:30.217Z,1611783510.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:30.990Z,1611783510.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:31.396Z,1611783511.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:32.229Z,1611783512.229 [Micromodem](INFO): Nmea in: $SNTTA,0.036203,,,,213832.76*4C 2021-01-27T21:38:32.254Z,1611783512.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.060001 m, bearing: 122.153521 deg, deltaT: 4.407130 s, approachRate: -0.571801 m/s, LOS rate: -0.241537 deg/s, posRepo size: 4 2021-01-27T21:38:32.285Z,1611783512.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.060001 m, bearing: 122.153521 deg, approachRate: -0.571801 m/s, LOS rate: -0.241537 deg/s, cmd update: -1.207685 deg/s, cmd heading: 138.475771 deg, new cmd heading: 139.166497 deg. 2021-01-27T21:38:34.657Z,1611783514.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:35.430Z,1611783515.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:35.844Z,1611783515.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:36.685Z,1611783516.685 [Micromodem](INFO): Nmea in: $SNTTA,0.034694,,,,213837.20*42 2021-01-27T21:38:36.710Z,1611783516.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.899994 m, bearing: 120.407848 deg, deltaT: 4.513531 s, approachRate: -0.478563 m/s, LOS rate: -0.386764 deg/s, posRepo size: 4 2021-01-27T21:38:36.736Z,1611783516.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.899994 m, bearing: 120.407848 deg, approachRate: -0.478563 m/s, LOS rate: -0.386764 deg/s, cmd update: -1.933822 deg/s, cmd heading: 133.033708 deg, new cmd heading: 132.577626 deg. 2021-01-27T21:38:39.127Z,1611783519.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:39.886Z,1611783519.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:40.306Z,1611783520.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:41.137Z,1611783521.137 [Micromodem](INFO): Nmea in: $SNTTA,0.033048,,,,213841.66*41 2021-01-27T21:38:41.161Z,1611783521.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.380005 m, bearing: 120.882792 deg, deltaT: 4.361887 s, approachRate: -0.577729 m/s, LOS rate: 0.108885 deg/s, posRepo size: 4 2021-01-27T21:38:41.163Z,1611783521.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 49.380005 m, bearing: 120.882792 deg, approachRate: -0.577729 m/s, LOS rate: 0.108885 deg/s, cmd update: 0.544425 deg/s, cmd heading: 124.576575 deg, new cmd heading: 123.695972 deg. 2021-01-27T21:38:41.524Z,1611783521.524 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-01-27T21:38:41.524Z,1611783521.524 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-01-27T21:38:41.524Z,1611783521.524 [RDI_Pathfinder](ERROR): Communications Fault 2021-01-27T21:38:41.656Z,1611783521.656 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-01-27T21:38:41.988Z,1611783521.988 [RDI_Pathfinder](INFO): Powering down 2021-01-27T21:38:42.819Z,1611783522.819 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-01-27T21:38:42.820Z,1611783522.820 [RDI_Pathfinder] No Fault, FailCount= 1 2021-01-27T21:38:43.553Z,1611783523.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:44.327Z,1611783524.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:44.729Z,1611783524.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:45.561Z,1611783525.561 [Micromodem](INFO): Nmea in: $SNTTA,0.031521,,0.040793,,213846.10*58 2021-01-27T21:38:45.594Z,1611783525.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.100002 m, bearing: 122.499402 deg, deltaT: 4.480582 s, approachRate: -0.508863 m/s, LOS rate: 0.360804 deg/s, posRepo size: 4 2021-01-27T21:38:45.597Z,1611783525.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 47.100002 m, bearing: 122.499402 deg, approachRate: -0.508863 m/s, LOS rate: 0.360804 deg/s, cmd update: 1.804018 deg/s, cmd heading: 127.015932 deg, new cmd heading: 127.238370 deg. 2021-01-27T21:38:47.999Z,1611783527.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:48.762Z,1611783528.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:49.172Z,1611783529.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:50.013Z,1611783530.013 [Micromodem](INFO): Nmea in: $SNTTA,0.029920,,,,213850.53*4B 2021-01-27T21:38:50.035Z,1611783530.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.640003 m, bearing: 123.391220 deg, deltaT: 4.426746 s, approachRate: -0.555713 m/s, LOS rate: 0.201461 deg/s, posRepo size: 4 2021-01-27T21:38:50.037Z,1611783530.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 44.640003 m, bearing: 123.391220 deg, approachRate: -0.555713 m/s, LOS rate: 0.201461 deg/s, cmd update: 1.007306 deg/s, cmd heading: 135.001583 deg, new cmd heading: 135.763882 deg. 2021-01-27T21:38:52.434Z,1611783532.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:53.214Z,1611783533.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:53.620Z,1611783533.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:54.457Z,1611783534.457 [Micromodem](INFO): Nmea in: $SNTTA,0.028343,,0.050129,,213854.98*57 2021-01-27T21:38:54.492Z,1611783534.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 122.421483 deg, deltaT: 4.432086 s, approachRate: -0.527969 m/s, LOS rate: -0.218799 deg/s, posRepo size: 4 2021-01-27T21:38:54.494Z,1611783534.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 42.299999 m, bearing: 122.421483 deg, approachRate: -0.527969 m/s, LOS rate: -0.218799 deg/s, cmd update: -1.093996 deg/s, cmd heading: 139.466099 deg, new cmd heading: 139.916703 deg. 2021-01-27T21:38:56.862Z,1611783536.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:38:57.663Z,1611783537.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:38:58.067Z,1611783538.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:38:58.893Z,1611783538.893 [Micromodem](INFO): Nmea in: $SNTTA,0.026684,,,0.029653,213859.43*58 2021-01-27T21:38:58.931Z,1611783538.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.840000 m, bearing: 121.758722 deg, deltaT: 4.432044 s, approachRate: -0.555048 m/s, LOS rate: -0.149538 deg/s, posRepo size: 4 2021-01-27T21:38:58.931Z,1611783538.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.84 m. 2021-01-27T21:38:58.934Z,1611783538.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.840000 m, bearing: 121.758722 deg, approachRate: -0.555048 m/s, LOS rate: -0.149538 deg/s, cmd update: -0.747692 deg/s, cmd heading: 134.617381 deg, new cmd heading: 134.120560 deg. 2021-01-27T21:38:59.322Z,1611783539.322 [PowerOnly](INFO): Powering up loadControl 2021-01-27T21:39:01.409Z,1611783541.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:02.119Z,1611783542.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:02.504Z,1611783542.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:03.326Z,1611783543.326 [Micromodem](INFO): Nmea in: $SNTTA,0.025139,,,,213903.89*47 2021-01-27T21:39:03.377Z,1611783543.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.500000 m, bearing: 122.035673 deg, deltaT: 4.451728 s, approachRate: -0.525639 m/s, LOS rate: 0.062212 deg/s, posRepo size: 4 2021-01-27T21:39:03.378Z,1611783543.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.50 m. 2021-01-27T21:39:03.380Z,1611783543.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 37.500000 m, bearing: 122.035673 deg, approachRate: -0.525639 m/s, LOS rate: 0.062212 deg/s, cmd update: 0.311060 deg/s, cmd heading: 131.288959 deg, new cmd heading: 130.953554 deg. 2021-01-27T21:39:05.766Z,1611783545.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:06.546Z,1611783546.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:06.969Z,1611783546.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:07.797Z,1611783547.797 [Micromodem](INFO): Nmea in: $SNTTA,0.023533,,0.053953,,213908.32*53 2021-01-27T21:39:07.819Z,1611783547.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 123.356126 deg, deltaT: 4.467958 s, approachRate: -0.537158 m/s, LOS rate: 0.295538 deg/s, posRepo size: 4 2021-01-27T21:39:07.840Z,1611783547.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.10 m. 2021-01-27T21:39:07.842Z,1611783547.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.099998 m, bearing: 123.356126 deg, approachRate: -0.537158 m/s, LOS rate: 0.295538 deg/s, cmd update: 1.477692 deg/s, cmd heading: 132.678760 deg, new cmd heading: 132.810340 deg. 2021-01-27T21:39:10.218Z,1611783550.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:11.005Z,1611783551.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:11.404Z,1611783551.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:12.221Z,1611783552.221 [Micromodem](INFO): Nmea in: $SNTTA,0.022559,,,,213912.78*4C 2021-01-27T21:39:12.286Z,1611783552.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 121.119376 deg, deltaT: 4.413071 s, approachRate: -0.339898 m/s, LOS rate: -0.506847 deg/s, posRepo size: 4 2021-01-27T21:39:12.286Z,1611783552.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.60 m. 2021-01-27T21:39:12.292Z,1611783552.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.600002 m, bearing: 121.119376 deg, approachRate: -0.339898 m/s, LOS rate: -0.506847 deg/s, cmd update: -2.534233 deg/s, cmd heading: 139.199938 deg, new cmd heading: 139.903755 deg. 2021-01-27T21:39:14.637Z,1611783554.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:15.430Z,1611783555.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:15.840Z,1611783555.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:16.681Z,1611783556.681 [Micromodem](INFO): Nmea in: $SNTTA,0.020430,,,,213917.20*48 2021-01-27T21:39:16.703Z,1611783556.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.480000 m, bearing: 118.961405 deg, deltaT: 4.494666 s, approachRate: -0.694157 m/s, LOS rate: -0.480118 deg/s, posRepo size: 4 2021-01-27T21:39:16.704Z,1611783556.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.48 m. 2021-01-27T21:39:16.706Z,1611783556.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 30.480000 m, bearing: 118.961405 deg, approachRate: -0.694157 m/s, LOS rate: -0.480118 deg/s, cmd update: -2.400591 deg/s, cmd heading: 127.849984 deg, new cmd heading: 126.797874 deg. 2021-01-27T21:39:19.135Z,1611783559.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:19.878Z,1611783559.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:20.284Z,1611783560.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:21.141Z,1611783561.141 [Micromodem](INFO): Nmea in: $SNTTA,0.018968,,,,213921.65*47 2021-01-27T21:39:21.189Z,1611783561.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 122.550710 deg, deltaT: 4.421508 s, approachRate: -0.515661 m/s, LOS rate: 0.811783 deg/s, posRepo size: 4 2021-01-27T21:39:21.189Z,1611783561.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.20 m. 2021-01-27T21:39:21.191Z,1611783561.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 28.199999 m, bearing: 122.550710 deg, approachRate: -0.515661 m/s, LOS rate: 0.811783 deg/s, cmd update: 4.058915 deg/s, cmd heading: 117.206895 deg, new cmd heading: 116.085356 deg. 2021-01-27T21:39:23.537Z,1611783563.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:24.318Z,1611783564.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:24.729Z,1611783564.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:25.569Z,1611783565.569 [Micromodem](INFO): Nmea in: $SNTTA,0.017598,,,,213926.09*46 2021-01-27T21:39:25.591Z,1611783565.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 124.536888 deg, deltaT: 4.487763 s, approachRate: -0.454569 m/s, LOS rate: 0.442576 deg/s, posRepo size: 4 2021-01-27T21:39:25.592Z,1611783565.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.16 m. 2021-01-27T21:39:25.594Z,1611783565.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.160002 m, bearing: 124.536888 deg, approachRate: -0.454569 m/s, LOS rate: 0.442576 deg/s, cmd update: 2.212882 deg/s, cmd heading: 135.437258 deg, new cmd heading: 136.972275 deg. 2021-01-27T21:39:28.023Z,1611783568.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:28.766Z,1611783568.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:29.180Z,1611783569.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:29.535Z,1611783569.535 [DDM](FAULT): Failed to extend whisker before timeout. 2021-01-27T21:39:29.535Z,1611783569.535 [DDM] Hardware Fault, FailCount= 1 2021-01-27T21:39:29.535Z,1611783569.535 [DDM](ERROR): Hardware Fault 2021-01-27T21:39:29.660Z,1611783569.660 [CBIT](ERROR): Hardware Fault in component: DDM 2021-01-27T21:39:29.961Z,1611783569.961 [DDM](INFO): Powering down 2021-01-27T21:39:30.049Z,1611783570.049 [Micromodem](INFO): Nmea in: $SNTTA,0.016082,,,,213930.54*46 2021-01-27T21:39:30.127Z,1611783570.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 127.227108 deg, deltaT: 4.340361 s, approachRate: -0.525302 m/s, LOS rate: 0.619815 deg/s, posRepo size: 4 2021-01-27T21:39:30.132Z,1611783570.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.88 m. 2021-01-27T21:39:30.134Z,1611783570.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 23.880001 m, bearing: 127.227108 deg, approachRate: -0.525302 m/s, LOS rate: 0.619815 deg/s, cmd update: 3.099074 deg/s, cmd heading: 145.042731 deg, new cmd heading: 146.311772 deg. 2021-01-27T21:39:30.979Z,1611783570.979 [CBIT](INFO): Clearing failed state for component DDM 2021-01-27T21:39:30.979Z,1611783570.979 [DDM] No Fault, FailCount= 1 2021-01-27T21:39:32.438Z,1611783572.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:33.180Z,1611783573.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:33.579Z,1611783573.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:34.405Z,1611783574.405 [Micromodem](INFO): Nmea in: $SNTTA,0.014755,,,,213934.95*40 2021-01-27T21:39:34.451Z,1611783574.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 122.250564 deg, deltaT: 4.486992 s, approachRate: -0.441276 m/s, LOS rate: -1.109105 deg/s, posRepo size: 4 2021-01-27T21:39:34.452Z,1611783574.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 21.90 m. 2021-01-27T21:39:34.454Z,1611783574.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 21.900000 m, bearing: 122.250564 deg, approachRate: -0.441276 m/s, LOS rate: -1.109105 deg/s, cmd update: -5.545524 deg/s, cmd heading: 158.936672 deg, new cmd heading: 160.220475 deg. 2021-01-27T21:39:35.189Z,1611783575.189 [DDM](INFO): Powering up 2021-01-27T21:39:35.190Z,1611783575.190 [DDM](DEBUG): Initializing DDM. 2021-01-27T21:39:36.840Z,1611783576.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:37.617Z,1611783577.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:38.028Z,1611783578.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:38.856Z,1611783578.856 [Micromodem](INFO): Nmea in: $SNTTA,0.013647,,,,213939.39*4E 2021-01-27T21:39:38.875Z,1611783578.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 119.965962 deg, deltaT: 4.468675 s, approachRate: -0.362523 m/s, LOS rate: -0.511248 deg/s, posRepo size: 4 2021-01-27T21:39:38.876Z,1611783578.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.28 m. 2021-01-27T21:39:38.878Z,1611783578.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.280001 m, bearing: 119.965962 deg, approachRate: -0.362523 m/s, LOS rate: -0.511248 deg/s, cmd update: -2.556242 deg/s, cmd heading: 134.189715 deg, new cmd heading: 132.106067 deg. 2021-01-27T21:39:41.314Z,1611783581.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:42.061Z,1611783582.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:42.484Z,1611783582.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:43.293Z,1611783583.293 [Micromodem](INFO): Nmea in: $SNTTA,0.012553,,,,213943.83*45 2021-01-27T21:39:43.343Z,1611783583.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.540001 m, bearing: 116.740432 deg, deltaT: 4.381098 s, approachRate: -0.397161 m/s, LOS rate: -0.736238 deg/s, posRepo size: 4 2021-01-27T21:39:43.343Z,1611783583.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.54 m. 2021-01-27T21:39:43.345Z,1611783583.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.540001 m, bearing: 116.740432 deg, approachRate: -0.397161 m/s, LOS rate: -0.736238 deg/s, cmd update: -3.681189 deg/s, cmd heading: 122.965364 deg, new cmd heading: 121.809381 deg. 2021-01-27T21:39:45.713Z,1611783585.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:46.517Z,1611783586.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:46.932Z,1611783586.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:47.752Z,1611783587.752 [Micromodem](INFO): Nmea in: $SNTTA,0.011493,,,,213948.29*40 2021-01-27T21:39:47.771Z,1611783587.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 115.276436 deg, deltaT: 4.496764 s, approachRate: -0.346916 m/s, LOS rate: -0.325567 deg/s, posRepo size: 4 2021-01-27T21:39:47.772Z,1611783587.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.98 m. 2021-01-27T21:39:47.774Z,1611783587.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 16.980001 m, bearing: 115.276436 deg, approachRate: -0.346916 m/s, LOS rate: -0.325567 deg/s, cmd update: -1.627833 deg/s, cmd heading: 106.441374 deg, new cmd heading: 104.998481 deg. 2021-01-27T21:39:50.226Z,1611783590.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:50.986Z,1611783590.986 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1 2021-01-27T21:39:51.122Z,1611783591.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:51.468Z,1611783591.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:52.358Z,1611783592.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 121.237975 deg, deltaT: 4.478235 s, approachRate: -0.428741 m/s, LOS rate: 1.331225 deg/s, posRepo size: 4 2021-01-27T21:39:52.359Z,1611783592.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.06 m. 2021-01-27T21:39:52.363Z,1611783592.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.059998 m, bearing: 121.237975 deg, approachRate: -0.428741 m/s, LOS rate: 1.331225 deg/s, cmd update: 6.656126 deg/s, cmd heading: 99.138509 deg, new cmd heading: 98.335860 deg. 2021-01-27T21:39:52.674Z,1611783592.674 [Micromodem](INFO): Nmea in: $SNTTA,0.010180,,0.027363,,213952.89*5A 2021-01-27T21:39:54.700Z,1611783594.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:55.484Z,1611783595.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:39:55.892Z,1611783595.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:39:56.729Z,1611783596.729 [Micromodem](INFO): Nmea in: $SNTTA,0.009130,,,,213957.25*47 2021-01-27T21:39:56.751Z,1611783596.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 130.573054 deg, deltaT: 4.473334 s, approachRate: -0.348732 m/s, LOS rate: 2.086828 deg/s, posRepo size: 4 2021-01-27T21:39:56.752Z,1611783596.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.50 m. 2021-01-27T21:39:56.754Z,1611783596.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.500002 m, bearing: 130.573054 deg, approachRate: -0.348732 m/s, LOS rate: 2.086828 deg/s, cmd update: 10.434140 deg/s, cmd heading: 128.913464 deg, new cmd heading: 131.658537 deg. 2021-01-27T21:39:59.185Z,1611783599.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:39:59.930Z,1611783599.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:00.332Z,1611783600.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:01.186Z,1611783601.186 [Micromodem](INFO): Nmea in: $SNTTA,0.008078,,,,214001.70*46 2021-01-27T21:40:01.242Z,1611783601.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 137.062909 deg, deltaT: 4.441746 s, approachRate: -0.364722 m/s, LOS rate: 1.461104 deg/s, posRepo size: 4 2021-01-27T21:40:01.242Z,1611783601.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.88 m. 2021-01-27T21:40:01.243Z,1611783601.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 11.88 m. 2021-01-27T21:40:01.243Z,1611783601.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-01-27T21:40:01.251Z,1611783601.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.879998 m, bearing: 137.062909 deg, approachRate: -0.364722 m/s, LOS rate: 1.461104 deg/s, cmd update: 7.305522 deg/s, cmd heading: 175.237999 deg, new cmd heading: 180.074286 deg. 2021-01-27T21:40:03.578Z,1611783603.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:04.378Z,1611783604.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:04.772Z,1611783604.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:05.617Z,1611783605.617 [Micromodem](INFO): Nmea in: $SNTTA,0.006988,,,,214006.15*4A 2021-01-27T21:40:05.651Z,1611783605.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.260000 m, bearing: 142.091854 deg, deltaT: 4.456651 s, approachRate: -0.363501 m/s, LOS rate: 1.128414 deg/s, posRepo size: 4 2021-01-27T21:40:05.653Z,1611783605.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.260000 m, bearing: 142.091854 deg, approachRate: -0.363501 m/s, LOS rate: 1.128414 deg/s, cmd update: 5.642068 deg/s, cmd heading: 207.780168 deg, new cmd heading: 210.835747 deg. 2021-01-27T21:40:08.060Z,1611783608.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:08.818Z,1611783608.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:09.243Z,1611783609.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:10.073Z,1611783610.073 [Micromodem](INFO): Nmea in: $SNTTA,0.005842,,,,214010.59*41 2021-01-27T21:40:10.164Z,1611783610.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 147.007596 deg, deltaT: 4.419814 s, approachRate: -0.380107 m/s, LOS rate: 1.112206 deg/s, posRepo size: 4 2021-01-27T21:40:10.166Z,1611783610.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.579998 m, bearing: 147.007596 deg, approachRate: -0.380107 m/s, LOS rate: 1.112206 deg/s, cmd update: 5.561028 deg/s, cmd heading: 232.627828 deg, new cmd heading: 235.554685 deg. 2021-01-27T21:40:12.484Z,1611783612.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:13.266Z,1611783613.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:13.664Z,1611783613.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:14.497Z,1611783614.497 [Micromodem](INFO): Nmea in: $SNTTA,0.004602,,,,214015.04*47 2021-01-27T21:40:14.527Z,1611783614.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 144.848983 deg, deltaT: 4.493589 s, approachRate: -0.413923 m/s, LOS rate: -0.480376 deg/s, posRepo size: 4 2021-01-27T21:40:14.530Z,1611783614.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.719998 m, bearing: 144.848983 deg, approachRate: -0.413923 m/s, LOS rate: -0.480376 deg/s, cmd update: -2.401881 deg/s, cmd heading: 257.727829 deg, new cmd heading: 259.817380 deg. 2021-01-27T21:40:16.910Z,1611783616.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:17.704Z,1611783617.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:18.120Z,1611783618.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:18.942Z,1611783618.942 [Micromodem](INFO): Nmea in: $SNTTA,0.003467,,,,214019.47*4A 2021-01-27T21:40:18.976Z,1611783618.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 132.101814 deg, deltaT: 4.378753 s, approachRate: -0.383671 m/s, LOS rate: -2.911141 deg/s, posRepo size: 4 2021-01-27T21:40:19.016Z,1611783619.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.039999 m, bearing: 132.101814 deg, approachRate: -0.383671 m/s, LOS rate: -2.911141 deg/s, cmd update: -12.000000 deg/s, cmd heading: 247.210111 deg, new cmd heading: 246.149149 deg. 2021-01-27T21:40:21.430Z,1611783621.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:22.162Z,1611783622.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:22.562Z,1611783622.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:23.385Z,1611783623.385 [Micromodem](INFO): Nmea in: $SNTTA,0.003136,,,,214023.93*4B 2021-01-27T21:40:23.418Z,1611783623.418 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-01-27T21:40:23.418Z,1611783623.418 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-01-27T21:40:23.418Z,1611783623.418 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-01-27T21:40:23.418Z,1611783623.418 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-01-27T21:40:23.419Z,1611783623.419 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-01-27T21:40:23.419Z,1611783623.419 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 2021-01-27T21:40:23.419Z,1611783623.419 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-01-27T21:40:23.419Z,1611783623.419 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-01-27T21:40:23.420Z,1611783623.420 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-01-27T21:40:23.422Z,1611783623.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 141.495701 deg, deltaT: 4.512533 s, approachRate: -0.079778 m/s, LOS rate: 2.081733 deg/s, posRepo size: 4 2021-01-27T21:40:23.424Z,1611783623.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.679999 m, bearing: 141.495701 deg, approachRate: -0.079778 m/s, LOS rate: 2.081733 deg/s, cmd update: 10.408663 deg/s, cmd heading: 193.191425 deg, new cmd heading: 188.497757 deg. 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T214023: (41.551998, -70.709610) 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-01-27T21:40:23.783Z,1611783623.783 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-01-27T21:40:23.784Z,1611783623.784 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-01-27T21:40:25.810Z,1611783625.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:26.590Z,1611783626.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:27.021Z,1611783627.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:27.838Z,1611783627.838 [Micromodem](INFO): Nmea in: $SNTTA,0.003908,0.022927,,0.006415,214028.36*40 2021-01-27T21:40:27.859Z,1611783627.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 180.912901 deg, deltaT: 4.407533 s, approachRate: 0.272261 m/s, LOS rate: 8.943143 deg/s, posRepo size: 4 2021-01-27T21:40:27.861Z,1611783627.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.880000 m, bearing: 180.912901 deg, approachRate: 0.272261 m/s, LOS rate: 8.943143 deg/s, cmd update: 12.000000 deg/s, cmd heading: 239.140582 deg, new cmd heading: 243.446188 deg. 2021-01-27T21:40:30.273Z,1611783630.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:31.054Z,1611783631.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:31.456Z,1611783631.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:32.272Z,1611783632.272 [Micromodem](INFO): Nmea in: $SNTTA,0.005329,,,0.007834,214032.82*57 2021-01-27T21:40:32.310Z,1611783632.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.160001 m, bearing: 197.457313 deg, deltaT: 4.418239 s, approachRate: 0.516043 m/s, LOS rate: 3.744571 deg/s, posRepo size: 4 2021-01-27T21:40:32.332Z,1611783632.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.160001 m, bearing: 197.457313 deg, approachRate: 0.516043 m/s, LOS rate: 3.744571 deg/s, cmd update: 12.000000 deg/s, cmd heading: 292.207511 deg, new cmd heading: 297.515520 deg. 2021-01-27T21:40:33.881Z,1611783633.881 [PowerOnly](INFO): Powering down loadControl 2021-01-27T21:40:34.701Z,1611783634.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:35.478Z,1611783635.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:35.885Z,1611783635.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:36.721Z,1611783636.721 [Micromodem](INFO): Nmea in: $SNTTA,0.007031,,,,214037.25*41 2021-01-27T21:40:36.746Z,1611783636.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 197.152987 deg, deltaT: 4.463889 s, approachRate: 0.994648 m/s, LOS rate: -0.068175 deg/s, posRepo size: 4 2021-01-27T21:40:36.748Z,1611783636.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.599998 m, bearing: 197.152987 deg, approachRate: 0.994648 m/s, LOS rate: -0.068175 deg/s, cmd update: -0.340875 deg/s, cmd heading: 345.772993 deg, new cmd heading: 350.747917 deg. 2021-01-27T21:40:39.176Z,1611783639.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:39.926Z,1611783639.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:40.328Z,1611783640.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:41.173Z,1611783641.173 [Micromodem](INFO): Nmea in: $SNTTA,0.008979,,,,214041.70*4A 2021-01-27T21:40:41.218Z,1611783641.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 208.628565 deg, deltaT: 4.409739 s, approachRate: 0.231306 m/s, LOS rate: 2.602326 deg/s, posRepo size: 4 2021-01-27T21:40:41.218Z,1611783641.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.62 m. Rolling out. 2021-01-27T21:40:41.218Z,1611783641.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-01-27T21:40:43.250Z,1611783643.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:43.973Z,1611783643.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:44.385Z,1611783644.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:45.201Z,1611783645.201 [Micromodem](INFO): Nmea in: $SNTTA,0.010868,,0.012243,,214045.74*5A 2021-01-27T21:40:45.247Z,1611783645.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 255.198298 deg, deltaT: 4.043313 s, approachRate: 0.994234 m/s, LOS rate: 11.517716 deg/s, posRepo size: 4 2021-01-27T21:40:46.488Z,1611783646.488 [DDM](ERROR): Could not parse latch state 2021-01-27T21:40:47.633Z,1611783647.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:48.411Z,1611783648.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:48.817Z,1611783648.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:49.654Z,1611783649.654 [Micromodem](INFO): Nmea in: $SNTTA,0.012866,,0.022484,,214050.18*56 2021-01-27T21:40:49.675Z,1611783649.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 286.472614 deg, deltaT: 4.485889 s, approachRate: 0.655389 m/s, LOS rate: 6.971710 deg/s, posRepo size: 4 2021-01-27T21:40:52.130Z,1611783652.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:52.854Z,1611783652.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:53.256Z,1611783653.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:54.100Z,1611783654.100 [Micromodem](INFO): Nmea in: $SNTTA,0.015256,,,,214054.63*46 2021-01-27T21:40:54.173Z,1611783654.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 334.504580 deg, deltaT: 4.406666 s, approachRate: 0.517398 m/s, LOS rate: 10.899843 deg/s, posRepo size: 4 2021-01-27T21:40:56.525Z,1611783656.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:40:57.311Z,1611783657.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:40:57.710Z,1611783657.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:40:58.533Z,1611783658.533 [Micromodem](INFO): Nmea in: $SNTTA,0.017102,,,,214059.08*46 2021-01-27T21:40:58.563Z,1611783658.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 348.156462 deg, deltaT: 4.510701 s, approachRate: 0.625179 m/s, LOS rate: 3.026554 deg/s, posRepo size: 4 2021-01-27T21:41:00.966Z,1611783660.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:01.734Z,1611783661.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:02.156Z,1611783662.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:02.995Z,1611783662.995 [Micromodem](INFO): Nmea in: $SNTTA,0.018726,,,,214103.50*4A 2021-01-27T21:41:03.024Z,1611783663.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.140001 m, bearing: 14.270780 deg, deltaT: 4.389287 s, approachRate: 0.560457 m/s, LOS rate: 5.949558 deg/s, posRepo size: 4 2021-01-27T21:41:05.420Z,1611783665.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:06.178Z,1611783666.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:06.596Z,1611783666.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:07.433Z,1611783667.433 [Micromodem](INFO): Nmea in: $SNTTA,0.020296,,0.025421,,214107.95*5C 2021-01-27T21:41:07.461Z,1611783667.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.539997 m, bearing: 19.942880 deg, deltaT: 4.514810 s, approachRate: 0.531583 m/s, LOS rate: 1.256332 deg/s, posRepo size: 4 2021-01-27T21:41:09.845Z,1611783669.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:10.626Z,1611783670.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:11.056Z,1611783671.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:11.873Z,1611783671.873 [Micromodem](INFO): Nmea in: $SNTTA,0.021659,,,,214112.39*46 2021-01-27T21:41:11.895Z,1611783671.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.520000 m, bearing: 39.373834 deg, deltaT: 4.392963 s, approachRate: 0.450722 m/s, LOS rate: 4.423200 deg/s, posRepo size: 4 2021-01-27T21:41:14.313Z,1611783674.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:15.075Z,1611783675.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:15.476Z,1611783675.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:16.305Z,1611783676.305 [Micromodem](INFO): Nmea in: $SNTTA,0.023256,,,,214116.85*4C 2021-01-27T21:41:16.355Z,1611783676.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 22.414526 deg, deltaT: 4.415736 s, approachRate: 0.543511 m/s, LOS rate: -3.840653 deg/s, posRepo size: 4 2021-01-27T21:41:18.725Z,1611783678.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:19.514Z,1611783679.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:19.920Z,1611783679.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:20.757Z,1611783680.757 [Micromodem](INFO): Nmea in: $SNTTA,0.025149,,,,214121.28*44 2021-01-27T21:41:20.791Z,1611783680.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.799999 m, bearing: 30.784216 deg, deltaT: 4.478627 s, approachRate: 0.643054 m/s, LOS rate: 1.868807 deg/s, posRepo size: 4 2021-01-27T21:41:23.207Z,1611783683.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:23.967Z,1611783683.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:24.392Z,1611783684.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:25.226Z,1611783685.226 [Micromodem](INFO): Nmea in: $SNTTA,0.027129,,,,214125.74*4D 2021-01-27T21:41:25.265Z,1611783685.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.739998 m, bearing: 18.781412 deg, deltaT: 4.439844 s, approachRate: 0.662185 m/s, LOS rate: -2.703429 deg/s, posRepo size: 4 2021-01-27T21:41:27.646Z,1611783687.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:28.434Z,1611783688.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:28.854Z,1611783688.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:29.669Z,1611783689.669 [Micromodem](INFO): Nmea in: $SNTTA,0.029781,,,,214130.20*42 2021-01-27T21:41:29.702Z,1611783689.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 22.069403 deg, deltaT: 4.469212 s, approachRate: 0.899488 m/s, LOS rate: 0.735698 deg/s, posRepo size: 4 2021-01-27T21:41:32.153Z,1611783692.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:32.874Z,1611783692.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:33.280Z,1611783693.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:34.114Z,1611783694.114 [Micromodem](INFO): Nmea in: $SNTTA,0.031675,,,,214134.64*45 2021-01-27T21:41:34.920Z,1611783694.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:36.521Z,1611783696.521 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:41:37.742Z,1611783697.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:38.538Z,1611783698.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:38.936Z,1611783698.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:39.769Z,1611783699.769 [Micromodem](INFO): Nmea in: $SNTTA,0.035099,,,,214140.31*46 2021-01-27T21:41:39.813Z,1611783699.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.499996 m, bearing: 338.450490 deg, deltaT: 10.122944 s, approachRate: 0.764600 m/s, LOS rate: -4.308916 deg/s, posRepo size: 4 2021-01-27T21:41:42.218Z,1611783702.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:42.990Z,1611783702.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:43.380Z,1611783703.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:44.209Z,1611783704.209 [Micromodem](INFO): Nmea in: $SNTTA,0.037328,,,,214144.76*4A 2021-01-27T21:41:44.243Z,1611783704.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.699997 m, bearing: 17.477269 deg, deltaT: 4.442906 s, approachRate: 0.945327 m/s, LOS rate: 8.784068 deg/s, posRepo size: 4 2021-01-27T21:41:46.637Z,1611783706.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:47.418Z,1611783707.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:47.824Z,1611783707.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:48.657Z,1611783708.657 [Micromodem](INFO): Nmea in: $SNTTA,0.039908,,,,214149.19*48 2021-01-27T21:41:48.679Z,1611783708.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.000000 m, bearing: 342.935138 deg, deltaT: 4.405926 s, approachRate: 0.748992 m/s, LOS rate: -7.839928 deg/s, posRepo size: 4 2021-01-27T21:41:51.160Z,1611783711.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:51.862Z,1611783711.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:52.268Z,1611783712.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:53.121Z,1611783713.121 [Micromodem](INFO): Nmea in: $SNTTA,0.042601,,,,214153.63*44 2021-01-27T21:41:53.201Z,1611783713.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 343.238070 deg, deltaT: 4.425067 s, approachRate: 0.908462 m/s, LOS rate: 0.068458 deg/s, posRepo size: 4 2021-01-27T21:41:55.546Z,1611783715.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:41:56.317Z,1611783716.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:41:56.720Z,1611783716.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:41:57.546Z,1611783717.546 [Micromodem](INFO): Nmea in: $SNTTA,0.045252,,,,214158.09*46 2021-01-27T21:41:57.570Z,1611783717.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.980003 m, bearing: 340.419579 deg, deltaT: 4.468335 s, approachRate: 0.886236 m/s, LOS rate: -0.630770 deg/s, posRepo size: 4 2021-01-27T21:42:00.061Z,1611783720.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:00.798Z,1611783720.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:01.200Z,1611783721.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:02.067Z,1611783722.067 [Micromodem](INFO): Nmea in: $SNTTA,0.047961,,,,214202.57*48 2021-01-27T21:42:02.139Z,1611783722.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.060005 m, bearing: 341.991451 deg, deltaT: 4.493081 s, approachRate: 0.908063 m/s, LOS rate: 0.349843 deg/s, posRepo size: 4 2021-01-27T21:42:04.477Z,1611783724.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:05.238Z,1611783725.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:05.644Z,1611783725.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:06.501Z,1611783726.501 [Micromodem](INFO): Nmea in: $SNTTA,0.050719,,,,214207.01*49 2021-01-27T21:42:06.516Z,1611783726.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.200005 m, bearing: 340.855782 deg, deltaT: 4.501526 s, approachRate: 0.919688 m/s, LOS rate: -0.252285 deg/s, posRepo size: 4 2021-01-27T21:42:08.897Z,1611783728.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:09.678Z,1611783729.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:10.102Z,1611783730.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:10.929Z,1611783730.929 [Micromodem](INFO): Nmea in: $SNTTA,0.053426,,,,214211.45*42 2021-01-27T21:42:10.957Z,1611783730.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 339.033761 deg, deltaT: 4.377008 s, approachRate: 0.918435 m/s, LOS rate: -0.416271 deg/s, posRepo size: 4 2021-01-27T21:42:13.373Z,1611783733.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:14.154Z,1611783734.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:14.528Z,1611783734.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:15.365Z,1611783735.365 [Micromodem](INFO): Nmea in: $SNTTA,0.056264,,,,214215.92*49 2021-01-27T21:42:15.452Z,1611783735.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 339.005347 deg, deltaT: 4.421264 s, approachRate: 0.963526 m/s, LOS rate: -0.006427 deg/s, posRepo size: 4 2021-01-27T21:42:17.779Z,1611783737.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:18.577Z,1611783738.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:18.981Z,1611783738.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:19.825Z,1611783739.825 [Micromodem](INFO): Nmea in: $SNTTA,0.059008,,,,214220.35*45 2021-01-27T21:42:19.858Z,1611783739.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.620010 m, bearing: 330.165225 deg, deltaT: 4.456442 s, approachRate: 0.928994 m/s, LOS rate: -1.983673 deg/s, posRepo size: 4 2021-01-27T21:42:22.269Z,1611783742.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:23.042Z,1611783743.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:23.424Z,1611783743.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:24.235Z,1611783744.235 [Micromodem](INFO): Nmea in: $SNTTA,0.061830,,,,214224.81*46 2021-01-27T21:42:24.289Z,1611783744.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.820000 m, bearing: 295.185668 deg, deltaT: 4.453169 s, approachRate: 0.943146 m/s, LOS rate: -7.854981 deg/s, posRepo size: 4 2021-01-27T21:42:26.681Z,1611783746.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:27.458Z,1611783747.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:27.872Z,1611783747.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:28.702Z,1611783748.702 [Micromodem](INFO): Nmea in: $SNTTA,0.067655,,,,214229.23*48 2021-01-27T21:42:28.717Z,1611783748.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.200005 m, bearing: 7.257217 deg, deltaT: 4.457611 s, approachRate: 0.982590 m/s, LOS rate: 16.168200 deg/s, posRepo size: 4 2021-01-27T21:42:30.337Z,1611783750.337 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items 2021-01-27T21:42:31.166Z,1611783751.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:31.922Z,1611783751.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:32.304Z,1611783752.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:33.157Z,1611783753.157 [Micromodem](INFO): Nmea in: $SNTTA,0.067362,,,,214233.69*4C 2021-01-27T21:42:33.217Z,1611783753.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.160004 m, bearing: 310.806228 deg, deltaT: 4.419608 s, approachRate: 0.896007 m/s, LOS rate: -12.772849 deg/s, posRepo size: 4 2021-01-27T21:42:35.237Z,1611783755.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:35.955Z,1611783755.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:36.352Z,1611783756.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:37.201Z,1611783757.201 [Micromodem](INFO): Nmea in: $SNTTA,0.069849,,,,214237.73*4F 2021-01-27T21:42:37.235Z,1611783757.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 300.464448 deg, deltaT: 4.063179 s, approachRate: 0.915540 m/s, LOS rate: -2.545244 deg/s, posRepo size: 4 2021-01-27T21:42:39.617Z,1611783759.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:40.382Z,1611783760.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:40.794Z,1611783760.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:41.637Z,1611783761.637 [Micromodem](INFO): Nmea in: $SNTTA,0.072610,,,,214242.15*45 2021-01-27T21:42:41.659Z,1611783761.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 347.817111 deg, deltaT: 4.442488 s, approachRate: 0.931910 m/s, LOS rate: 10.659041 deg/s, posRepo size: 4 2021-01-27T21:42:44.147Z,1611783764.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:44.830Z,1611783764.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:45.244Z,1611783765.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:46.092Z,1611783766.092 [Micromodem](INFO): Nmea in: $SNTTA,0.075396,,,,214246.60*4F 2021-01-27T21:42:46.188Z,1611783766.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 354.599270 deg, deltaT: 4.418364 s, approachRate: 0.950577 m/s, LOS rate: 1.534993 deg/s, posRepo size: 4 2021-01-27T21:42:47.873Z,1611783767.873 [CTD_Seabird](ERROR): Failed to parse device response: .67 2021-01-27T21:42:48.515Z,1611783768.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:49.274Z,1611783769.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:49.676Z,1611783769.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:50.517Z,1611783770.517 [Micromodem](INFO): Nmea in: $SNTTA,0.078190,,,,214251.04*42 2021-01-27T21:42:50.551Z,1611783770.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.420006 m, bearing: 347.277499 deg, deltaT: 4.495457 s, approachRate: 0.934278 m/s, LOS rate: -1.628705 deg/s, posRepo size: 4 2021-01-27T21:42:52.945Z,1611783772.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:53.724Z,1611783773.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:54.144Z,1611783774.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:42:54.971Z,1611783774.971 [Micromodem](INFO): Nmea in: $SNTTA,0.081071,0.089551,,,214255.49*59 2021-01-27T21:42:55.769Z,1611783775.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:57.353Z,1611783777.353 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:42:58.588Z,1611783778.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:42:59.374Z,1611783779.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:42:59.780Z,1611783779.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:00.614Z,1611783780.614 [Micromodem](INFO): Nmea in: $SNTTA,0.084713,,,,214301.15*48 2021-01-27T21:43:01.423Z,1611783781.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:03.041Z,1611783783.041 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:43:04.281Z,1611783784.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:05.061Z,1611783785.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:05.436Z,1611783785.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:06.267Z,1611783786.267 [Micromodem](INFO): Nmea in: $SNTTA,0.088909,,,,214306.83*49 2021-01-27T21:43:06.334Z,1611783786.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 21.017622 deg, deltaT: 15.707978 s, approachRate: 0.981666 m/s, LOS rate: 2.147960 deg/s, posRepo size: 4 2021-01-27T21:43:08.681Z,1611783788.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:09.485Z,1611783789.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:09.880Z,1611783789.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:10.722Z,1611783790.722 [Micromodem](INFO): Nmea in: $SNTTA,0.091420,,,,214311.26*4E 2021-01-27T21:43:10.743Z,1611783790.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 13.980156 deg, deltaT: 4.476829 s, approachRate: 1.005176 m/s, LOS rate: -1.571976 deg/s, posRepo size: 4 2021-01-27T21:43:13.174Z,1611783793.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:13.918Z,1611783793.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:14.324Z,1611783794.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:15.177Z,1611783795.177 [Micromodem](INFO): Nmea in: $SNTTA,0.094251,,,,214315.69*44 2021-01-27T21:43:15.211Z,1611783795.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.199997 m, bearing: 25.650116 deg, deltaT: 4.407618 s, approachRate: 1.102637 m/s, LOS rate: 2.647680 deg/s, posRepo size: 4 2021-01-27T21:43:17.569Z,1611783797.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:18.363Z,1611783798.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:18.764Z,1611783798.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:19.609Z,1611783799.609 [Micromodem](INFO): Nmea in: $SNTTA,0.097110,,,,214320.13*4A 2021-01-27T21:43:19.642Z,1611783799.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 11.844281 deg, deltaT: 4.480538 s, approachRate: 0.843648 m/s, LOS rate: -3.081290 deg/s, posRepo size: 4 2021-01-27T21:43:22.111Z,1611783802.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:22.811Z,1611783802.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:23.212Z,1611783803.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:24.067Z,1611783804.067 [Micromodem](INFO): Nmea in: $SNTTA,0.099943,,,,214324.58*41 2021-01-27T21:43:24.145Z,1611783804.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 7.605317 deg, deltaT: 4.425689 s, approachRate: 0.989677 m/s, LOS rate: -0.957809 deg/s, posRepo size: 4 2021-01-27T21:43:24.146Z,1611783804.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.36 m. Resuming terminal guidance. 2021-01-27T21:43:24.146Z,1611783804.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-01-27T21:43:26.496Z,1611783806.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:27.250Z,1611783807.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:27.660Z,1611783807.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:28.478Z,1611783808.478 [Micromodem](INFO): Nmea in: $SNTTA,0.102930,,,,214329.02*44 2021-01-27T21:43:29.310Z,1611783809.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:30.885Z,1611783810.885 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:43:32.159Z,1611783812.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:32.915Z,1611783812.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:33.320Z,1611783813.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:34.181Z,1611783814.181 [Micromodem](INFO): Nmea in: $SNTTA,0.106586,,,,214334.69*40 2021-01-27T21:43:34.245Z,1611783814.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 4.304918 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-01-27T21:43:34.246Z,1611783814.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 4.304918deg and heading rate command to 0 deg/s. 2021-01-27T21:43:36.606Z,1611783816.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:37.359Z,1611783817.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:37.760Z,1611783817.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:38.599Z,1611783818.599 [Micromodem](INFO): Nmea in: $SNTTA,0.109376,,,,214339.13*46 2021-01-27T21:43:38.622Z,1611783818.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 7.969024 deg, deltaT: 4.479280 s, approachRate: 0.924256 m/s, LOS rate: 0.818012 deg/s, posRepo size: 2 2021-01-27T21:43:38.624Z,1611783818.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 164.160004 m, bearing: 7.969024 deg, approachRate: 0.924256 m/s, LOS rate: 0.818012 deg/s, cmd update: 4.090062 deg/s, cmd heading: 4.304918 deg, new cmd heading: 4.304918 deg. 2021-01-27T21:43:41.056Z,1611783821.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:41.795Z,1611783821.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:42.206Z,1611783822.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:43.061Z,1611783823.061 [Micromodem](INFO): Nmea in: $SNTTA,0.112197,,,,214343.56*4D 2021-01-27T21:43:43.143Z,1611783823.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.540009 m, bearing: 39.770699 deg, deltaT: 4.397374 s, approachRate: 0.996050 m/s, LOS rate: 7.231970 deg/s, posRepo size: 3 2021-01-27T21:43:43.146Z,1611783823.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 168.540009 m, bearing: 39.770699 deg, approachRate: 0.996050 m/s, LOS rate: 7.231970 deg/s, cmd update: 12.000000 deg/s, cmd heading: 22.284642 deg, new cmd heading: 24.370218 deg. 2021-01-27T21:43:45.479Z,1611783825.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:46.238Z,1611783826.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:46.652Z,1611783826.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:47.473Z,1611783827.473 [Micromodem](INFO): Nmea in: $SNTTA,0.114663,,,,214348.01*4E 2021-01-27T21:43:47.518Z,1611783827.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.379990 m, bearing: 45.519768 deg, deltaT: 4.503203 s, approachRate: 0.852722 m/s, LOS rate: 1.276662 deg/s, posRepo size: 4 2021-01-27T21:43:47.524Z,1611783827.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.379990 m, bearing: 45.519768 deg, approachRate: 0.852722 m/s, LOS rate: 1.276662 deg/s, cmd update: 6.383311 deg/s, cmd heading: 76.289408 deg, new cmd heading: 80.892380 deg. 2021-01-27T21:43:49.913Z,1611783829.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:50.683Z,1611783830.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:51.117Z,1611783831.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:51.922Z,1611783831.922 [Micromodem](INFO): Nmea in: $SNTTA,0.116577,,,,214352.45*41 2021-01-27T21:43:51.973Z,1611783831.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.379990 m, bearing: 73.667401 deg, deltaT: 4.383803 s, approachRate: 0.000000 m/s, LOS rate: 6.420825 deg/s, posRepo size: 4 2021-01-27T21:43:51.981Z,1611783831.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.379990 m, bearing: 73.667401 deg, approachRate: 0.000000 m/s, LOS rate: 6.420825 deg/s, cmd update: 12.000000 deg/s, cmd heading: 104.188340 deg, new cmd heading: 107.163091 deg. 2021-01-27T21:43:54.465Z,1611783834.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:55.162Z,1611783835.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:43:55.528Z,1611783835.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:43:56.349Z,1611783836.349 [Micromodem](INFO): Nmea in: $SNTTA,0.117956,,,,214356.93*40 2021-01-27T21:43:56.779Z,1611783836.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 118.115418 deg, deltaT: 4.893121 s, approachRate: 0.919662 m/s, LOS rate: 9.083776 deg/s, posRepo size: 4 2021-01-27T21:43:56.781Z,1611783836.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 176.880005 m, bearing: 118.115418 deg, approachRate: 0.919662 m/s, LOS rate: 9.083776 deg/s, cmd update: 12.000000 deg/s, cmd heading: 163.114461 deg, new cmd heading: 167.479390 deg. 2021-01-27T21:43:59.225Z,1611783839.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:43:59.989Z,1611783839.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:00.390Z,1611783840.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:01.205Z,1611783841.205 [Micromodem](INFO): Nmea in: $SNTTA,0.118879,,,,214401.76*4D 2021-01-27T21:44:01.635Z,1611783841.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 40.213070 deg, deltaT: 4.880719 s, approachRate: 0.307332 m/s, LOS rate: -15.961245 deg/s, posRepo size: 4 2021-01-27T21:44:01.636Z,1611783841.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.961245 deg/s. Setting heading cmd to target bearing of 40.213070deg and heading rate command to 0 deg/s. 2021-01-27T21:44:04.075Z,1611783844.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:04.826Z,1611783844.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:05.224Z,1611783845.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:06.079Z,1611783846.079 [Micromodem](INFO): Nmea in: $SNTTA,0.119210,,,,214406.59*43 2021-01-27T21:44:06.160Z,1611783846.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 55.481852 deg, deltaT: 4.376296 s, approachRate: 0.000000 m/s, LOS rate: 3.488974 deg/s, posRepo size: 4 2021-01-27T21:44:06.162Z,1611783846.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 178.380005 m, bearing: 55.481852 deg, approachRate: 0.000000 m/s, LOS rate: 3.488974 deg/s, cmd update: 12.000000 deg/s, cmd heading: 40.213070 deg, new cmd heading: 40.213070 deg. 2021-01-27T21:44:08.469Z,1611783848.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:09.283Z,1611783849.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:09.672Z,1611783849.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:10.496Z,1611783850.496 [Micromodem](INFO): Nmea in: $SNTTA,0.118749,,,,214411.05*44 2021-01-27T21:44:10.919Z,1611783850.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.139999 m, bearing: 137.310011 deg, deltaT: 4.838312 s, approachRate: -0.049605 m/s, LOS rate: 16.912542 deg/s, posRepo size: 4 2021-01-27T21:44:10.920Z,1611783850.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.912542 deg/s. Setting heading cmd to target bearing of 137.310011deg and heading rate command to 0 deg/s. 2021-01-27T21:44:13.369Z,1611783853.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:14.144Z,1611783854.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:14.520Z,1611783854.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:15.335Z,1611783855.335 [Micromodem](INFO): Nmea in: $SNTTA,0.118299,,0.129867,,214415.91*58 2021-01-27T21:44:16.202Z,1611783856.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:17.754Z,1611783857.754 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:44:19.031Z,1611783859.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:19.767Z,1611783859.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:20.172Z,1611783860.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:20.590Z,1611783860.590 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,AFD,000,004 A,189,80,80,51,FF 2021-01-27T21:44:21.021Z,1611783861.021 [Micromodem](INFO): Nmea in: $SNTTA,0.118564,,,,214421.54*4E 2021-01-27T21:44:21.821Z,1611783861.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:24.641Z,1611783864.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:27.470Z,1611783867.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:28.254Z,1611783868.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:28.660Z,1611783868.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:29.066Z,1611783869.066 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2FD,000,004 A,189,80,80,51,FF 2021-01-27T21:44:29.490Z,1611783869.490 [Micromodem](INFO): Nmea in: $SNTTA,0.120219,,,,214430.02*4B 2021-01-27T21:44:30.333Z,1611783870.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:33.176Z,1611783873.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:35.945Z,1611783875.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:36.739Z,1611783876.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:37.172Z,1611783877.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:37.558Z,1611783877.558 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,AFD,000,004 A,189,80,80,51,FF 2021-01-27T21:44:37.982Z,1611783877.982 [Micromodem](INFO): Nmea in: $SNTTA,0.120786,,,,214438.51*46 2021-01-27T21:44:38.773Z,1611783878.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:41.634Z,1611783881.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:44.450Z,1611783884.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:45.219Z,1611783885.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:45.633Z,1611783885.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:46.477Z,1611783886.477 [Micromodem](INFO): Nmea in: $SNTTA,0.119609,,,,214446.99*47 2021-01-27T21:44:46.517Z,1611783886.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.159988 m, bearing: 156.640403 deg, deltaT: 35.627306 s, approachRate: 0.028629 m/s, LOS rate: 0.542572 deg/s, posRepo size: 4 2021-01-27T21:44:46.519Z,1611783886.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.159988 m, bearing: 156.640403 deg, approachRate: 0.028629 m/s, LOS rate: 0.542572 deg/s, cmd update: 2.712862 deg/s, cmd heading: 137.310011 deg, new cmd heading: 137.310011 deg. 2021-01-27T21:44:48.882Z,1611783888.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:49.671Z,1611783889.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:50.088Z,1611783890.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:50.913Z,1611783890.913 [Micromodem](INFO): Nmea in: $SNTTA,0.118293,,,,214451.44*47 2021-01-27T21:44:50.938Z,1611783890.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.159988 m, bearing: 155.168429 deg, deltaT: 4.370884 s, approachRate: 0.000000 m/s, LOS rate: -0.336768 deg/s, posRepo size: 4 2021-01-27T21:44:50.940Z,1611783890.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.159988 m, bearing: 155.168429 deg, approachRate: 0.000000 m/s, LOS rate: -0.336768 deg/s, cmd update: -1.683840 deg/s, cmd heading: 149.175404 deg, new cmd heading: 150.343635 deg. 2021-01-27T21:44:53.349Z,1611783893.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:54.119Z,1611783894.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:54.528Z,1611783894.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:55.469Z,1611783895.469 [Micromodem](INFO): Nmea in: $SNTTA,0.116804,,,,214455.89*48 2021-01-27T21:44:55.505Z,1611783895.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.159988 m, bearing: 163.944293 deg, deltaT: 4.479192 s, approachRate: 0.000000 m/s, LOS rate: 1.959252 deg/s, posRepo size: 4 2021-01-27T21:44:55.509Z,1611783895.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.159988 m, bearing: 163.944293 deg, approachRate: 0.000000 m/s, LOS rate: 1.959252 deg/s, cmd update: 9.796259 deg/s, cmd heading: 141.665389 deg, new cmd heading: 140.760055 deg. 2021-01-27T21:44:57.781Z,1611783897.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:44:58.548Z,1611783898.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:44:58.988Z,1611783898.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:44:59.810Z,1611783899.810 [Micromodem](INFO): Nmea in: $SNTTA,0.115476,,,,214500.32*43 2021-01-27T21:44:59.831Z,1611783899.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.159988 m, bearing: 156.891863 deg, deltaT: 4.434659 s, approachRate: 0.000000 m/s, LOS rate: -1.590298 deg/s, posRepo size: 4 2021-01-27T21:44:59.833Z,1611783899.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 179.159988 m, bearing: 156.891863 deg, approachRate: 0.000000 m/s, LOS rate: -1.590298 deg/s, cmd update: -7.951491 deg/s, cmd heading: 185.191361 deg, new cmd heading: 189.310090 deg. 2021-01-27T21:45:02.241Z,1611783902.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:03.030Z,1611783903.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:03.408Z,1611783903.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:04.222Z,1611783904.222 [Micromodem](INFO): Nmea in: $SNTTA,0.113881,,,,214504.80*4C 2021-01-27T21:45:04.663Z,1611783904.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 158.375339 deg, deltaT: 4.885506 s, approachRate: -1.756209 m/s, LOS rate: 0.303648 deg/s, posRepo size: 4 2021-01-27T21:45:04.669Z,1611783904.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.580017 m, bearing: 158.375339 deg, approachRate: -1.756209 m/s, LOS rate: 0.303648 deg/s, cmd update: 1.518242 deg/s, cmd heading: 146.282600 deg, new cmd heading: 143.427705 deg. 2021-01-27T21:45:07.128Z,1611783907.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:07.850Z,1611783907.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:08.267Z,1611783908.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:09.104Z,1611783909.104 [Micromodem](INFO): Nmea in: $SNTTA,0.112368,,,,214509.62*40 2021-01-27T21:45:09.163Z,1611783909.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 155.430162 deg, deltaT: 4.389721 s, approachRate: 0.000000 m/s, LOS rate: -0.670926 deg/s, posRepo size: 4 2021-01-27T21:45:09.165Z,1611783909.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.580017 m, bearing: 155.430162 deg, approachRate: 0.000000 m/s, LOS rate: -0.670926 deg/s, cmd update: -3.354629 deg/s, cmd heading: 152.946784 deg, new cmd heading: 153.659539 deg. 2021-01-27T21:45:11.510Z,1611783911.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:12.294Z,1611783912.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:12.707Z,1611783912.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:13.562Z,1611783913.562 [Micromodem](INFO): Nmea in: $SNTTA,0.110819,,,,214514.06*41 2021-01-27T21:45:13.612Z,1611783913.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 155.403715 deg, deltaT: 4.491337 s, approachRate: -1.015291 m/s, LOS rate: -0.005888 deg/s, posRepo size: 4 2021-01-27T21:45:13.614Z,1611783913.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 155.403715 deg, approachRate: -1.015291 m/s, LOS rate: -0.005888 deg/s, cmd update: -0.029442 deg/s, cmd heading: 137.932975 deg, new cmd heading: 136.459696 deg. 2021-01-27T21:45:15.955Z,1611783915.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:16.736Z,1611783916.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:17.168Z,1611783917.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:18.013Z,1611783918.013 [Micromodem](INFO): Nmea in: $SNTTA,0.109354,,,,214518.51*45 2021-01-27T21:45:18.052Z,1611783918.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 154.384610 deg, deltaT: 4.391289 s, approachRate: -0.464555 m/s, LOS rate: -0.232074 deg/s, posRepo size: 4 2021-01-27T21:45:18.054Z,1611783918.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 163.980011 m, bearing: 154.384610 deg, approachRate: -0.464555 m/s, LOS rate: -0.232074 deg/s, cmd update: -1.160371 deg/s, cmd heading: 137.803097 deg, new cmd heading: 137.789223 deg. 2021-01-27T21:45:20.418Z,1611783920.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:21.187Z,1611783921.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:21.656Z,1611783921.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:22.485Z,1611783922.485 [Micromodem](INFO): Nmea in: $SNTTA,0.107782,,,0.110332,214523.00*54 2021-01-27T21:45:22.507Z,1611783922.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 154.717882 deg, deltaT: 4.600510 s, approachRate: -0.547766 m/s, LOS rate: 0.072442 deg/s, posRepo size: 4 2021-01-27T21:45:22.514Z,1611783922.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 161.460007 m, bearing: 154.717882 deg, approachRate: -0.547766 m/s, LOS rate: 0.072442 deg/s, cmd update: 0.362212 deg/s, cmd heading: 132.470065 deg, new cmd heading: 132.086358 deg. 2021-01-27T21:45:24.896Z,1611783924.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:25.674Z,1611783925.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:26.113Z,1611783926.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:26.929Z,1611783926.929 [Micromodem](INFO): Nmea in: $SNTTA,0.106420,,,,214527.44*46 2021-01-27T21:45:26.957Z,1611783926.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 155.414971 deg, deltaT: 4.347997 s, approachRate: -0.469180 m/s, LOS rate: 0.160324 deg/s, posRepo size: 4 2021-01-27T21:45:26.960Z,1611783926.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.420013 m, bearing: 155.414971 deg, approachRate: -0.469180 m/s, LOS rate: 0.160324 deg/s, cmd update: 0.801621 deg/s, cmd heading: 134.043869 deg, new cmd heading: 134.201260 deg. 2021-01-27T21:45:29.365Z,1611783929.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:30.146Z,1611783930.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:30.531Z,1611783930.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:31.348Z,1611783931.348 [Micromodem](INFO): Nmea in: $SNTTA,0.104867,0.114828,,,214531.91*5C 2021-01-27T21:45:31.393Z,1611783931.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 155.721497 deg, deltaT: 4.453181 s, approachRate: 0.000000 m/s, LOS rate: 0.068833 deg/s, posRepo size: 4 2021-01-27T21:45:31.395Z,1611783931.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.420013 m, bearing: 155.721497 deg, approachRate: 0.000000 m/s, LOS rate: 0.068833 deg/s, cmd update: 0.344164 deg/s, cmd heading: 137.591032 deg, new cmd heading: 137.949458 deg. 2021-01-27T21:45:33.778Z,1611783933.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:34.570Z,1611783934.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:34.979Z,1611783934.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:35.814Z,1611783935.814 [Micromodem](INFO): Nmea in: $SNTTA,0.103443,,,,214536.34*41 2021-01-27T21:45:35.858Z,1611783935.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 155.925992 deg, deltaT: 4.420204 s, approachRate: -1.004483 m/s, LOS rate: 0.046264 deg/s, posRepo size: 4 2021-01-27T21:45:35.861Z,1611783935.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.979996 m, bearing: 155.925992 deg, approachRate: -1.004483 m/s, LOS rate: 0.046264 deg/s, cmd update: 0.231319 deg/s, cmd heading: 139.124629 deg, new cmd heading: 139.281070 deg. 2021-01-27T21:45:38.259Z,1611783938.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:39.048Z,1611783939.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:39.420Z,1611783939.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:40.251Z,1611783940.251 [Micromodem](INFO): Nmea in: $SNTTA,0.101868,,,,214540.82*4A 2021-01-27T21:45:40.319Z,1611783940.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 156.446931 deg, deltaT: 4.455437 s, approachRate: 0.000000 m/s, LOS rate: 0.116922 deg/s, posRepo size: 4 2021-01-27T21:45:40.333Z,1611783940.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.979996 m, bearing: 156.446931 deg, approachRate: 0.000000 m/s, LOS rate: 0.116922 deg/s, cmd update: 0.584610 deg/s, cmd heading: 140.154947 deg, new cmd heading: 140.260545 deg. 2021-01-27T21:45:42.677Z,1611783942.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:43.454Z,1611783943.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:43.860Z,1611783943.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:44.705Z,1611783944.705 [Micromodem](INFO): Nmea in: $SNTTA,0.100333,,,,214545.22*41 2021-01-27T21:45:44.738Z,1611783944.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.300003 m, bearing: 156.377850 deg, deltaT: 4.492746 s, approachRate: -1.041678 m/s, LOS rate: -0.015376 deg/s, posRepo size: 4 2021-01-27T21:45:44.741Z,1611783944.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 150.300003 m, bearing: 156.377850 deg, approachRate: -1.041678 m/s, LOS rate: -0.015376 deg/s, cmd update: -0.076880 deg/s, cmd heading: 142.776384 deg, new cmd heading: 143.009083 deg. 2021-01-27T21:45:47.153Z,1611783947.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:47.907Z,1611783947.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:48.312Z,1611783948.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:49.157Z,1611783949.157 [Micromodem](INFO): Nmea in: $SNTTA,0.098779,,,,214549.68*49 2021-01-27T21:45:49.209Z,1611783949.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 159.092892 deg, deltaT: 4.380153 s, approachRate: -0.520530 m/s, LOS rate: 0.619851 deg/s, posRepo size: 4 2021-01-27T21:45:49.210Z,1611783949.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.020004 m, bearing: 159.092892 deg, approachRate: -0.520530 m/s, LOS rate: 0.619851 deg/s, cmd update: 3.099254 deg/s, cmd heading: 142.438866 deg, new cmd heading: 142.402140 deg. 2021-01-27T21:45:51.553Z,1611783951.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:52.342Z,1611783952.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:52.744Z,1611783952.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:53.589Z,1611783953.589 [Micromodem](INFO): Nmea in: $SNTTA,0.097276,,,,214554.11*4E 2021-01-27T21:45:53.611Z,1611783953.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 161.385089 deg, deltaT: 4.494181 s, approachRate: -0.507322 m/s, LOS rate: 0.510037 deg/s, posRepo size: 4 2021-01-27T21:45:53.613Z,1611783953.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.740005 m, bearing: 161.385089 deg, approachRate: -0.507322 m/s, LOS rate: 0.510037 deg/s, cmd update: 2.550184 deg/s, cmd heading: 156.365502 deg, new cmd heading: 157.564607 deg. 2021-01-27T21:45:56.041Z,1611783956.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:45:56.791Z,1611783956.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:45:57.204Z,1611783957.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:45:58.053Z,1611783958.053 [Micromodem](INFO): Nmea in: $SNTTA,0.095684,,,,214558.56*4A 2021-01-27T21:45:58.172Z,1611783958.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.339996 m, bearing: 164.566769 deg, deltaT: 4.392380 s, approachRate: -0.546403 m/s, LOS rate: 0.724363 deg/s, posRepo size: 4 2021-01-27T21:45:58.174Z,1611783958.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.339996 m, bearing: 164.566769 deg, approachRate: -0.546403 m/s, LOS rate: 0.724363 deg/s, cmd update: 3.621818 deg/s, cmd heading: 167.567954 deg, new cmd heading: 168.972326 deg. 2021-01-27T21:46:00.133Z,1611783960.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:00.843Z,1611783960.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:01.286Z,1611783961.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:02.105Z,1611783962.105 [Micromodem](INFO): Nmea in: $SNTTA,0.094261,,,,214602.61*4C 2021-01-27T21:46:02.183Z,1611783962.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 164.722101 deg, deltaT: 4.086404 s, approachRate: -0.528579 m/s, LOS rate: 0.038012 deg/s, posRepo size: 4 2021-01-27T21:46:02.189Z,1611783962.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 141.180008 m, bearing: 164.722101 deg, approachRate: -0.528579 m/s, LOS rate: 0.038012 deg/s, cmd update: 0.190060 deg/s, cmd heading: 182.354205 deg, new cmd heading: 184.104286 deg. 2021-01-27T21:46:04.509Z,1611783964.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:05.279Z,1611783965.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:05.689Z,1611783965.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:06.521Z,1611783966.521 [Micromodem](INFO): Nmea in: $SNTTA,0.092715,,,,214607.05*4B 2021-01-27T21:46:06.554Z,1611783966.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 164.878403 deg, deltaT: 4.465144 s, approachRate: -0.510622 m/s, LOS rate: 0.035005 deg/s, posRepo size: 4 2021-01-27T21:46:06.557Z,1611783966.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.900009 m, bearing: 164.878403 deg, approachRate: -0.510622 m/s, LOS rate: 0.035005 deg/s, cmd update: 0.175025 deg/s, cmd heading: 183.203573 deg, new cmd heading: 183.276910 deg. 2021-01-27T21:46:08.926Z,1611783968.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:09.732Z,1611783969.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:10.147Z,1611783970.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:10.989Z,1611783970.989 [Micromodem](INFO): Nmea in: $SNTTA,0.091298,,,,214611.50*4F 2021-01-27T21:46:11.051Z,1611783971.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.800003 m, bearing: 163.503978 deg, deltaT: 4.398830 s, approachRate: -0.477401 m/s, LOS rate: -0.312452 deg/s, posRepo size: 4 2021-01-27T21:46:11.057Z,1611783971.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 136.800003 m, bearing: 163.503978 deg, approachRate: -0.477401 m/s, LOS rate: -0.312452 deg/s, cmd update: -1.562262 deg/s, cmd heading: 183.970679 deg, new cmd heading: 184.058187 deg. 2021-01-27T21:46:13.421Z,1611783973.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:14.174Z,1611783974.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:14.568Z,1611783974.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:15.417Z,1611783975.417 [Micromodem](INFO): Nmea in: $SNTTA,0.089867,,,,214615.94*40 2021-01-27T21:46:15.465Z,1611783975.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 162.484900 deg, deltaT: 4.470282 s, approachRate: -0.483192 m/s, LOS rate: -0.227967 deg/s, posRepo size: 4 2021-01-27T21:46:15.467Z,1611783975.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.639999 m, bearing: 162.484900 deg, approachRate: -0.483192 m/s, LOS rate: -0.227967 deg/s, cmd update: -1.139836 deg/s, cmd heading: 176.963537 deg, new cmd heading: 176.300393 deg. 2021-01-27T21:46:17.834Z,1611783977.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:18.606Z,1611783978.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:19.048Z,1611783979.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:19.857Z,1611783979.857 [Micromodem](INFO): Nmea in: $SNTTA,0.088416,,,,214620.38*4B 2021-01-27T21:46:19.879Z,1611783979.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 161.251067 deg, deltaT: 4.416715 s, approachRate: -0.489052 m/s, LOS rate: -0.279355 deg/s, posRepo size: 4 2021-01-27T21:46:19.881Z,1611783979.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.479996 m, bearing: 161.251067 deg, approachRate: -0.489052 m/s, LOS rate: -0.279355 deg/s, cmd update: -1.396776 deg/s, cmd heading: 171.928056 deg, new cmd heading: 171.443686 deg. 2021-01-27T21:46:22.306Z,1611783982.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:23.067Z,1611783983.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:23.472Z,1611783983.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:24.293Z,1611783984.293 [Micromodem](INFO): Nmea in: $SNTTA,0.087031,,,,214624.84*46 2021-01-27T21:46:24.342Z,1611783984.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.440002 m, bearing: 161.850553 deg, deltaT: 4.426584 s, approachRate: -0.460850 m/s, LOS rate: 0.135429 deg/s, posRepo size: 4 2021-01-27T21:46:24.344Z,1611783984.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 130.440002 m, bearing: 161.850553 deg, approachRate: -0.460850 m/s, LOS rate: 0.135429 deg/s, cmd update: 0.677143 deg/s, cmd heading: 165.745162 deg, new cmd heading: 165.100725 deg. 2021-01-27T21:46:26.744Z,1611783986.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:27.507Z,1611783987.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:27.904Z,1611783987.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:28.749Z,1611783988.749 [Micromodem](INFO): Nmea in: $SNTTA,0.085444,,,,214629.27*46 2021-01-27T21:46:28.786Z,1611783988.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.980003 m, bearing: 162.250679 deg, deltaT: 4.479263 s, approachRate: -0.549197 m/s, LOS rate: 0.089329 deg/s, posRepo size: 4 2021-01-27T21:46:28.793Z,1611783988.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.980003 m, bearing: 162.250679 deg, approachRate: -0.549197 m/s, LOS rate: 0.089329 deg/s, cmd update: 0.446643 deg/s, cmd heading: 168.775588 deg, new cmd heading: 169.066989 deg. 2021-01-27T21:46:31.225Z,1611783991.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:31.943Z,1611783991.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:32.348Z,1611783992.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:32.385Z,1611783992.385 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T21:46:33.201Z,1611783993.201 [Micromodem](INFO): Nmea in: $SNTTA,0.083841,,,,214633.71*41 2021-01-27T21:46:33.235Z,1611783993.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.520004 m, bearing: 160.997585 deg, deltaT: 4.432388 s, approachRate: -0.555005 m/s, LOS rate: -0.282713 deg/s, posRepo size: 4 2021-01-27T21:46:33.265Z,1611783993.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.520004 m, bearing: 160.997585 deg, approachRate: -0.555005 m/s, LOS rate: -0.282713 deg/s, cmd update: -1.413565 deg/s, cmd heading: 170.755369 deg, new cmd heading: 170.954666 deg. 2021-01-27T21:46:35.590Z,1611783995.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:36.394Z,1611783996.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:36.792Z,1611783996.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:37.645Z,1611783997.645 [Micromodem](INFO): Nmea in: $SNTTA,0.082218,,,,214638.16*4C 2021-01-27T21:46:37.667Z,1611783997.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.060005 m, bearing: 160.624329 deg, deltaT: 4.467910 s, approachRate: -0.550593 m/s, LOS rate: -0.083542 deg/s, posRepo size: 4 2021-01-27T21:46:37.669Z,1611783997.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 123.060005 m, bearing: 160.624329 deg, approachRate: -0.550593 m/s, LOS rate: -0.083542 deg/s, cmd update: -0.417708 deg/s, cmd heading: 164.439642 deg, new cmd heading: 163.859425 deg. 2021-01-27T21:46:40.129Z,1611784000.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:40.830Z,1611784000.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:41.241Z,1611784001.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:42.085Z,1611784002.085 [Micromodem](INFO): Nmea in: $SNTTA,0.080645,,,,214642.60*4E 2021-01-27T21:46:42.167Z,1611784002.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.720001 m, bearing: 160.897714 deg, deltaT: 4.404723 s, approachRate: -0.531249 m/s, LOS rate: 0.062066 deg/s, posRepo size: 4 2021-01-27T21:46:42.174Z,1611784002.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.720001 m, bearing: 160.897714 deg, approachRate: -0.531249 m/s, LOS rate: 0.062066 deg/s, cmd update: 0.310332 deg/s, cmd heading: 162.598258 deg, new cmd heading: 162.388366 deg. 2021-01-27T21:46:44.482Z,1611784004.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:45.279Z,1611784005.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:45.680Z,1611784005.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:46.525Z,1611784006.525 [Micromodem](INFO): Nmea in: $SNTTA,0.079147,,,,214647.05*4B 2021-01-27T21:46:46.547Z,1611784006.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.559998 m, bearing: 161.136047 deg, deltaT: 4.501030 s, approachRate: -0.479891 m/s, LOS rate: 0.052951 deg/s, posRepo size: 4 2021-01-27T21:46:46.549Z,1611784006.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.559998 m, bearing: 161.136047 deg, approachRate: -0.479891 m/s, LOS rate: 0.052951 deg/s, cmd update: 0.264753 deg/s, cmd heading: 163.993892 deg, new cmd heading: 164.113321 deg. 2021-01-27T21:46:48.938Z,1611784008.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:49.726Z,1611784009.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:50.152Z,1611784010.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:50.988Z,1611784010.988 [Micromodem](INFO): Nmea in: $SNTTA,0.077613,,,,214651.49*4C 2021-01-27T21:46:51.073Z,1611784011.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.220001 m, bearing: 160.618619 deg, deltaT: 4.398361 s, approachRate: -0.532016 m/s, LOS rate: -0.117641 deg/s, posRepo size: 4 2021-01-27T21:46:51.075Z,1611784011.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.220001 m, bearing: 160.618619 deg, approachRate: -0.532016 m/s, LOS rate: -0.117641 deg/s, cmd update: -0.588205 deg/s, cmd heading: 165.159392 deg, new cmd heading: 165.289723 deg. 2021-01-27T21:46:52.196Z,1611784012.196 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T21:46:53.399Z,1611784013.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:54.170Z,1611784014.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:54.568Z,1611784014.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:55.401Z,1611784015.401 [Micromodem](INFO): Nmea in: $SNTTA,0.076197,,,,214655.94*42 2021-01-27T21:46:55.452Z,1611784015.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 159.275900 deg, deltaT: 4.477978 s, approachRate: -0.482361 m/s, LOS rate: -0.299850 deg/s, posRepo size: 4 2021-01-27T21:46:55.454Z,1611784015.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.059998 m, bearing: 159.275900 deg, approachRate: -0.482361 m/s, LOS rate: -0.299850 deg/s, cmd update: -1.499248 deg/s, cmd heading: 162.528458 deg, new cmd heading: 162.284604 deg. 2021-01-27T21:46:57.825Z,1611784017.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:46:58.614Z,1611784018.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:46:59.032Z,1611784019.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:46:59.857Z,1611784019.857 [Micromodem](INFO): Nmea in: $SNTTA,0.074621,,,,214700.38*4D 2021-01-27T21:46:59.879Z,1611784019.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 160.296958 deg, deltaT: 4.404162 s, approachRate: -0.531313 m/s, LOS rate: 0.231839 deg/s, posRepo size: 4 2021-01-27T21:46:59.907Z,1611784019.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.720009 m, bearing: 160.296958 deg, approachRate: -0.531313 m/s, LOS rate: 0.231839 deg/s, cmd update: 1.159197 deg/s, cmd heading: 155.917305 deg, new cmd heading: 155.269319 deg. 2021-01-27T21:47:02.313Z,1611784022.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:03.058Z,1611784023.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:03.460Z,1611784023.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:04.297Z,1611784024.297 [Micromodem](INFO): Nmea in: $SNTTA,0.073195,,,,214704.83*46 2021-01-27T21:47:04.351Z,1611784024.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.620003 m, bearing: 161.801649 deg, deltaT: 4.466764 s, approachRate: -0.470140 m/s, LOS rate: 0.336864 deg/s, posRepo size: 4 2021-01-27T21:47:04.354Z,1611784024.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.620003 m, bearing: 161.801649 deg, approachRate: -0.470140 m/s, LOS rate: 0.336864 deg/s, cmd update: 1.684318 deg/s, cmd heading: 161.071834 deg, new cmd heading: 161.602729 deg. 2021-01-27T21:47:06.698Z,1611784026.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:07.502Z,1611784027.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:07.900Z,1611784027.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:08.737Z,1611784028.737 [Micromodem](INFO): Nmea in: $SNTTA,0.071686,,,,214709.27*42 2021-01-27T21:47:08.774Z,1611784028.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 160.413837 deg, deltaT: 4.455723 s, approachRate: -0.525168 m/s, LOS rate: -0.311467 deg/s, posRepo size: 4 2021-01-27T21:47:08.777Z,1611784028.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.279999 m, bearing: 160.413837 deg, approachRate: -0.525168 m/s, LOS rate: -0.311467 deg/s, cmd update: -1.557337 deg/s, cmd heading: 168.595731 deg, new cmd heading: 169.292908 deg. 2021-01-27T21:47:11.196Z,1611784031.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:11.942Z,1611784031.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:12.350Z,1611784032.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:13.193Z,1611784033.193 [Micromodem](INFO): Nmea in: $SNTTA,0.070087,,,,214713.71*4C 2021-01-27T21:47:13.227Z,1611784033.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 158.826091 deg, deltaT: 4.395395 s, approachRate: -0.532376 m/s, LOS rate: -0.361229 deg/s, posRepo size: 4 2021-01-27T21:47:13.230Z,1611784033.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 104.939995 m, bearing: 158.826091 deg, approachRate: -0.532376 m/s, LOS rate: -0.361229 deg/s, cmd update: -1.806147 deg/s, cmd heading: 161.737182 deg, new cmd heading: 161.016189 deg. 2021-01-27T21:47:15.622Z,1611784035.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:16.382Z,1611784036.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:16.787Z,1611784036.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:17.213Z,1611784037.213 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-01-27T21:47:17.634Z,1611784037.634 [Micromodem](INFO): Nmea in: $SNTTA,0.068478,,,,214718.15*48 2021-01-27T21:47:17.680Z,1611784037.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.479996 m, bearing: 157.585633 deg, deltaT: 4.478878 s, approachRate: -0.549245 m/s, LOS rate: -0.276957 deg/s, posRepo size: 4 2021-01-27T21:47:17.682Z,1611784037.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 102.479996 m, bearing: 157.585633 deg, approachRate: -0.549245 m/s, LOS rate: -0.276957 deg/s, cmd update: -1.384787 deg/s, cmd heading: 153.662483 deg, new cmd heading: 152.859583 deg. 2021-01-27T21:47:20.145Z,1611784040.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:20.832Z,1611784040.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:21.240Z,1611784041.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:22.104Z,1611784042.104 [Micromodem](INFO): Nmea in: $SNTTA,0.066981,,,,214722.60*46 2021-01-27T21:47:22.162Z,1611784042.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 159.000575 deg, deltaT: 4.407584 s, approachRate: -0.503676 m/s, LOS rate: 0.321024 deg/s, posRepo size: 4 2021-01-27T21:47:22.165Z,1611784042.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.260002 m, bearing: 159.000575 deg, approachRate: -0.503676 m/s, LOS rate: 0.321024 deg/s, cmd update: 1.605122 deg/s, cmd heading: 147.547266 deg, new cmd heading: 146.839257 deg. 2021-01-27T21:47:24.174Z,1611784044.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:24.867Z,1611784044.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:25.280Z,1611784045.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:26.130Z,1611784046.130 [Micromodem](INFO): Nmea in: $SNTTA,0.065479,,,,214726.63*48 2021-01-27T21:47:26.182Z,1611784046.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 159.595006 deg, deltaT: 4.046532 s, approachRate: -0.563445 m/s, LOS rate: 0.146899 deg/s, posRepo size: 4 2021-01-27T21:47:26.183Z,1611784046.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.980003 m, bearing: 159.595006 deg, approachRate: -0.563445 m/s, LOS rate: 0.146899 deg/s, cmd update: 0.734495 deg/s, cmd heading: 154.042468 deg, new cmd heading: 154.819032 deg. 2021-01-27T21:47:28.533Z,1611784048.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:29.332Z,1611784049.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:29.724Z,1611784049.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:30.553Z,1611784050.553 [Micromodem](INFO): Nmea in: $SNTTA,0.064065,,,,214731.10*42 2021-01-27T21:47:30.595Z,1611784050.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 160.126245 deg, deltaT: 4.493001 s, approachRate: -0.467395 m/s, LOS rate: 0.118237 deg/s, posRepo size: 4 2021-01-27T21:47:30.601Z,1611784050.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.879997 m, bearing: 160.126245 deg, approachRate: -0.467395 m/s, LOS rate: 0.118237 deg/s, cmd update: 0.591184 deg/s, cmd heading: 157.342569 deg, new cmd heading: 157.639639 deg. 2021-01-27T21:47:33.028Z,1611784053.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:33.758Z,1611784053.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:34.168Z,1611784054.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:35.033Z,1611784055.033 [Micromodem](INFO): Nmea in: $SNTTA,0.062533,,,,214735.53*41 2021-01-27T21:47:35.131Z,1611784055.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 160.457317 deg, deltaT: 4.453143 s, approachRate: -0.511998 m/s, LOS rate: 0.074346 deg/s, posRepo size: 4 2021-01-27T21:47:35.141Z,1611784055.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.599998 m, bearing: 160.457317 deg, approachRate: -0.511998 m/s, LOS rate: 0.074346 deg/s, cmd update: 0.371730 deg/s, cmd heading: 159.970059 deg, new cmd heading: 160.263044 deg. 2021-01-27T21:47:37.443Z,1611784057.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:38.215Z,1611784058.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:38.616Z,1611784058.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:39.461Z,1611784059.461 [Micromodem](INFO): Nmea in: $SNTTA,0.060988,,,,214739.98*44 2021-01-27T21:47:39.485Z,1611784059.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.260002 m, bearing: 159.897993 deg, deltaT: 4.478563 s, approachRate: -0.522488 m/s, LOS rate: -0.124889 deg/s, posRepo size: 4 2021-01-27T21:47:39.487Z,1611784059.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.260002 m, bearing: 159.897993 deg, approachRate: -0.522488 m/s, LOS rate: -0.124889 deg/s, cmd update: -0.624446 deg/s, cmd heading: 161.621870 deg, new cmd heading: 161.772966 deg. 2021-01-27T21:47:41.874Z,1611784061.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:42.650Z,1611784062.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:43.073Z,1611784063.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:43.893Z,1611784063.893 [Micromodem](INFO): Nmea in: $SNTTA,0.059429,,,,214744.42*45 2021-01-27T21:47:43.909Z,1611784063.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 159.522934 deg, deltaT: 4.370178 s, approachRate: -0.535448 m/s, LOS rate: -0.085822 deg/s, posRepo size: 4 2021-01-27T21:47:43.911Z,1611784063.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.919998 m, bearing: 159.522934 deg, approachRate: -0.535448 m/s, LOS rate: -0.085822 deg/s, cmd update: -0.429112 deg/s, cmd heading: 158.865676 deg, new cmd heading: 158.606023 deg. 2021-01-27T21:47:46.357Z,1611784066.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:47.101Z,1611784067.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:47.500Z,1611784067.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:48.349Z,1611784068.349 [Micromodem](INFO): Nmea in: $SNTTA,0.057963,,,0.060463,214748.87*54 2021-01-27T21:47:48.425Z,1611784068.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 159.986895 deg, deltaT: 4.423873 s, approachRate: -0.488257 m/s, LOS rate: 0.104877 deg/s, posRepo size: 4 2021-01-27T21:47:48.427Z,1611784068.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.760010 m, bearing: 159.986895 deg, approachRate: -0.488257 m/s, LOS rate: 0.104877 deg/s, cmd update: 0.524383 deg/s, cmd heading: 156.967334 deg, new cmd heading: 156.751246 deg. 2021-01-27T21:47:50.761Z,1611784070.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:51.548Z,1611784071.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:51.963Z,1611784071.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:52.789Z,1611784072.789 [Micromodem](INFO): Nmea in: $SNTTA,0.056355,,,,214753.32*47 2021-01-27T21:47:52.811Z,1611784072.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.360001 m, bearing: 159.397054 deg, deltaT: 4.487094 s, approachRate: -0.534869 m/s, LOS rate: -0.131453 deg/s, posRepo size: 4 2021-01-27T21:47:52.813Z,1611784072.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.360001 m, bearing: 159.397054 deg, approachRate: -0.534869 m/s, LOS rate: -0.131453 deg/s, cmd update: -0.657264 deg/s, cmd heading: 159.320272 deg, new cmd heading: 159.533947 deg. 2021-01-27T21:47:55.236Z,1611784075.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:47:55.997Z,1611784075.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:47:56.392Z,1611784076.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:47:57.229Z,1611784077.229 [Micromodem](INFO): Nmea in: $SNTTA,0.054829,,,,214757.76*41 2021-01-27T21:47:57.274Z,1611784077.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 159.443526 deg, deltaT: 4.451577 s, approachRate: -0.525656 m/s, LOS rate: 0.010440 deg/s, posRepo size: 4 2021-01-27T21:47:57.276Z,1611784077.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 82.020004 m, bearing: 159.443526 deg, approachRate: -0.525656 m/s, LOS rate: 0.010440 deg/s, cmd update: 0.052198 deg/s, cmd heading: 156.397938 deg, new cmd heading: 156.119334 deg. 2021-01-27T21:47:59.642Z,1611784079.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:00.439Z,1611784080.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:00.836Z,1611784080.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:01.673Z,1611784081.673 [Micromodem](INFO): Nmea in: $SNTTA,0.053393,,,,214802.21*41 2021-01-27T21:48:01.703Z,1611784081.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.860001 m, bearing: 159.565186 deg, deltaT: 4.435606 s, approachRate: -0.486969 m/s, LOS rate: 0.027428 deg/s, posRepo size: 4 2021-01-27T21:48:01.705Z,1611784081.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.860001 m, bearing: 159.565186 deg, approachRate: -0.486969 m/s, LOS rate: 0.027428 deg/s, cmd update: 0.137139 deg/s, cmd heading: 156.629750 deg, new cmd heading: 156.651270 deg. 2021-01-27T21:48:04.152Z,1611784084.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:04.874Z,1611784084.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:05.280Z,1611784085.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:06.133Z,1611784086.133 [Micromodem](INFO): Nmea in: $SNTTA,0.051875,,,,214806.64*45 2021-01-27T21:48:06.167Z,1611784086.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.580002 m, bearing: 158.902439 deg, deltaT: 4.413916 s, approachRate: -0.516548 m/s, LOS rate: -0.150149 deg/s, posRepo size: 4 2021-01-27T21:48:06.169Z,1611784086.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 77.580002 m, bearing: 158.902439 deg, approachRate: -0.516548 m/s, LOS rate: -0.150149 deg/s, cmd update: -0.750747 deg/s, cmd heading: 157.235076 deg, new cmd heading: 157.298482 deg. 2021-01-27T21:48:08.549Z,1611784088.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:09.322Z,1611784089.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:09.725Z,1611784089.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:10.569Z,1611784090.569 [Micromodem](INFO): Nmea in: $SNTTA,0.050259,,,,214811.09*4D 2021-01-27T21:48:10.591Z,1611784090.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 159.359747 deg, deltaT: 4.499300 s, approachRate: -0.533415 m/s, LOS rate: 0.101640 deg/s, posRepo size: 4 2021-01-27T21:48:10.593Z,1611784090.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 75.180008 m, bearing: 159.359747 deg, approachRate: -0.533415 m/s, LOS rate: 0.101640 deg/s, cmd update: 0.508200 deg/s, cmd heading: 153.857252 deg, new cmd heading: 153.566568 deg. 2021-01-27T21:48:13.021Z,1611784093.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:13.762Z,1611784093.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:14.172Z,1611784094.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:15.022Z,1611784095.022 [Micromodem](INFO): Nmea in: $SNTTA,0.048780,,0.071895,,214815.53*52 2021-01-27T21:48:15.051Z,1611784095.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.019997 m, bearing: 159.434319 deg, deltaT: 4.377214 s, approachRate: -0.493467 m/s, LOS rate: 0.017036 deg/s, posRepo size: 4 2021-01-27T21:48:15.053Z,1611784095.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 73.019997 m, bearing: 159.434319 deg, approachRate: -0.493467 m/s, LOS rate: 0.017036 deg/s, cmd update: 0.085182 deg/s, cmd heading: 156.081561 deg, new cmd heading: 156.320574 deg. 2021-01-27T21:48:17.113Z,1611784097.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:17.802Z,1611784097.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:18.216Z,1611784098.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:19.061Z,1611784099.061 [Micromodem](INFO): Nmea in: $SNTTA,0.047320,,,,214819.57*47 2021-01-27T21:48:19.086Z,1611784099.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.800003 m, bearing: 158.839642 deg, deltaT: 4.064183 s, approachRate: -0.546234 m/s, LOS rate: -0.146321 deg/s, posRepo size: 4 2021-01-27T21:48:19.088Z,1611784099.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 70.800003 m, bearing: 158.839642 deg, approachRate: -0.546234 m/s, LOS rate: -0.146321 deg/s, cmd update: -0.731607 deg/s, cmd heading: 156.427790 deg, new cmd heading: 156.465291 deg. 2021-01-27T21:48:21.479Z,1611784101.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:22.251Z,1611784102.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:22.652Z,1611784102.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:23.497Z,1611784103.497 [Micromodem](INFO): Nmea in: $SNTTA,0.045803,,0.084559,,214824.02*5A 2021-01-27T21:48:23.521Z,1611784103.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 158.918995 deg, deltaT: 4.497039 s, approachRate: -0.493658 m/s, LOS rate: 0.017646 deg/s, posRepo size: 4 2021-01-27T21:48:23.523Z,1611784103.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 68.580002 m, bearing: 158.918995 deg, approachRate: -0.493658 m/s, LOS rate: 0.017646 deg/s, cmd update: 0.088228 deg/s, cmd heading: 153.137742 deg, new cmd heading: 152.861007 deg. 2021-01-27T21:48:25.905Z,1611784105.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:26.690Z,1611784106.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:27.102Z,1611784107.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:27.941Z,1611784107.941 [Micromodem](INFO): Nmea in: $SNTTA,0.044210,,0.048348,,214828.46*59 2021-01-27T21:48:28.024Z,1611784108.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 159.148544 deg, deltaT: 4.371523 s, approachRate: -0.562733 m/s, LOS rate: 0.052510 deg/s, posRepo size: 4 2021-01-27T21:48:28.026Z,1611784108.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.120003 m, bearing: 159.148544 deg, approachRate: -0.562733 m/s, LOS rate: 0.052510 deg/s, cmd update: 0.262550 deg/s, cmd heading: 153.523434 deg, new cmd heading: 153.568110 deg. 2021-01-27T21:48:30.386Z,1611784110.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:31.154Z,1611784111.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:31.538Z,1611784111.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:32.381Z,1611784112.381 [Micromodem](INFO): Nmea in: $SNTTA,0.042573,,,,214832.92*42 2021-01-27T21:48:32.447Z,1611784112.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.660007 m, bearing: 159.259616 deg, deltaT: 4.494204 s, approachRate: -0.547371 m/s, LOS rate: 0.024715 deg/s, posRepo size: 4 2021-01-27T21:48:32.453Z,1611784112.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.660007 m, bearing: 159.259616 deg, approachRate: -0.547371 m/s, LOS rate: 0.024715 deg/s, cmd update: 0.123573 deg/s, cmd heading: 154.703309 deg, new cmd heading: 154.818494 deg. 2021-01-27T21:48:34.782Z,1611784114.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:35.574Z,1611784115.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:35.995Z,1611784115.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:36.825Z,1611784116.825 [Micromodem](INFO): Nmea in: $SNTTA,0.041132,,,,214837.34*49 2021-01-27T21:48:36.867Z,1611784116.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 158.293404 deg, deltaT: 4.398428 s, approachRate: -0.504728 m/s, LOS rate: -0.219672 deg/s, posRepo size: 4 2021-01-27T21:48:36.869Z,1611784116.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.439999 m, bearing: 158.293404 deg, approachRate: -0.504728 m/s, LOS rate: -0.219672 deg/s, cmd update: -1.098361 deg/s, cmd heading: 155.246877 deg, new cmd heading: 155.303795 deg. 2021-01-27T21:48:39.274Z,1611784119.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:40.050Z,1611784120.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:40.443Z,1611784120.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:41.258Z,1611784121.258 [Micromodem](INFO): Nmea in: $SNTTA,0.039582,,,,214841.82*45 2021-01-27T21:48:41.303Z,1611784121.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 158.682616 deg, deltaT: 4.437809 s, approachRate: -0.513768 m/s, LOS rate: 0.087704 deg/s, posRepo size: 4 2021-01-27T21:48:41.305Z,1611784121.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 59.159996 m, bearing: 158.682616 deg, approachRate: -0.513768 m/s, LOS rate: 0.087704 deg/s, cmd update: 0.438518 deg/s, cmd heading: 150.372585 deg, new cmd heading: 149.869199 deg. 2021-01-27T21:48:43.670Z,1611784123.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:44.462Z,1611784124.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:44.880Z,1611784124.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:45.713Z,1611784125.713 [Micromodem](INFO): Nmea in: $SNTTA,0.037996,,,,214846.23*4E 2021-01-27T21:48:45.735Z,1611784125.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 158.524169 deg, deltaT: 4.467825 s, approachRate: -0.523743 m/s, LOS rate: -0.035464 deg/s, posRepo size: 4 2021-01-27T21:48:45.737Z,1611784125.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.820004 m, bearing: 158.524169 deg, approachRate: -0.523743 m/s, LOS rate: -0.035464 deg/s, cmd update: -0.177320 deg/s, cmd heading: 152.331747 deg, new cmd heading: 152.517200 deg. 2021-01-27T21:48:48.176Z,1611784128.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:48.910Z,1611784128.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:49.330Z,1611784129.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:50.166Z,1611784130.166 [Micromodem](INFO): Nmea in: $SNTTA,0.036630,,0.047204,,214850.68*5F 2021-01-27T21:48:50.200Z,1611784130.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.660000 m, bearing: 158.953761 deg, deltaT: 4.421035 s, approachRate: -0.488574 m/s, LOS rate: 0.097170 deg/s, posRepo size: 4 2021-01-27T21:48:50.202Z,1611784130.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 54.660000 m, bearing: 158.953761 deg, approachRate: -0.488574 m/s, LOS rate: 0.097170 deg/s, cmd update: 0.485850 deg/s, cmd heading: 151.547854 deg, new cmd heading: 151.465102 deg. 2021-01-27T21:48:52.558Z,1611784132.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:53.354Z,1611784133.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:53.768Z,1611784133.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:54.605Z,1611784134.605 [Micromodem](INFO): Nmea in: $SNTTA,0.035077,,,,214855.12*4A 2021-01-27T21:48:54.643Z,1611784134.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.380001 m, bearing: 158.906277 deg, deltaT: 4.501413 s, approachRate: -0.506507 m/s, LOS rate: -0.010549 deg/s, posRepo size: 4 2021-01-27T21:48:54.646Z,1611784134.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 52.380001 m, bearing: 158.906277 deg, approachRate: -0.506507 m/s, LOS rate: -0.010549 deg/s, cmd update: -0.052743 deg/s, cmd heading: 153.735036 deg, new cmd heading: 153.933622 deg. 2021-01-27T21:48:57.037Z,1611784137.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:48:57.794Z,1611784137.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:48:58.204Z,1611784138.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:48:59.057Z,1611784139.057 [Micromodem](INFO): Nmea in: $SNTTA,0.033574,,,,214859.56*46 2021-01-27T21:48:59.129Z,1611784139.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 159.306376 deg, deltaT: 4.385951 s, approachRate: -0.506161 m/s, LOS rate: 0.091223 deg/s, posRepo size: 4 2021-01-27T21:48:59.131Z,1611784139.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 50.160004 m, bearing: 159.306376 deg, approachRate: -0.506161 m/s, LOS rate: 0.091223 deg/s, cmd update: 0.456114 deg/s, cmd heading: 153.503707 deg, new cmd heading: 153.478455 deg. 2021-01-27T21:49:01.164Z,1611784141.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:01.858Z,1611784141.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:02.244Z,1611784142.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:03.096Z,1611784143.096 [Micromodem](INFO): Nmea in: $SNTTA,0.032253,,,,214903.63*4D 2021-01-27T21:49:03.158Z,1611784143.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.239998 m, bearing: 159.511049 deg, deltaT: 4.076627 s, approachRate: -0.470979 m/s, LOS rate: 0.050207 deg/s, posRepo size: 4 2021-01-27T21:49:03.160Z,1611784143.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.239998 m, bearing: 159.511049 deg, approachRate: -0.470979 m/s, LOS rate: 0.050207 deg/s, cmd update: 0.251033 deg/s, cmd heading: 155.359345 deg, new cmd heading: 155.573393 deg. 2021-01-27T21:49:05.514Z,1611784145.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:06.275Z,1611784146.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:06.680Z,1611784146.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:07.541Z,1611784147.541 [Micromodem](INFO): Nmea in: $SNTTA,0.030612,,,,214908.04*44 2021-01-27T21:49:07.563Z,1611784147.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 162.257141 deg, deltaT: 4.474497 s, approachRate: -0.429098 m/s, LOS rate: 0.613721 deg/s, posRepo size: 4 2021-01-27T21:49:07.565Z,1611784147.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.320000 m, bearing: 162.257141 deg, approachRate: -0.429098 m/s, LOS rate: 0.613721 deg/s, cmd update: 3.068603 deg/s, cmd heading: 156.483609 deg, new cmd heading: 156.582872 deg. 2021-01-27T21:49:09.946Z,1611784149.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:10.730Z,1611784150.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:11.164Z,1611784151.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:11.986Z,1611784151.986 [Micromodem](INFO): Nmea in: $SNTTA,0.029067,,,,214912.50*42 2021-01-27T21:49:12.036Z,1611784152.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.319996 m, bearing: 158.796735 deg, deltaT: 4.395700 s, approachRate: -0.682486 m/s, LOS rate: -0.787225 deg/s, posRepo size: 4 2021-01-27T21:49:12.038Z,1611784152.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.319996 m, bearing: 158.796735 deg, approachRate: -0.682486 m/s, LOS rate: -0.787225 deg/s, cmd update: -3.936126 deg/s, cmd heading: 169.985089 deg, new cmd heading: 171.410710 deg. 2021-01-27T21:49:14.410Z,1611784154.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:15.174Z,1611784155.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:15.576Z,1611784155.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:16.424Z,1611784156.424 [Micromodem](INFO): Nmea in: $SNTTA,0.027685,,,,214916.94*4A 2021-01-27T21:49:16.453Z,1611784156.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.279999 m, bearing: 155.618566 deg, deltaT: 4.469375 s, approachRate: -0.456439 m/s, LOS rate: -0.711099 deg/s, posRepo size: 4 2021-01-27T21:49:16.455Z,1611784156.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.279999 m, bearing: 155.618566 deg, approachRate: -0.456439 m/s, LOS rate: -0.711099 deg/s, cmd update: -3.555496 deg/s, cmd heading: 152.393022 deg, new cmd heading: 150.755916 deg. 2021-01-27T21:49:18.833Z,1611784158.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:19.626Z,1611784159.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:20.056Z,1611784160.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:20.857Z,1611784160.857 [Micromodem](INFO): Nmea in: $SNTTA,0.026171,,,,214921.40*4A 2021-01-27T21:49:20.891Z,1611784160.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.060001 m, bearing: 155.708915 deg, deltaT: 4.403828 s, approachRate: -0.504106 m/s, LOS rate: 0.020516 deg/s, posRepo size: 4 2021-01-27T21:49:20.892Z,1611784160.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.06 m. 2021-01-27T21:49:20.894Z,1611784160.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 39.060001 m, bearing: 155.708915 deg, approachRate: -0.504106 m/s, LOS rate: 0.020516 deg/s, cmd update: 0.102581 deg/s, cmd heading: 136.735229 deg, new cmd heading: 135.133219 deg. 2021-01-27T21:49:21.274Z,1611784161.274 [PowerOnly](INFO): Powering up loadControl 2021-01-27T21:49:23.308Z,1611784163.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:24.097Z,1611784164.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:24.487Z,1611784164.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:25.313Z,1611784165.313 [Micromodem](INFO): Nmea in: $SNTTA,0.024625,,,,214925.87*41 2021-01-27T21:49:25.360Z,1611784165.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 153.674038 deg, deltaT: 4.485821 s, approachRate: -0.521645 m/s, LOS rate: -0.453624 deg/s, posRepo size: 4 2021-01-27T21:49:25.360Z,1611784165.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m. 2021-01-27T21:49:25.362Z,1611784165.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 36.719997 m, bearing: 153.674038 deg, approachRate: -0.521645 m/s, LOS rate: -0.453624 deg/s, cmd update: -2.268121 deg/s, cmd heading: 137.195373 deg, new cmd heading: 137.239818 deg. 2021-01-27T21:49:27.725Z,1611784167.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:28.506Z,1611784168.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:28.916Z,1611784168.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:29.746Z,1611784169.746 [Micromodem](INFO): Nmea in: $SNTTA,0.023284,,,,214930.28*48 2021-01-27T21:49:29.761Z,1611784169.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 154.647477 deg, deltaT: 4.435957 s, approachRate: -0.446351 m/s, LOS rate: 0.219443 deg/s, posRepo size: 4 2021-01-27T21:49:29.762Z,1611784169.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m. 2021-01-27T21:49:29.763Z,1611784169.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 34.740002 m, bearing: 154.647477 deg, approachRate: -0.446351 m/s, LOS rate: 0.219443 deg/s, cmd update: 1.097214 deg/s, cmd heading: 127.134431 deg, new cmd heading: 126.229929 deg. 2021-01-27T21:49:32.205Z,1611784172.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:32.951Z,1611784172.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:33.354Z,1611784173.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:34.202Z,1611784174.202 [Micromodem](INFO): Nmea in: $SNTTA,0.022058,,,,214934.72*41 2021-01-27T21:49:34.238Z,1611784174.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.880001 m, bearing: 156.470277 deg, deltaT: 4.407033 s, approachRate: -0.422053 m/s, LOS rate: 0.413612 deg/s, posRepo size: 4 2021-01-27T21:49:34.239Z,1611784174.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.88 m. 2021-01-27T21:49:34.241Z,1611784174.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 32.880001 m, bearing: 156.470277 deg, approachRate: -0.422053 m/s, LOS rate: 0.413612 deg/s, cmd update: 2.068058 deg/s, cmd heading: 131.969663 deg, new cmd heading: 132.484641 deg. 2021-01-27T21:49:36.622Z,1611784176.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:37.398Z,1611784177.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:37.808Z,1611784177.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:38.666Z,1611784178.666 [Micromodem](INFO): Nmea in: $SNTTA,0.020897,,,,214939.17*46 2021-01-27T21:49:38.716Z,1611784178.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 157.413853 deg, deltaT: 4.481967 s, approachRate: -0.401610 m/s, LOS rate: 0.210527 deg/s, posRepo size: 4 2021-01-27T21:49:38.717Z,1611784178.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.08 m. 2021-01-27T21:49:38.719Z,1611784178.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.080000 m, bearing: 157.413853 deg, approachRate: -0.401610 m/s, LOS rate: 0.210527 deg/s, cmd update: 1.052637 deg/s, cmd heading: 141.239375 deg, new cmd heading: 142.192069 deg. 2021-01-27T21:49:41.081Z,1611784181.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:41.867Z,1611784181.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:42.257Z,1611784182.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:43.080Z,1611784183.080 [Micromodem](INFO): Nmea in: $SNTTA,0.019611,,,,214943.64*45 2021-01-27T21:49:43.173Z,1611784183.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 157.317930 deg, deltaT: 4.437843 s, approachRate: -0.419123 m/s, LOS rate: -0.021615 deg/s, posRepo size: 4 2021-01-27T21:49:43.173Z,1611784183.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m. 2021-01-27T21:49:43.174Z,1611784183.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.22 m. 2021-01-27T21:49:43.174Z,1611784183.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-01-27T21:49:43.180Z,1611784183.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.219999 m, bearing: 157.317930 deg, approachRate: -0.419123 m/s, LOS rate: -0.021615 deg/s, cmd update: -0.108074 deg/s, cmd heading: 145.889600 deg, new cmd heading: 146.415451 deg. 2021-01-27T21:49:45.498Z,1611784185.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:46.282Z,1611784186.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:46.696Z,1611784186.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:47.525Z,1611784187.525 [Micromodem](INFO): Nmea in: $SNTTA,0.018298,,,,214948.05*4D 2021-01-27T21:49:47.561Z,1611784187.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.180000 m, bearing: 156.221221 deg, deltaT: 4.506188 s, approachRate: -0.452711 m/s, LOS rate: -0.243379 deg/s, posRepo size: 4 2021-01-27T21:49:47.562Z,1611784187.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 27.180000 m, bearing: 156.221221 deg, approachRate: -0.452711 m/s, LOS rate: -0.243379 deg/s, cmd update: -1.216893 deg/s, cmd heading: 145.400406 deg, new cmd heading: 145.360968 deg. 2021-01-27T21:49:50.004Z,1611784190.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:50.742Z,1611784190.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:51.168Z,1611784191.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:51.989Z,1611784191.989 [Micromodem](INFO): Nmea in: $SNTTA,0.016715,,,,214952.51*49 2021-01-27T21:49:52.044Z,1611784192.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.840002 m, bearing: 156.786009 deg, deltaT: 4.377615 s, approachRate: -0.534537 m/s, LOS rate: 0.129017 deg/s, posRepo size: 4 2021-01-27T21:49:52.046Z,1611784192.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.840002 m, bearing: 156.786009 deg, approachRate: -0.534537 m/s, LOS rate: 0.129017 deg/s, cmd update: 0.645087 deg/s, cmd heading: 140.097797 deg, new cmd heading: 139.505035 deg. 2021-01-27T21:49:54.411Z,1611784194.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:55.174Z,1611784195.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:49:55.580Z,1611784195.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:49:56.421Z,1611784196.421 [Micromodem](INFO): Nmea in: $SNTTA,0.015388,,0.023038,,214956.94*53 2021-01-27T21:49:56.471Z,1611784196.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 159.085788 deg, deltaT: 4.489145 s, approachRate: -0.441064 m/s, LOS rate: 0.512298 deg/s, posRepo size: 4 2021-01-27T21:49:56.477Z,1611784196.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.860001 m, bearing: 159.085788 deg, approachRate: -0.441064 m/s, LOS rate: 0.512298 deg/s, cmd update: 2.561489 deg/s, cmd heading: 143.000390 deg, new cmd heading: 143.270473 deg. 2021-01-27T21:49:58.848Z,1611784198.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:49:59.618Z,1611784199.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:00.056Z,1611784200.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:00.865Z,1611784200.865 [Micromodem](INFO): Nmea in: $SNTTA,0.013925,,,0.241382,215001.39*51 2021-01-27T21:50:00.887Z,1611784200.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 161.678665 deg, deltaT: 4.399422 s, approachRate: -0.504612 m/s, LOS rate: 0.589368 deg/s, posRepo size: 4 2021-01-27T21:50:00.889Z,1611784200.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.639997 m, bearing: 161.678665 deg, approachRate: -0.504612 m/s, LOS rate: 0.589368 deg/s, cmd update: 2.946838 deg/s, cmd heading: 154.294558 deg, new cmd heading: 155.384023 deg. 2021-01-27T21:50:03.293Z,1611784203.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:04.058Z,1611784204.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:04.468Z,1611784204.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:05.313Z,1611784205.313 [Micromodem](INFO): Nmea in: $SNTTA,0.012488,,,,215005.83*4F 2021-01-27T21:50:05.348Z,1611784205.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 162.995102 deg, deltaT: 4.439960 s, approachRate: -0.486491 m/s, LOS rate: 0.296497 deg/s, posRepo size: 4 2021-01-27T21:50:05.350Z,1611784205.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.479998 m, bearing: 162.995102 deg, approachRate: -0.486491 m/s, LOS rate: 0.296497 deg/s, cmd update: 1.482487 deg/s, cmd heading: 167.331153 deg, new cmd heading: 168.692244 deg. 2021-01-27T21:50:07.722Z,1611784207.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:08.506Z,1611784208.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:08.920Z,1611784208.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:09.749Z,1611784209.749 [Micromodem](INFO): Nmea in: $SNTTA,0.012079,,,,215010.27*4F 2021-01-27T21:50:09.799Z,1611784209.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 159.875727 deg, deltaT: 4.456091 s, approachRate: -0.134647 m/s, LOS rate: -0.700025 deg/s, posRepo size: 4 2021-01-27T21:50:09.808Z,1611784209.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 17.879999 m, bearing: 159.875727 deg, approachRate: -0.134647 m/s, LOS rate: -0.700025 deg/s, cmd update: -3.500124 deg/s, cmd heading: 173.960997 deg, new cmd heading: 174.615312 deg. 2021-01-27T21:50:12.203Z,1611784212.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:12.956Z,1611784212.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:13.367Z,1611784213.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:14.201Z,1611784214.201 [Micromodem](INFO): Nmea in: $SNTTA,0.009666,,,,215014.72*49 2021-01-27T21:50:14.235Z,1611784214.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 152.344159 deg, deltaT: 4.440863 s, approachRate: -0.824163 m/s, LOS rate: -1.695969 deg/s, posRepo size: 4 2021-01-27T21:50:14.237Z,1611784214.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 14.220002 m, bearing: 152.344159 deg, approachRate: -0.824163 m/s, LOS rate: -1.695969 deg/s, cmd update: -8.479847 deg/s, cmd heading: 158.431504 deg, new cmd heading: 156.888611 deg. 2021-01-27T21:50:16.602Z,1611784216.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:17.390Z,1611784217.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:17.800Z,1611784217.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:18.637Z,1611784218.637 [Micromodem](INFO): Nmea in: $SNTTA,0.008344,,0.024494,,215019.16*53 2021-01-27T21:50:18.673Z,1611784218.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 147.113027 deg, deltaT: 4.449622 s, approachRate: -0.431498 m/s, LOS rate: -1.175635 deg/s, posRepo size: 4 2021-01-27T21:50:18.675Z,1611784218.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.299998 m, bearing: 147.113027 deg, approachRate: -0.431498 m/s, LOS rate: -1.175635 deg/s, cmd update: -5.878176 deg/s, cmd heading: 120.667142 deg, new cmd heading: 117.068015 deg. 2021-01-27T21:50:21.146Z,1611784221.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:21.847Z,1611784221.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:22.252Z,1611784222.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:23.088Z,1611784223.088 [Micromodem](INFO): Nmea in: $SNTTA,0.007000,,,,215023.62*44 2021-01-27T21:50:23.166Z,1611784223.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.319998 m, bearing: 146.768567 deg, deltaT: 4.417897 s, approachRate: -0.448177 m/s, LOS rate: -0.077969 deg/s, posRepo size: 4 2021-01-27T21:50:23.168Z,1611784223.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.319998 m, bearing: 146.768567 deg, approachRate: -0.448177 m/s, LOS rate: -0.077969 deg/s, cmd update: -0.389846 deg/s, cmd heading: 94.703383 deg, new cmd heading: 91.757511 deg. 2021-01-27T21:50:25.487Z,1611784225.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:26.282Z,1611784226.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:26.695Z,1611784226.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:27.537Z,1611784227.537 [Micromodem](INFO): Nmea in: $SNTTA,0.005966,,,,215028.05*45 2021-01-27T21:50:27.559Z,1611784227.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 152.948795 deg, deltaT: 4.481834 s, approachRate: -0.334684 m/s, LOS rate: 1.378951 deg/s, posRepo size: 4 2021-01-27T21:50:27.561Z,1611784227.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.820000 m, bearing: 152.948795 deg, approachRate: -0.334684 m/s, LOS rate: 1.378951 deg/s, cmd update: 6.894754 deg/s, cmd heading: 92.955735 deg, new cmd heading: 92.795482 deg. 2021-01-27T21:50:29.951Z,1611784229.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:30.731Z,1611784230.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:31.160Z,1611784231.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:32.004Z,1611784232.004 [Micromodem](INFO): Nmea in: $SNTTA,0.005666,,,,215032.50*41 2021-01-27T21:50:32.049Z,1611784232.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 113.048319 deg, deltaT: 4.401429 s, approachRate: -0.068160 m/s, LOS rate: -9.065346 deg/s, posRepo size: 4 2021-01-27T21:50:32.051Z,1611784232.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.520000 m, bearing: 113.048319 deg, approachRate: -0.068160 m/s, LOS rate: -9.065346 deg/s, cmd update: -12.000000 deg/s, cmd heading: 123.302524 deg, new cmd heading: 126.751128 deg. 2021-01-27T21:50:34.409Z,1611784234.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:35.179Z,1611784235.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:35.580Z,1611784235.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:36.417Z,1611784236.417 [Micromodem](INFO): Nmea in: $SNTTA,0.006199,,0.008918,,215036.95*5E 2021-01-27T21:50:36.453Z,1611784236.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 66.067518 deg, deltaT: 4.489324 s, approachRate: 0.173745 m/s, LOS rate: -10.465006 deg/s, posRepo size: 4 2021-01-27T21:50:36.455Z,1611784236.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.299998 m, bearing: 66.067518 deg, approachRate: 0.173745 m/s, LOS rate: -10.465006 deg/s, cmd update: -12.000000 deg/s, cmd heading: 69.430131 deg, new cmd heading: 64.453683 deg. 2021-01-27T21:50:38.855Z,1611784238.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:39.622Z,1611784239.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:40.056Z,1611784240.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:40.857Z,1611784240.857 [Micromodem](INFO): Nmea in: $SNTTA,0.006853,,,,215041.39*41 2021-01-27T21:50:40.901Z,1611784240.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.319998 m, bearing: 159.361427 deg, deltaT: 4.424127 s, approachRate: 0.230554 m/s, LOS rate: 21.087529 deg/s, posRepo size: 4 2021-01-27T21:50:40.902Z,1611784240.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.087529 deg/s. Setting heading cmd to target bearing of 159.361427deg and heading rate command to 0 deg/s. 2021-01-27T21:50:43.297Z,1611784243.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:44.066Z,1611784244.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:44.468Z,1611784244.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:45.297Z,1611784245.297 [Micromodem](INFO): Nmea in: $SNTTA,0.007910,,,,215045.83*43 2021-01-27T21:50:45.332Z,1611784245.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 122.375297 deg, deltaT: 4.436892 s, approachRate: 0.365121 m/s, LOS rate: -8.336044 deg/s, posRepo size: 4 2021-01-27T21:50:45.334Z,1611784245.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 11.940001 m, bearing: 122.375297 deg, approachRate: 0.365121 m/s, LOS rate: -8.336044 deg/s, cmd update: -12.000000 deg/s, cmd heading: 159.361427 deg, new cmd heading: 159.361427 deg. 2021-01-27T21:50:47.706Z,1611784247.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:48.502Z,1611784248.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:48.925Z,1611784248.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:49.751Z,1611784249.751 [Micromodem](INFO): Nmea in: $SNTTA,0.009717,,,,215050.27*4E 2021-01-27T21:50:49.771Z,1611784249.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 56.530867 deg, deltaT: 4.466702 s, approachRate: 0.604472 m/s, LOS rate: -14.741174 deg/s, posRepo size: 4 2021-01-27T21:50:49.772Z,1611784249.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.741174 deg/s. Setting heading cmd to target bearing of 56.530867deg and heading rate command to 0 deg/s. 2021-01-27T21:50:52.221Z,1611784252.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:52.975Z,1611784252.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:53.348Z,1611784253.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:54.179Z,1611784254.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,215054.74*5A 2021-01-27T21:50:55.052Z,1611784255.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:55.774Z,1611784255.774 [PowerOnly](INFO): Powering down loadControl 2021-01-27T21:50:56.585Z,1611784256.585 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:50:57.827Z,1611784257.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:50:58.603Z,1611784258.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:50:59.048Z,1611784259.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:50:59.853Z,1611784259.853 [Micromodem](INFO): Nmea in: $SNTTA,0.015231,,,,215100.37*47 2021-01-27T21:50:59.868Z,1611784259.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.740000 m, bearing: 126.921553 deg, deltaT: 10.100513 s, approachRate: 0.801940 m/s, LOS rate: 6.969021 deg/s, posRepo size: 4 2021-01-27T21:50:59.869Z,1611784259.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 22.74 m. Rolling out. 2021-01-27T21:50:59.869Z,1611784259.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-01-27T21:51:02.285Z,1611784262.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:03.068Z,1611784263.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:03.452Z,1611784263.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:04.274Z,1611784264.274 [Micromodem](INFO): Nmea in: $SNTTA,0.016226,,,,215104.84*4E 2021-01-27T21:51:04.336Z,1611784264.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.440001 m, bearing: 30.376296 deg, deltaT: 4.405539 s, approachRate: 0.612865 m/s, LOS rate: -21.914517 deg/s, posRepo size: 4 2021-01-27T21:51:06.720Z,1611784266.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:07.498Z,1611784267.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:07.905Z,1611784267.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:08.741Z,1611784268.741 [Micromodem](INFO): Nmea in: $SNTTA,0.018451,,,,215109.27*42 2021-01-27T21:51:08.826Z,1611784268.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.500000 m, bearing: 80.714661 deg, deltaT: 4.474275 s, approachRate: 0.683910 m/s, LOS rate: 11.250619 deg/s, posRepo size: 4 2021-01-27T21:51:11.199Z,1611784271.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:11.967Z,1611784271.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:12.340Z,1611784272.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:13.185Z,1611784273.185 [Micromodem](INFO): Nmea in: $SNTTA,0.020449,,,,215113.74*4D 2021-01-27T21:51:13.219Z,1611784273.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 52.452281 deg, deltaT: 4.426726 s, approachRate: 0.515053 m/s, LOS rate: -6.384488 deg/s, posRepo size: 4 2021-01-27T21:51:15.596Z,1611784275.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:16.022Z,1611784276.022 [CTD_Seabird](ERROR): Failed to parse device response: 4.83,2.7726,2.876440 2021-01-27T21:51:16.374Z,1611784276.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:16.780Z,1611784276.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:17.199Z,1611784277.199 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:51:17.625Z,1611784277.625 [Micromodem](INFO): Nmea in: $SNTTA,0.022714,,,,215118.14*49 2021-01-27T21:51:17.647Z,1611784277.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 38.651487 deg, deltaT: 4.465754 s, approachRate: 0.940491 m/s, LOS rate: -3.090361 deg/s, posRepo size: 4 2021-01-27T21:51:20.121Z,1611784280.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:20.822Z,1611784280.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:21.256Z,1611784281.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:22.066Z,1611784282.066 [Micromodem](INFO): Nmea in: $SNTTA,0.024854,,,,215122.59*44 2021-01-27T21:51:22.853Z,1611784282.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:24.465Z,1611784284.465 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:51:25.689Z,1611784285.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:26.487Z,1611784286.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:26.888Z,1611784286.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:27.737Z,1611784287.737 [Micromodem](INFO): Nmea in: $SNTTA,0.027735,,,,215128.25*4E 2021-01-27T21:51:27.764Z,1611784287.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 53.111961 deg, deltaT: 10.119250 s, approachRate: 0.753020 m/s, LOS rate: 1.429006 deg/s, posRepo size: 4 2021-01-27T21:51:30.206Z,1611784290.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:30.938Z,1611784290.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:31.344Z,1611784291.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:32.179Z,1611784292.179 [Micromodem](INFO): Nmea in: $SNTTA,0.029954,,,,215132.71*43 2021-01-27T21:51:33.027Z,1611784293.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:34.577Z,1611784294.577 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:51:35.809Z,1611784295.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:36.598Z,1611784296.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:37.021Z,1611784297.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:37.837Z,1611784297.837 [Micromodem](INFO): Nmea in: $SNTTA,0.032801,,,,215138.37*40 2021-01-27T21:51:37.852Z,1611784297.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 2.171100 deg, deltaT: 10.101679 s, approachRate: 0.665236 m/s, LOS rate: -5.042811 deg/s, posRepo size: 4 2021-01-27T21:51:40.269Z,1611784300.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:41.072Z,1611784301.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:41.452Z,1611784301.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:42.263Z,1611784302.263 [Micromodem](INFO): Nmea in: $SNTTA,0.035235,,,,215142.84*4F 2021-01-27T21:51:42.316Z,1611784302.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 58.041896 deg, deltaT: 4.408612 s, approachRate: 0.830193 m/s, LOS rate: 12.673104 deg/s, posRepo size: 4 2021-01-27T21:51:44.693Z,1611784304.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:45.482Z,1611784305.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:45.906Z,1611784305.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:46.731Z,1611784306.731 [Micromodem](INFO): Nmea in: $SNTTA,0.037483,,,,215147.25*48 2021-01-27T21:51:46.751Z,1611784306.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.279999 m, bearing: 21.276125 deg, deltaT: 4.469651 s, approachRate: 0.738312 m/s, LOS rate: -8.225647 deg/s, posRepo size: 4 2021-01-27T21:51:49.206Z,1611784309.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:49.934Z,1611784309.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:50.340Z,1611784310.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:50.375Z,1611784310.375 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-01-27T21:51:51.194Z,1611784311.194 [Micromodem](INFO): Nmea in: $SNTTA,0.039688,,,,215151.70*48 2021-01-27T21:51:51.266Z,1611784311.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.640003 m, bearing: 19.181651 deg, deltaT: 4.410250 s, approachRate: 0.761863 m/s, LOS rate: -0.474911 deg/s, posRepo size: 4 2021-01-27T21:51:53.593Z,1611784313.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:54.377Z,1611784314.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:54.780Z,1611784314.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:51:55.609Z,1611784315.609 [Micromodem](INFO): Nmea in: $SNTTA,0.041931,,,,215156.14*4F 2021-01-27T21:51:55.631Z,1611784315.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 43.222574 deg, deltaT: 4.503469 s, approachRate: 0.746092 m/s, LOS rate: 5.338312 deg/s, posRepo size: 4 2021-01-27T21:51:58.057Z,1611784318.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:51:58.818Z,1611784318.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:51:59.238Z,1611784319.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:00.076Z,1611784320.076 [Micromodem](INFO): Nmea in: $SNTTA,0.044252,,,,215200.59*4D 2021-01-27T21:52:00.145Z,1611784320.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 49.788449 deg, deltaT: 4.384703 s, approachRate: 0.793668 m/s, LOS rate: 1.497450 deg/s, posRepo size: 4 2021-01-27T21:52:02.146Z,1611784322.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:02.856Z,1611784322.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:03.260Z,1611784323.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:04.117Z,1611784324.117 [Micromodem](INFO): Nmea in: $SNTTA,0.046256,,0.047412,,215204.63*5C 2021-01-27T21:52:04.151Z,1611784324.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 12.722651 deg, deltaT: 4.072732 s, approachRate: 0.736604 m/s, LOS rate: -9.100967 deg/s, posRepo size: 4 2021-01-27T21:52:06.505Z,1611784326.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:07.303Z,1611784327.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:07.714Z,1611784327.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:08.546Z,1611784328.546 [Micromodem](INFO): Nmea in: $SNTTA,0.048615,,0.074001,,215209.07*58 2021-01-27T21:52:08.567Z,1611784328.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.080002 m, bearing: 12.903153 deg, deltaT: 4.516441 s, approachRate: 0.797089 m/s, LOS rate: 0.039966 deg/s, posRepo size: 4 2021-01-27T21:52:10.979Z,1611784330.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:11.746Z,1611784331.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:12.167Z,1611784332.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:13.007Z,1611784333.007 [Micromodem](INFO): Nmea in: $SNTTA,0.050939,,,,215213.51*44 2021-01-27T21:52:13.037Z,1611784333.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.560005 m, bearing: 46.242215 deg, deltaT: 4.338673 s, approachRate: 0.802089 m/s, LOS rate: 7.684161 deg/s, posRepo size: 4 2021-01-27T21:52:15.414Z,1611784335.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:16.182Z,1611784336.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:16.600Z,1611784336.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:17.425Z,1611784337.425 [Micromodem](INFO): Nmea in: $SNTTA,0.053151,,,,215217.95*4D 2021-01-27T21:52:17.460Z,1611784337.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.860001 m, bearing: 30.471069 deg, deltaT: 4.566682 s, approachRate: 0.722624 m/s, LOS rate: -3.453524 deg/s, posRepo size: 4 2021-01-27T21:52:19.864Z,1611784339.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:20.623Z,1611784340.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:21.052Z,1611784341.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:21.874Z,1611784341.874 [Micromodem](INFO): Nmea in: $SNTTA,0.055503,,0.082911,,215222.39*55 2021-01-27T21:52:21.888Z,1611784341.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 8.747926 deg, deltaT: 4.345274 s, approachRate: 0.800871 m/s, LOS rate: -4.999257 deg/s, posRepo size: 4 2021-01-27T21:52:24.340Z,1611784344.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:25.074Z,1611784345.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:25.491Z,1611784345.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:26.328Z,1611784346.328 [Micromodem](INFO): Nmea in: $SNTTA,0.057764,,,,215226.84*4B 2021-01-27T21:52:26.362Z,1611784346.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.820000 m, bearing: 37.550703 deg, deltaT: 4.440132 s, approachRate: 0.783760 m/s, LOS rate: 6.486919 deg/s, posRepo size: 4 2021-01-27T21:52:28.737Z,1611784348.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:29.514Z,1611784349.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:29.929Z,1611784349.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:30.757Z,1611784350.757 [Micromodem](INFO): Nmea in: $SNTTA,0.060089,,,,215231.28*4B 2021-01-27T21:52:30.790Z,1611784350.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.299995 m, bearing: 23.822264 deg, deltaT: 4.475892 s, approachRate: 0.777498 m/s, LOS rate: -3.067196 deg/s, posRepo size: 4 2021-01-27T21:52:33.182Z,1611784353.182 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 81 2021-01-27T21:52:33.208Z,1611784353.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:33.978Z,1611784353.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:34.364Z,1611784354.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:35.213Z,1611784355.213 [Micromodem](INFO): Nmea in: $SNTTA,0.062271,,,,215235.75*40 2021-01-27T21:52:35.262Z,1611784355.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.540009 m, bearing: 17.084627 deg, deltaT: 4.399982 s, approachRate: 0.736370 m/s, LOS rate: -1.531287 deg/s, posRepo size: 4 2021-01-27T21:52:37.636Z,1611784357.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:38.417Z,1611784358.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:38.823Z,1611784358.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:39.649Z,1611784359.649 [Micromodem](INFO): Nmea in: $SNTTA,0.064707,,,,215240.19*4A 2021-01-27T21:52:39.674Z,1611784359.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 8.564027 deg, deltaT: 4.474315 s, approachRate: 0.804590 m/s, LOS rate: -1.904336 deg/s, posRepo size: 4 2021-01-27T21:52:42.164Z,1611784362.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:42.843Z,1611784362.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:43.276Z,1611784363.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:44.108Z,1611784364.108 [Micromodem](INFO): Nmea in: $SNTTA,0.066864,,,,215244.61*49 2021-01-27T21:52:44.161Z,1611784364.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 17.936724 deg, deltaT: 4.423917 s, approachRate: 0.745946 m/s, LOS rate: 2.118642 deg/s, posRepo size: 4 2021-01-27T21:52:46.155Z,1611784366.155 [lineCaptureDepth:MicromodemComms] Running Loop=1 2021-01-27T21:52:46.155Z,1611784366.155 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms 2021-01-27T21:52:46.155Z,1611784366.155 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1 2021-01-27T21:52:46.155Z,1611784366.155 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn 2021-01-27T21:52:46.155Z,1611784366.155 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1 2021-01-27T21:52:46.614Z,1611784366.614 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963 2021-01-27T21:52:46.614Z,1611784366.614 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 5ABCCE262F00 2021-01-27T21:52:46.615Z,1611784366.615 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-01-27T21:52:46.693Z,1611784366.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:47.023Z,1611784367.023 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-01-27T21:52:47.036Z,1611784367.036 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-01-27T21:52:47.400Z,1611784367.400 [Micromodem](INFO): Nmea in: $CADRQ,215248,1,10,0,64,1*7E 2021-01-27T21:52:47.401Z,1611784367.401 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963*49 2021-01-27T21:52:47.778Z,1611784367.778 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:52:47.778Z,1611784367.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:48.192Z,1611784368.192 [Micromodem](INFO): Nmea in: $CADRQ,215249,1,10,0,64,2*7C 2021-01-27T21:52:48.192Z,1611784368.192 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,215249,1,10,0,64,2*7C 2021-01-27T21:52:48.594Z,1611784368.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:49.037Z,1611784369.037 [Micromodem](INFO): Nmea in: $SNTTA,0.069495,,,,215249.54*4F 2021-01-27T21:52:49.061Z,1611784369.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.339996 m, bearing: 5.377431 deg, deltaT: 4.940928 s, approachRate: 0.789324 m/s, LOS rate: -2.541889 deg/s, posRepo size: 4 2021-01-27T21:52:51.137Z,1611784371.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:51.822Z,1611784371.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:52.236Z,1611784372.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:52.266Z,1611784372.266 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T21:52:53.088Z,1611784373.088 [Micromodem](INFO): Nmea in: $SNTTA,0.071429,,,,215253.59*47 2021-01-27T21:52:53.158Z,1611784373.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 65.372977 deg, deltaT: 4.138790 s, approachRate: 0.695857 m/s, LOS rate: 14.495915 deg/s, posRepo size: 4 2021-01-27T21:52:55.498Z,1611784375.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:56.270Z,1611784376.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:52:56.677Z,1611784376.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:52:57.514Z,1611784377.514 [Micromodem](INFO): Nmea in: $SNTTA,0.073753,,,,215258.04*48 2021-01-27T21:52:58.330Z,1611784378.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:52:59.897Z,1611784379.897 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:53:01.285Z,1611784381.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:01.918Z,1611784381.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:02.332Z,1611784382.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:03.173Z,1611784383.173 [Micromodem](INFO): Nmea in: $SNTTA,0.076596,,0.091315,,215303.69*53 2021-01-27T21:53:03.228Z,1611784383.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.020004 m, bearing: 66.252220 deg, deltaT: 9.980608 s, approachRate: 0.781516 m/s, LOS rate: 0.088095 deg/s, posRepo size: 4 2021-01-27T21:53:05.255Z,1611784385.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:05.988Z,1611784385.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:06.381Z,1611784386.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:07.193Z,1611784387.193 [Micromodem](INFO): Nmea in: $SNTTA,0.078728,,,,215307.76*41 2021-01-27T21:53:07.248Z,1611784387.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 4.551463 deg, deltaT: 4.074431 s, approachRate: 0.780475 m/s, LOS rate: -15.143405 deg/s, posRepo size: 4 2021-01-27T21:53:09.610Z,1611784389.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:10.411Z,1611784390.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:10.816Z,1611784390.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:11.649Z,1611784391.649 [Micromodem](INFO): Nmea in: $SNTTA,0.080948,,,,215312.18*42 2021-01-27T21:53:11.691Z,1611784391.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 1.981617 deg, deltaT: 4.445570 s, approachRate: 0.755810 m/s, LOS rate: -0.578069 deg/s, posRepo size: 4 2021-01-27T21:53:14.209Z,1611784394.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:14.854Z,1611784394.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:15.252Z,1611784395.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:16.088Z,1611784396.088 [Micromodem](INFO): Nmea in: $SNTTA,0.083163,,,,215316.62*49 2021-01-27T21:53:16.167Z,1611784396.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.040001 m, bearing: 91.563098 deg, deltaT: 4.398109 s, approachRate: 0.791248 m/s, LOS rate: 20.368181 deg/s, posRepo size: 4 2021-01-27T21:53:17.685Z,1611784397.685 [Micromodem](INFO): Nmea in: $CAERR,215319,DATA_TIMEOUT,2*40 2021-01-27T21:53:18.107Z,1611784398.107 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-01-27T21:53:18.209Z,1611784398.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:18.886Z,1611784398.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:19.703Z,1611784399.703 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-01-27T21:53:19.703Z,1611784399.703 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-01-27T21:53:20.106Z,1611784400.106 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,215319.212374,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4B 2021-01-27T21:53:20.107Z,1611784400.107 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,215319.212374,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4B 2021-01-27T21:53:20.918Z,1611784400.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:23.749Z,1611784403.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:26.601Z,1611784406.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:29.419Z,1611784409.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:30.193Z,1611784410.193 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:30.617Z,1611784410.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:31.445Z,1611784411.445 [Micromodem](INFO): Nmea in: $SNTTA,0.091192,,,,215331.96*4A 2021-01-27T21:53:31.555Z,1611784411.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.680008 m, bearing: 8.772108 deg, deltaT: 15.480537 s, approachRate: 0.751912 m/s, LOS rate: -5.348070 deg/s, posRepo size: 4 2021-01-27T21:53:33.878Z,1611784413.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:34.646Z,1611784414.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:35.064Z,1611784415.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:35.885Z,1611784415.885 [Micromodem](INFO): Nmea in: $SNTTA,0.093293,,,,215336.42*44 2021-01-27T21:53:35.900Z,1611784415.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 63.137251 deg, deltaT: 4.333447 s, approachRate: 0.775361 m/s, LOS rate: 12.545473 deg/s, posRepo size: 4 2021-01-27T21:53:38.018Z,1611784418.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:38.682Z,1611784418.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:39.105Z,1611784419.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:39.922Z,1611784419.922 [Micromodem](INFO): Nmea in: $SNTTA,0.095409,,,,215340.45*41 2021-01-27T21:53:40.723Z,1611784420.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:42.321Z,1611784422.321 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:53:43.546Z,1611784423.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:44.342Z,1611784424.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:44.759Z,1611784424.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:45.593Z,1611784425.593 [Micromodem](INFO): Nmea in: $SNTTA,0.098330,,,,215346.11*46 2021-01-27T21:53:45.663Z,1611784425.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 60.736091 deg, deltaT: 9.728002 s, approachRate: 0.770972 m/s, LOS rate: -0.246830 deg/s, posRepo size: 4 2021-01-27T21:53:48.046Z,1611784428.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:48.786Z,1611784428.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:49.196Z,1611784429.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:50.045Z,1611784430.045 [Micromodem](INFO): Nmea in: $SNTTA,0.100551,,,,215350.55*40 2021-01-27T21:53:50.076Z,1611784430.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.899994 m, bearing: 66.590403 deg, deltaT: 4.398124 s, approachRate: 0.763959 m/s, LOS rate: 1.331093 deg/s, posRepo size: 4 2021-01-27T21:53:50.078Z,1611784430.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.90 m. Resuming terminal guidance. 2021-01-27T21:53:50.078Z,1611784430.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-01-27T21:53:51.624Z,1611784431.624 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:53:52.185Z,1611784432.185 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963 2021-01-27T21:53:52.186Z,1611784432.186 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 5ABCCE262F00 2021-01-27T21:53:52.186Z,1611784432.186 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-01-27T21:53:52.303Z,1611784432.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:52.472Z,1611784432.472 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-01-27T21:53:52.858Z,1611784432.858 [Micromodem](INFO): Nmea in: $CADRQ,215353,1,10,0,64,1*75 2021-01-27T21:53:52.859Z,1611784432.859 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963*49 2021-01-27T21:53:53.330Z,1611784433.330 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:53:53.330Z,1611784433.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:53.727Z,1611784433.727 [Micromodem](INFO): Nmea in: $CADRQ,215354,1,10,0,64,2*71 2021-01-27T21:53:53.728Z,1611784433.728 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,215354,1,10,0,64,2*71 2021-01-27T21:53:54.143Z,1611784434.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:54.549Z,1611784434.549 [Micromodem](INFO): Nmea in: $SNTTA,0.102846,,,,215355.10*4D 2021-01-27T21:53:54.566Z,1611784434.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.380005 m, bearing: 62.475932 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-01-27T21:53:54.567Z,1611784434.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 62.475932deg and heading rate command to 0 deg/s. 2021-01-27T21:53:55.417Z,1611784435.417 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T21:53:57.027Z,1611784437.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:53:57.503Z,1611784437.503 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T21:53:57.766Z,1611784437.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:53:58.176Z,1611784438.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:53:59.025Z,1611784439.025 [Micromodem](INFO): Nmea in: $SNTTA,0.105031,,,,215359.53*49 2021-01-27T21:53:59.107Z,1611784439.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 62.395089 deg, deltaT: 4.376922 s, approachRate: 0.740244 m/s, LOS rate: -0.018470 deg/s, posRepo size: 2 2021-01-27T21:53:59.121Z,1611784439.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.619995 m, bearing: 62.395089 deg, approachRate: 0.740244 m/s, LOS rate: -0.018470 deg/s, cmd update: -0.092350 deg/s, cmd heading: 62.475932 deg, new cmd heading: 62.475932 deg. 2021-01-27T21:54:01.451Z,1611784441.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:02.206Z,1611784442.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:02.608Z,1611784442.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:03.457Z,1611784443.457 [Micromodem](INFO): Nmea in: $SNTTA,0.107240,,,,215403.97*4F 2021-01-27T21:54:03.512Z,1611784443.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 56.922704 deg, deltaT: 4.509987 s, approachRate: 0.731713 m/s, LOS rate: -1.213393 deg/s, posRepo size: 3 2021-01-27T21:54:03.514Z,1611784443.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.920013 m, bearing: 56.922704 deg, approachRate: 0.731713 m/s, LOS rate: -1.213393 deg/s, cmd update: -6.066963 deg/s, cmd heading: 62.059443 deg, new cmd heading: 62.025492 deg. 2021-01-27T21:54:06.020Z,1611784446.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:06.650Z,1611784446.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:07.089Z,1611784447.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:07.901Z,1611784447.901 [Micromodem](INFO): Nmea in: $SNTTA,0.109478,,,,215408.42*4F 2021-01-27T21:54:07.938Z,1611784447.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 15.607295 deg, deltaT: 4.335850 s, approachRate: 0.000000 m/s, LOS rate: -9.528792 deg/s, posRepo size: 4 2021-01-27T21:54:07.940Z,1611784447.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 160.920013 m, bearing: 15.607295 deg, approachRate: 0.000000 m/s, LOS rate: -9.528792 deg/s, cmd update: -12.000000 deg/s, cmd heading: 35.759344 deg, new cmd heading: 32.974329 deg. 2021-01-27T21:54:10.410Z,1611784450.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:11.121Z,1611784451.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:11.508Z,1611784451.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:12.332Z,1611784452.332 [Micromodem](INFO): Nmea in: $SNTTA,0.111738,,,,215412.89*4D 2021-01-27T21:54:12.747Z,1611784452.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.760010 m, bearing: 43.817385 deg, deltaT: 5.003953 s, approachRate: 1.366919 m/s, LOS rate: 5.637561 deg/s, posRepo size: 4 2021-01-27T21:54:12.749Z,1611784452.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 167.760010 m, bearing: 43.817385 deg, approachRate: 1.366919 m/s, LOS rate: 5.637561 deg/s, cmd update: 12.000000 deg/s, cmd heading: 335.890683 deg, new cmd heading: 332.542095 deg. 2021-01-27T21:54:15.226Z,1611784455.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:15.960Z,1611784455.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:16.348Z,1611784456.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:17.197Z,1611784457.197 [Micromodem](INFO): Nmea in: $SNTTA,0.113939,,,,215417.73*40 2021-01-27T21:54:17.603Z,1611784457.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.120010 m, bearing: 347.183023 deg, deltaT: 4.746911 s, approachRate: 0.707829 m/s, LOS rate: -11.930782 deg/s, posRepo size: 4 2021-01-27T21:54:17.620Z,1611784457.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.930782 deg/s. Setting heading cmd to target bearing of 347.183023deg and heading rate command to 0 deg/s. 2021-01-27T21:54:20.042Z,1611784460.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:20.798Z,1611784460.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:21.192Z,1611784461.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:22.063Z,1611784462.063 [Micromodem](INFO): Nmea in: $SNTTA,0.115959,,,,215422.57*40 2021-01-27T21:54:22.145Z,1611784462.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.120010 m, bearing: 345.693086 deg, deltaT: 4.392531 s, approachRate: 0.000000 m/s, LOS rate: -0.339198 deg/s, posRepo size: 4 2021-01-27T21:54:22.173Z,1611784462.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 171.120010 m, bearing: 345.693086 deg, approachRate: 0.000000 m/s, LOS rate: -0.339198 deg/s, cmd update: -1.695990 deg/s, cmd heading: 347.183023 deg, new cmd heading: 347.183023 deg. 2021-01-27T21:54:23.229Z,1611784463.229 [Micromodem](INFO): Nmea in: $CAERR,215424,DATA_TIMEOUT,2*49 2021-01-27T21:54:23.633Z,1611784463.633 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-01-27T21:54:24.149Z,1611784464.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:24.842Z,1611784464.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:25.234Z,1611784465.234 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-01-27T21:54:25.234Z,1611784465.234 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-01-27T21:54:25.640Z,1611784465.640 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,21544.66639,3,0,200,4000,1450,1,1,10,1,213,64*4E 2021-01-27T21:54:25.640Z,1611784465.640 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAXST,6,20210127,21544.66639,3,0,200,4000,1450,1,1,10,1,213,64*4E expected 7D 2021-01-27T21:54:25.640Z,1611784465.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:26.080Z,1611784466.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:26.866Z,1611784466.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:27.262Z,1611784467.262 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-01-27T21:54:27.661Z,1611784467.661 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127215427.676149,06,7368,38,0245,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,20.1,10.00,23,-7.00,-01,-1.08,27,14500,4000*43 2021-01-27T21:54:28.466Z,1611784468.466 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:54:29.781Z,1611784469.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:30.491Z,1611784470.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:30.900Z,1611784470.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:31.302Z,1611784471.302 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EE680,63,E4 5,188,80,80,78,FF 2021-01-27T21:54:31.730Z,1611784471.730 [Micromodem](INFO): Nmea in: $SNTTA,0.119540,,,,215432.26*4F 2021-01-27T21:54:32.181Z,1611784472.181 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:54:32.540Z,1611784472.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:35.385Z,1611784475.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:38.302Z,1611784478.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:38.987Z,1611784478.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:39.380Z,1611784479.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:40.210Z,1611784480.210 [Micromodem](INFO): Nmea in: $SNTTA,0.121813,,,,215440.76*4F 2021-01-27T21:54:41.048Z,1611784481.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:42.244Z,1611784482.244 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:54:42.609Z,1611784482.609 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:54:43.914Z,1611784483.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:44.638Z,1611784484.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:45.072Z,1611784485.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:45.896Z,1611784485.896 [Micromodem](INFO): Nmea in: $SNTTA,0.123063,,,,215446.41*40 2021-01-27T21:54:46.323Z,1611784486.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.739990 m, bearing: 261.555401 deg, deltaT: 24.322948 s, approachRate: 0.559964 m/s, LOS rate: -3.459189 deg/s, posRepo size: 4 2021-01-27T21:54:46.329Z,1611784486.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 184.739990 m, bearing: 261.555401 deg, approachRate: 0.559964 m/s, LOS rate: -3.459189 deg/s, cmd update: -12.000000 deg/s, cmd heading: 305.929926 deg, new cmd heading: 305.291991 deg. 2021-01-27T21:54:48.714Z,1611784488.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:49.490Z,1611784489.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:49.896Z,1611784489.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:50.724Z,1611784490.724 [Micromodem](INFO): Nmea in: $SNTTA,0.123761,,,,215451.26*42 2021-01-27T21:54:51.241Z,1611784491.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.699997 m, bearing: 248.830977 deg, deltaT: 4.827581 s, approachRate: 0.198859 m/s, LOS rate: -2.635776 deg/s, posRepo size: 4 2021-01-27T21:54:51.243Z,1611784491.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.699997 m, bearing: 248.830977 deg, approachRate: 0.198859 m/s, LOS rate: -2.635776 deg/s, cmd update: -12.000000 deg/s, cmd heading: 247.996828 deg, new cmd heading: 242.401684 deg. 2021-01-27T21:54:53.534Z,1611784493.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:54.345Z,1611784494.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:54.744Z,1611784494.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:54:55.556Z,1611784495.556 [Micromodem](INFO): Nmea in: $SNTTA,0.123914,,,,215456.11*4D 2021-01-27T21:54:56.022Z,1611784496.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 264.702069 deg, deltaT: 4.893572 s, approachRate: 0.024524 m/s, LOS rate: 3.243253 deg/s, posRepo size: 4 2021-01-27T21:54:56.028Z,1611784496.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 185.820007 m, bearing: 264.702069 deg, approachRate: 0.024524 m/s, LOS rate: 3.243253 deg/s, cmd update: 12.000000 deg/s, cmd heading: 189.273890 deg, new cmd heading: 185.027978 deg. 2021-01-27T21:54:57.212Z,1611784497.212 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items 2021-01-27T21:54:57.569Z,1611784497.569 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:54:58.074Z,1611784498.074 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963 2021-01-27T21:54:58.075Z,1611784498.075 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 5ABCCE262F00 2021-01-27T21:54:58.075Z,1611784498.075 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-01-27T21:54:58.185Z,1611784498.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:54:58.380Z,1611784498.380 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-01-27T21:54:58.774Z,1611784498.774 [Micromodem](INFO): Nmea in: $CADRQ,215459,1,10,0,64,1*78 2021-01-27T21:54:58.775Z,1611784498.775 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963*49 2021-01-27T21:54:59.186Z,1611784499.186 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:54:59.186Z,1611784499.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:54:59.206Z,1611784499.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:54:59.582Z,1611784499.582 [Micromodem](INFO): Nmea in: $CADRQ,215500,1,10,0,64,2*76 2021-01-27T21:54:59.583Z,1611784499.583 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,215500,1,10,0,64,2*76 2021-01-27T21:55:00.017Z,1611784500.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:00.409Z,1611784500.409 [Micromodem](INFO): Nmea in: $SNTTA,0.123112,,,,215500.96*4E 2021-01-27T21:55:00.433Z,1611784500.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 202.380882 deg, deltaT: 4.420324 s, approachRate: 0.000000 m/s, LOS rate: -14.098783 deg/s, posRepo size: 4 2021-01-27T21:55:00.433Z,1611784500.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.098783 deg/s. Setting heading cmd to target bearing of 202.380882deg and heading rate command to 0 deg/s. 2021-01-27T21:55:02.837Z,1611784502.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:03.622Z,1611784503.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:04.059Z,1611784504.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:04.852Z,1611784504.852 [Micromodem](INFO): Nmea in: $SNTTA,0.122104,,,,215505.39*48 2021-01-27T21:55:05.326Z,1611784505.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 199.500086 deg, deltaT: 4.782882 s, approachRate: -0.627237 m/s, LOS rate: -0.602314 deg/s, posRepo size: 4 2021-01-27T21:55:05.328Z,1611784505.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.820007 m, bearing: 199.500086 deg, approachRate: -0.627237 m/s, LOS rate: -0.602314 deg/s, cmd update: -3.011569 deg/s, cmd heading: 202.380882 deg, new cmd heading: 202.380882 deg. 2021-01-27T21:55:07.276Z,1611784507.276 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T21:55:07.679Z,1611784507.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:08.468Z,1611784508.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:08.876Z,1611784508.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:09.713Z,1611784509.713 [Micromodem](INFO): Nmea in: $SNTTA,0.120302,,,,215510.24*46 2021-01-27T21:55:09.771Z,1611784509.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 202.096910 deg, deltaT: 4.475804 s, approachRate: 0.000000 m/s, LOS rate: 0.580192 deg/s, posRepo size: 4 2021-01-27T21:55:09.773Z,1611784509.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 182.820007 m, bearing: 202.096910 deg, approachRate: 0.000000 m/s, LOS rate: 0.580192 deg/s, cmd update: 2.900958 deg/s, cmd heading: 188.913605 deg, new cmd heading: 187.625445 deg. 2021-01-27T21:55:12.198Z,1611784512.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:12.922Z,1611784512.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:13.324Z,1611784513.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:14.153Z,1611784514.153 [Micromodem](INFO): Nmea in: $SNTTA,0.118590,,,,215514.69*4D 2021-01-27T21:55:14.571Z,1611784514.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 201.960675 deg, deltaT: 4.867806 s, approachRate: -1.047701 m/s, LOS rate: -0.027987 deg/s, posRepo size: 4 2021-01-27T21:55:14.573Z,1611784514.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.720001 m, bearing: 201.960675 deg, approachRate: -1.047701 m/s, LOS rate: -0.027987 deg/s, cmd update: -0.139935 deg/s, cmd heading: 203.034624 deg, new cmd heading: 204.080851 deg. 2021-01-27T21:55:17.185Z,1611784517.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:17.762Z,1611784517.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:18.173Z,1611784518.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:19.029Z,1611784519.029 [Micromodem](INFO): Nmea in: $SNTTA,0.116640,,,,215519.53*49 2021-01-27T21:55:19.122Z,1611784519.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 203.685230 deg, deltaT: 4.390005 s, approachRate: 0.000000 m/s, LOS rate: 0.392837 deg/s, posRepo size: 4 2021-01-27T21:55:19.128Z,1611784519.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 177.720001 m, bearing: 203.685230 deg, approachRate: 0.000000 m/s, LOS rate: 0.392837 deg/s, cmd update: 1.964183 deg/s, cmd heading: 202.419898 deg, new cmd heading: 202.351501 deg. 2021-01-27T21:55:21.511Z,1611784521.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:22.210Z,1611784522.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:22.612Z,1611784522.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:23.453Z,1611784523.453 [Micromodem](INFO): Nmea in: $SNTTA,0.114800,,,,215523.98*4F 2021-01-27T21:55:23.562Z,1611784523.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 203.360727 deg, deltaT: 4.539530 s, approachRate: -1.255636 m/s, LOS rate: -0.071484 deg/s, posRepo size: 4 2021-01-27T21:55:23.564Z,1611784523.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.020004 m, bearing: 203.360727 deg, approachRate: -1.255636 m/s, LOS rate: -0.071484 deg/s, cmd update: -0.357418 deg/s, cmd heading: 211.330485 deg, new cmd heading: 212.159696 deg. 2021-01-27T21:55:25.854Z,1611784525.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:26.646Z,1611784526.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:27.056Z,1611784527.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:27.894Z,1611784527.894 [Micromodem](INFO): Nmea in: $SNTTA,0.112983,,,,215528.41*4C 2021-01-27T21:55:28.037Z,1611784528.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 200.934535 deg, deltaT: 4.362007 s, approachRate: 0.000000 m/s, LOS rate: -0.556210 deg/s, posRepo size: 4 2021-01-27T21:55:28.039Z,1611784528.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 172.020004 m, bearing: 200.934535 deg, approachRate: 0.000000 m/s, LOS rate: -0.556210 deg/s, cmd update: -2.781050 deg/s, cmd heading: 209.769941 deg, new cmd heading: 209.580160 deg. 2021-01-27T21:55:29.099Z,1611784529.099 [Micromodem](INFO): Nmea in: $CAERR,215530,DATA_TIMEOUT,2*4D 2021-01-27T21:55:29.497Z,1611784529.497 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-01-27T21:55:30.087Z,1611784530.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:30.702Z,1611784530.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:31.121Z,1611784531.121 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-01-27T21:55:31.122Z,1611784531.122 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-01-27T21:55:31.511Z,1611784531.511 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,215530.582522,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4D 2021-01-27T21:55:31.511Z,1611784531.511 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,215530.582522,3,0,200,4000,14500,1,1,10,1,2,1,3,64*4D 2021-01-27T21:55:32.751Z,1611784532.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:33.173Z,1611784533.173 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-01-27T21:55:33.541Z,1611784533.541 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127215533.579251,06,1262,31,0197,0150,29,01,01,00,04,1,010,001,0,4,1,0,150,11.8,6.00,13,-3.00,-01,1.05,31,14500,4000*5E 2021-01-27T21:55:33.542Z,1611784533.542 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127215533.579251,06,1262,31,0197,0150,29,01,01,00,04,1,010,001,0,4,1,0,150,11.8,6.00,13,-3.00,-01,1.05,31,14500,4000*5E 2021-01-27T21:55:35.605Z,1611784535.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:38.422Z,1611784538.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:41.243Z,1611784541.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:42.045Z,1611784542.045 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:42.441Z,1611784542.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:43.242Z,1611784543.242 [Micromodem](INFO): Nmea in: $SNTTA,0.106608,,,,215543.81*44 2021-01-27T21:55:43.671Z,1611784543.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.719986 m, bearing: 198.798339 deg, deltaT: 15.801375 s, approachRate: -0.778414 m/s, LOS rate: -0.135191 deg/s, posRepo size: 4 2021-01-27T21:55:43.673Z,1611784543.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.719986 m, bearing: 198.798339 deg, approachRate: -0.778414 m/s, LOS rate: -0.135191 deg/s, cmd update: -0.675953 deg/s, cmd heading: 165.825622 deg, new cmd heading: 164.814788 deg. 2021-01-27T21:55:46.149Z,1611784546.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:46.862Z,1611784546.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:47.272Z,1611784547.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:48.133Z,1611784548.133 [Micromodem](INFO): Nmea in: $SNTTA,0.104966,,,,215548.63*46 2021-01-27T21:55:48.183Z,1611784548.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.380005 m, bearing: 197.630485 deg, deltaT: 4.405185 s, approachRate: -0.531188 m/s, LOS rate: -0.265109 deg/s, posRepo size: 4 2021-01-27T21:55:48.185Z,1611784548.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.380005 m, bearing: 197.630485 deg, approachRate: -0.531188 m/s, LOS rate: -0.265109 deg/s, cmd update: -1.325544 deg/s, cmd heading: 162.849078 deg, new cmd heading: 162.530277 deg. 2021-01-27T21:55:50.541Z,1611784550.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:51.322Z,1611784551.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:51.712Z,1611784551.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:52.218Z,1611784552.218 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T21:55:52.545Z,1611784552.545 [Micromodem](INFO): Nmea in: $SNTTA,0.103494,,,,215553.09*47 2021-01-27T21:55:52.577Z,1611784552.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 200.160073 deg, deltaT: 4.539700 s, approachRate: -0.475803 m/s, LOS rate: 0.557215 deg/s, posRepo size: 4 2021-01-27T21:55:52.579Z,1611784552.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.220001 m, bearing: 200.160073 deg, approachRate: -0.475803 m/s, LOS rate: 0.557215 deg/s, cmd update: 2.786074 deg/s, cmd heading: 156.834531 deg, new cmd heading: 156.398349 deg. 2021-01-27T21:55:55.029Z,1611784555.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:55:55.750Z,1611784555.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:55:56.164Z,1611784556.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:55:57.012Z,1611784557.012 [Micromodem](INFO): Nmea in: $SNTTA,0.102206,,,,215557.52*41 2021-01-27T21:55:57.071Z,1611784557.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.119995 m, bearing: 203.809635 deg, deltaT: 4.327813 s, approachRate: -0.485235 m/s, LOS rate: 0.843281 deg/s, posRepo size: 4 2021-01-27T21:55:57.076Z,1611784557.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 153.119995 m, bearing: 203.809635 deg, approachRate: -0.485235 m/s, LOS rate: 0.843281 deg/s, cmd update: 4.216403 deg/s, cmd heading: 168.903240 deg, new cmd heading: 170.264688 deg. 2021-01-27T21:55:59.443Z,1611784559.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:00.194Z,1611784560.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:00.635Z,1611784560.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:01.461Z,1611784561.461 [Micromodem](INFO): Nmea in: $SNTTA,0.100843,,,,215601.96*40 2021-01-27T21:56:01.550Z,1611784561.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 205.533547 deg, deltaT: 4.535430 s, approachRate: -0.449794 m/s, LOS rate: 0.380099 deg/s, posRepo size: 4 2021-01-27T21:56:01.556Z,1611784561.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.079987 m, bearing: 205.533547 deg, approachRate: -0.449794 m/s, LOS rate: 0.380099 deg/s, cmd update: 1.900495 deg/s, cmd heading: 187.970284 deg, new cmd heading: 189.857614 deg. 2021-01-27T21:56:03.468Z,1611784563.468 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:56:04.055Z,1611784564.055 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963 2021-01-27T21:56:04.058Z,1611784564.058 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 5ABCCE262F00 2021-01-27T21:56:04.060Z,1611784564.060 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-01-27T21:56:04.156Z,1611784564.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:04.323Z,1611784564.323 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-01-27T21:56:04.727Z,1611784564.727 [Micromodem](INFO): Nmea in: $CADRQ,215605,1,10,0,64,1*73 2021-01-27T21:56:04.727Z,1611784564.727 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963*49 2021-01-27T21:56:05.138Z,1611784565.138 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:56:05.138Z,1611784565.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:05.528Z,1611784565.528 [Micromodem](INFO): Nmea in: $CADRQ,215606,1,10,0,64,2*73 2021-01-27T21:56:05.528Z,1611784565.528 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,215606,1,10,0,64,2*73 2021-01-27T21:56:05.947Z,1611784565.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:06.349Z,1611784566.349 [Micromodem](INFO): Nmea in: $SNTTA,0.099042,,,,215606.90*49 2021-01-27T21:56:06.400Z,1611784566.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.380005 m, bearing: 203.034381 deg, deltaT: 4.925733 s, approachRate: -0.548138 m/s, LOS rate: -0.507369 deg/s, posRepo size: 4 2021-01-27T21:56:06.402Z,1611784566.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.380005 m, bearing: 203.034381 deg, approachRate: -0.548138 m/s, LOS rate: -0.507369 deg/s, cmd update: -2.536847 deg/s, cmd heading: 197.349339 deg, new cmd heading: 198.038016 deg. 2021-01-27T21:56:08.866Z,1611784568.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:09.563Z,1611784569.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:10.001Z,1611784570.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:10.811Z,1611784570.811 [Micromodem](INFO): Nmea in: $SNTTA,0.097166,,,,215611.33*4F 2021-01-27T21:56:10.832Z,1611784570.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.619995 m, bearing: 203.573173 deg, deltaT: 4.372052 s, approachRate: -0.631285 m/s, LOS rate: 0.123236 deg/s, posRepo size: 4 2021-01-27T21:56:10.834Z,1611784570.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 145.619995 m, bearing: 203.573173 deg, approachRate: -0.631285 m/s, LOS rate: 0.123236 deg/s, cmd update: 0.616178 deg/s, cmd heading: 186.247861 deg, new cmd heading: 185.186989 deg. 2021-01-27T21:56:13.334Z,1611784573.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:14.031Z,1611784574.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:14.412Z,1611784574.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:15.243Z,1611784575.243 [Micromodem](INFO): Nmea in: $SNTTA,0.095517,,,,215615.80*43 2021-01-27T21:56:15.406Z,1611784575.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 201.877292 deg, deltaT: 4.460970 s, approachRate: -0.551448 m/s, LOS rate: -0.380160 deg/s, posRepo size: 4 2021-01-27T21:56:15.408Z,1611784575.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 143.160004 m, bearing: 201.877292 deg, approachRate: -0.551448 m/s, LOS rate: -0.380160 deg/s, cmd update: -1.900799 deg/s, cmd heading: 188.996367 deg, new cmd heading: 189.323903 deg. 2021-01-27T21:56:17.666Z,1611784577.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:18.451Z,1611784578.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:18.872Z,1611784578.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:19.693Z,1611784579.693 [Micromodem](INFO): Nmea in: $SNTTA,0.093668,,,,215620.22*40 2021-01-27T21:56:19.811Z,1611784579.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.279999 m, bearing: 202.753442 deg, deltaT: 4.469232 s, approachRate: -0.644407 m/s, LOS rate: 0.196040 deg/s, posRepo size: 4 2021-01-27T21:56:19.813Z,1611784579.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 140.279999 m, bearing: 202.753442 deg, approachRate: -0.644407 m/s, LOS rate: 0.196040 deg/s, cmd update: 0.980201 deg/s, cmd heading: 180.508180 deg, new cmd heading: 179.611746 deg. 2021-01-27T21:56:22.154Z,1611784582.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:22.899Z,1611784582.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:23.296Z,1611784583.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:24.165Z,1611784584.165 [Micromodem](INFO): Nmea in: $SNTTA,0.091872,,,,215624.67*42 2021-01-27T21:56:24.198Z,1611784584.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.580002 m, bearing: 201.620518 deg, deltaT: 4.373541 s, approachRate: -0.617348 m/s, LOS rate: -0.259040 deg/s, posRepo size: 4 2021-01-27T21:56:24.218Z,1611784584.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.580002 m, bearing: 201.620518 deg, approachRate: -0.617348 m/s, LOS rate: -0.259040 deg/s, cmd update: -1.295202 deg/s, cmd heading: 184.798823 deg, new cmd heading: 185.270708 deg. 2021-01-27T21:56:26.290Z,1611784586.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:26.944Z,1611784586.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:27.355Z,1611784587.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:28.193Z,1611784588.193 [Micromodem](INFO): Nmea in: $SNTTA,0.090134,,,,215628.71*43 2021-01-27T21:56:28.324Z,1611784588.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.000000 m, bearing: 202.145883 deg, deltaT: 4.069914 s, approachRate: -0.633920 m/s, LOS rate: 0.129085 deg/s, posRepo size: 4 2021-01-27T21:56:28.326Z,1611784588.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 135.000000 m, bearing: 202.145883 deg, approachRate: -0.633920 m/s, LOS rate: 0.129085 deg/s, cmd update: 0.645425 deg/s, cmd heading: 179.527152 deg, new cmd heading: 178.836786 deg. 2021-01-27T21:56:30.590Z,1611784590.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:31.390Z,1611784591.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:31.780Z,1611784591.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:32.621Z,1611784592.621 [Micromodem](INFO): Nmea in: $SNTTA,0.088412,,,,215633.16*40 2021-01-27T21:56:32.730Z,1611784592.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.419998 m, bearing: 201.315345 deg, deltaT: 4.529046 s, approachRate: -0.569657 m/s, LOS rate: -0.183380 deg/s, posRepo size: 4 2021-01-27T21:56:32.732Z,1611784592.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.419998 m, bearing: 201.315345 deg, approachRate: -0.569657 m/s, LOS rate: -0.183380 deg/s, cmd update: -0.916901 deg/s, cmd heading: 182.447680 deg, new cmd heading: 182.717610 deg. 2021-01-27T21:56:35.102Z,1611784595.102 [Micromodem](INFO): Nmea in: $CAERR,215636,DATA_TIMEOUT,2*48 2021-01-27T21:56:35.165Z,1611784595.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:35.518Z,1611784595.518 [Micromodem](INFO): Nmea in: $CATXP,64*70 2021-01-27T21:56:35.886Z,1611784595.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:37.118Z,1611784597.118 [Micromodem](INFO): Nmea in: $CATXF,64*66 2021-01-27T21:56:37.119Z,1611784597.119 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66 2021-01-27T21:56:37.524Z,1611784597.524 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,215636.534460,3,0,200,4000,14500,1,1,10,1,2,1,3,64*42 2021-01-27T21:56:37.524Z,1611784597.524 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,215636.534460,3,0,200,4000,14500,1,1,10,1,2,1,3,64*42 2021-01-27T21:56:37.946Z,1611784597.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:38.922Z,1611784598.922 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-01-27T21:56:39.370Z,1611784599.370 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127215639.482187,06,5979,37,0241,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,14.5,8.00,16,-5.00,-01,1.02,30,14500,4000*59 2021-01-27T21:56:39.370Z,1611784599.370 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127215639.482187,06,5979,37,0241,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,14.5,8.00,16,-5.00,-01,1.02,30,14500,4000*59 2021-01-27T21:56:40.623Z,1611784600.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:43.130Z,1611784603.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:44.221Z,1611784604.221 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T21:56:46.204Z,1611784606.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:47.269Z,1611784607.269 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:47.637Z,1611784607.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:48.478Z,1611784608.478 [Micromodem](INFO): Nmea in: $SNTTA,0.082053,,0.087698,,215649.04*53 2021-01-27T21:56:48.516Z,1611784608.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.940002 m, bearing: 203.391531 deg, deltaT: 15.909374 s, approachRate: -0.595875 m/s, LOS rate: 0.130501 deg/s, posRepo size: 4 2021-01-27T21:56:48.518Z,1611784608.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 122.940002 m, bearing: 203.391531 deg, approachRate: -0.595875 m/s, LOS rate: 0.130501 deg/s, cmd update: 0.652504 deg/s, cmd heading: 167.856830 deg, new cmd heading: 167.594458 deg. 2021-01-27T21:56:50.898Z,1611784610.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:51.686Z,1611784611.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:52.111Z,1611784612.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:52.926Z,1611784612.926 [Micromodem](INFO): Nmea in: $SNTTA,0.080140,,,0.082672,215653.45*5D 2021-01-27T21:56:52.947Z,1611784612.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.000000 m, bearing: 204.642262 deg, deltaT: 4.393337 s, approachRate: -0.669196 m/s, LOS rate: 0.284688 deg/s, posRepo size: 4 2021-01-27T21:56:52.950Z,1611784612.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 120.000000 m, bearing: 204.642262 deg, approachRate: -0.669196 m/s, LOS rate: 0.284688 deg/s, cmd update: 1.423440 deg/s, cmd heading: 170.723504 deg, new cmd heading: 170.938063 deg. 2021-01-27T21:56:55.360Z,1611784615.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:56:56.139Z,1611784616.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:56:56.525Z,1611784616.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:56:57.353Z,1611784617.353 [Micromodem](INFO): Nmea in: $SNTTA,0.078606,,,0.086131,215657.91*56 2021-01-27T21:56:57.398Z,1611784617.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.779999 m, bearing: 205.153720 deg, deltaT: 4.391773 s, approachRate: -0.505491 m/s, LOS rate: 0.116458 deg/s, posRepo size: 4 2021-01-27T21:56:57.400Z,1611784617.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.779999 m, bearing: 205.153720 deg, approachRate: -0.505491 m/s, LOS rate: 0.116458 deg/s, cmd update: 0.582291 deg/s, cmd heading: 176.948472 deg, new cmd heading: 177.526549 deg. 2021-01-27T21:56:59.783Z,1611784619.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:00.563Z,1611784620.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:01.011Z,1611784621.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:01.805Z,1611784621.805 [Micromodem](INFO): Nmea in: $SNTTA,0.076967,,,,215702.33*4A 2021-01-27T21:57:01.839Z,1611784621.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.259995 m, bearing: 206.163250 deg, deltaT: 4.386141 s, approachRate: -0.574538 m/s, LOS rate: 0.230163 deg/s, posRepo size: 4 2021-01-27T21:57:01.845Z,1611784621.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.259995 m, bearing: 206.163250 deg, approachRate: -0.574538 m/s, LOS rate: 0.230163 deg/s, cmd update: 1.150817 deg/s, cmd heading: 179.513420 deg, new cmd heading: 179.771009 deg. 2021-01-27T21:57:03.900Z,1611784623.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:04.606Z,1611784624.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:05.040Z,1611784625.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:05.853Z,1611784625.853 [Micromodem](INFO): Nmea in: $SNTTA,0.075321,,,,215706.37*41 2021-01-27T21:57:05.882Z,1611784625.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 206.358552 deg, deltaT: 4.173825 s, approachRate: -0.603760 m/s, LOS rate: 0.046792 deg/s, posRepo size: 4 2021-01-27T21:57:05.885Z,1611784625.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 112.740005 m, bearing: 206.358552 deg, approachRate: -0.603760 m/s, LOS rate: 0.046792 deg/s, cmd update: 0.233961 deg/s, cmd heading: 184.316530 deg, new cmd heading: 184.675553 deg. 2021-01-27T21:57:08.307Z,1611784628.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:09.066Z,1611784629.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:09.456Z,1611784629.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:09.468Z,1611784629.468 [Micromodem](ERROR): Buffer fill timout failure. 2021-01-27T21:57:09.947Z,1611784629.947 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963 2021-01-27T21:57:09.947Z,1611784629.947 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 5ABCCE262F00 2021-01-27T21:57:09.948Z,1611784629.948 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A 2021-01-27T21:57:10.289Z,1611784630.289 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68 2021-01-27T21:57:10.335Z,1611784630.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 203.999022 deg, deltaT: 4.455191 s, approachRate: -0.552165 m/s, LOS rate: -0.529614 deg/s, posRepo size: 4 2021-01-27T21:57:10.342Z,1611784630.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.280006 m, bearing: 203.999022 deg, approachRate: -0.552165 m/s, LOS rate: -0.529614 deg/s, cmd update: -2.648068 deg/s, cmd heading: 185.358859 deg, new cmd heading: 185.431328 deg. 2021-01-27T21:57:10.685Z,1611784630.685 [Micromodem](INFO): Nmea in: $CADRQ,215711,1,10,0,64,1*77 2021-01-27T21:57:10.686Z,1611784630.686 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,62D91160090000005D00000400320000000000000000151D80030C5669BF527B60736376983976CFADC61D8ECF1E5C1BDB65CE6A1F14C0CB9462BCD612B52963*49 2021-01-27T21:57:11.093Z,1611784631.093 [Micromodem](INFO): Nmea in: $SNTTA,0.073620,,,,215710.83*4B 2021-01-27T21:57:11.093Z,1611784631.093 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.073620,,,,215710.83*4B 2021-01-27T21:57:12.301Z,1611784632.301 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49 2021-01-27T21:57:12.690Z,1611784632.690 [Micromodem](INFO): Nmea in: $CADRQ,215712,1,10,0,64,2*77 2021-01-27T21:57:12.691Z,1611784632.691 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5ABCCE262F00*4A 2021-01-27T21:57:12.762Z,1611784632.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:13.122Z,1611784633.122 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D 2021-01-27T21:57:13.491Z,1611784633.491 [Micromodem](INFO): Nmea in: $CATXP,70*75 2021-01-27T21:57:13.492Z,1611784633.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:15.549Z,1611784635.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:15.918Z,1611784635.918 [Micromodem](INFO): Nmea in: $CATXF,70*63 2021-01-27T21:57:15.918Z,1611784635.918 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63 2021-01-27T21:57:16.324Z,1611784636.324 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,215714.430600,3,0,200,4000,14500,1,1,10,1,2,2,3,70*44 2021-01-27T21:57:16.325Z,1611784636.325 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,215714.430600,3,0,200,4000,14500,1,1,10,1,2,2,3,70*44 2021-01-27T21:57:18.535Z,1611784638.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:18.743Z,1611784638.743 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B 2021-01-27T21:57:19.193Z,1611784639.193 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78 2021-01-27T21:57:19.194Z,1611784639.194 [Micromodem](INFO): Sent 62 bytes from file Logs/20210127T212138/Courier0009.lzma.parts 2021-01-27T21:57:19.194Z,1611784639.194 [Micromodem](INFO): Packets left to send: 0 2021-01-27T21:57:19.562Z,1611784639.562 [Micromodem](INFO): Nmea in: $CACST,6,0,20210127215719.141109,06,9120,39,0314,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,19.7,8.00,18,-5.00,-01,1.00,27,14500,4000*54 2021-01-27T21:57:19.562Z,1611784639.562 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210127215719.141109,06,9120,39,0314,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,19.7,8.00,18,-5.00,-01,1.00,27,14500,4000*54 2021-01-27T21:57:19.693Z,1611784639.693 [lineCaptureDepth:MicromodemComms] Stopped 2021-01-27T21:57:19.693Z,1611784639.693 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms 2021-01-27T21:57:19.693Z,1611784639.693 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped 2021-01-27T21:57:19.694Z,1611784639.694 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn 2021-01-27T21:57:19.694Z,1611784639.694 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped 2021-01-27T21:57:21.233Z,1611784641.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:24.054Z,1611784644.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:24.802Z,1611784644.802 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:25.213Z,1611784645.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:26.070Z,1611784646.070 [Micromodem](INFO): Nmea in: $SNTTA,0.067733,,,,215726.57*41 2021-01-27T21:57:26.138Z,1611784646.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.459999 m, bearing: 215.616382 deg, deltaT: 15.638884 s, approachRate: -0.563979 m/s, LOS rate: 0.742851 deg/s, posRepo size: 4 2021-01-27T21:57:26.140Z,1611784646.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.459999 m, bearing: 215.616382 deg, approachRate: -0.563979 m/s, LOS rate: 0.742851 deg/s, cmd update: 3.714255 deg/s, cmd heading: 143.955982 deg, new cmd heading: 142.692271 deg. 2021-01-27T21:57:28.498Z,1611784648.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:29.250Z,1611784649.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:29.666Z,1611784649.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:30.498Z,1611784650.498 [Micromodem](INFO): Nmea in: $SNTTA,0.066742,,,,215731.02*40 2021-01-27T21:57:30.519Z,1611784650.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 165.012357 deg, deltaT: 4.487605 s, approachRate: -0.320884 m/s, LOS rate: -11.276399 deg/s, posRepo size: 4 2021-01-27T21:57:30.522Z,1611784650.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 100.019997 m, bearing: 165.012357 deg, approachRate: -0.320884 m/s, LOS rate: -11.276399 deg/s, cmd update: -12.000000 deg/s, cmd heading: 160.638892 deg, new cmd heading: 162.002280 deg. 2021-01-27T21:57:32.934Z,1611784652.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:33.687Z,1611784653.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:34.134Z,1611784654.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:34.982Z,1611784654.982 [Micromodem](INFO): Nmea in: $SNTTA,0.065874,,,,215735.45*4E 2021-01-27T21:57:35.032Z,1611784655.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.639999 m, bearing: 220.932591 deg, deltaT: 4.369752 s, approachRate: -0.315807 m/s, LOS rate: 12.797118 deg/s, posRepo size: 4 2021-01-27T21:57:35.033Z,1611784655.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.797118 deg/s. Setting heading cmd to target bearing of 220.932591deg and heading rate command to 0 deg/s. 2021-01-27T21:57:37.385Z,1611784657.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:38.166Z,1611784658.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:38.544Z,1611784658.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:39.385Z,1611784659.385 [Micromodem](INFO): Nmea in: $SNTTA,0.064775,,0.076776,,215739.93*5F 2021-01-27T21:57:39.434Z,1611784659.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.020004 m, bearing: 215.679766 deg, deltaT: 4.499181 s, approachRate: -0.360064 m/s, LOS rate: -1.167507 deg/s, posRepo size: 4 2021-01-27T21:57:39.436Z,1611784659.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 97.020004 m, bearing: 215.679766 deg, approachRate: -0.360064 m/s, LOS rate: -1.167507 deg/s, cmd update: -5.837535 deg/s, cmd heading: 220.932591 deg, new cmd heading: 220.932591 deg. 2021-01-27T21:57:41.805Z,1611784661.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:42.582Z,1611784662.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:43.015Z,1611784663.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:43.821Z,1611784663.821 [Micromodem](INFO): Nmea in: $SNTTA,0.064103,,,0.085084,215744.35*58 2021-01-27T21:57:43.856Z,1611784663.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 168.485973 deg, deltaT: 4.420615 s, approachRate: -0.203592 m/s, LOS rate: -10.675844 deg/s, posRepo size: 4 2021-01-27T21:57:43.858Z,1611784663.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 96.120003 m, bearing: 168.485973 deg, approachRate: -0.203592 m/s, LOS rate: -10.675844 deg/s, cmd update: -12.000000 deg/s, cmd heading: 195.098068 deg, new cmd heading: 192.660313 deg. 2021-01-27T21:57:44.215Z,1611784664.215 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-01-27T21:57:46.290Z,1611784666.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:47.043Z,1611784667.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:47.436Z,1611784667.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:48.252Z,1611784668.252 [Micromodem](INFO): Nmea in: $SNTTA,0.063551,,,,215748.81*40 2021-01-27T21:57:49.082Z,1611784669.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:50.669Z,1611784670.669 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T21:57:51.086Z,1611784671.086 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T21:57:51.894Z,1611784671.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:52.682Z,1611784672.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:53.126Z,1611784673.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:54.061Z,1611784674.061 [Micromodem](INFO): Nmea in: $SNTTA,0.062229,,,,215754.45*4C 2021-01-27T21:57:54.134Z,1611784674.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.180000 m, bearing: 227.219370 deg, deltaT: 10.062931 s, approachRate: -0.292162 m/s, LOS rate: 5.836609 deg/s, posRepo size: 4 2021-01-27T21:57:54.140Z,1611784674.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.180000 m, bearing: 227.219370 deg, approachRate: -0.292162 m/s, LOS rate: 5.836609 deg/s, cmd update: 12.000000 deg/s, cmd heading: 74.295061 deg, new cmd heading: 66.745956 deg. 2021-01-27T21:57:56.434Z,1611784676.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:57:57.162Z,1611784677.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:57:57.536Z,1611784677.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:57:58.363Z,1611784678.363 [Micromodem](INFO): Nmea in: $SNTTA,0.061423,,,,215758.93*44 2021-01-27T21:57:58.431Z,1611784678.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 180.159613 deg, deltaT: 4.483809 s, approachRate: -0.254248 m/s, LOS rate: -10.495486 deg/s, posRepo size: 4 2021-01-27T21:57:58.437Z,1611784678.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.040001 m, bearing: 180.159613 deg, approachRate: -0.254248 m/s, LOS rate: -10.495486 deg/s, cmd update: -12.000000 deg/s, cmd heading: 127.703390 deg, new cmd heading: 133.405298 deg. 2021-01-27T21:58:00.818Z,1611784680.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:01.598Z,1611784681.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:02.028Z,1611784682.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:02.849Z,1611784682.849 [Micromodem](INFO): Nmea in: $SNTTA,0.061385,,,,215803.36*41 2021-01-27T21:58:02.871Z,1611784682.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 185.368220 deg, deltaT: 4.477752 s, approachRate: 0.000000 m/s, LOS rate: 1.163219 deg/s, posRepo size: 4 2021-01-27T21:58:02.873Z,1611784682.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 92.040001 m, bearing: 185.368220 deg, approachRate: 0.000000 m/s, LOS rate: 1.163219 deg/s, cmd update: 5.816096 deg/s, cmd heading: 73.574004 deg, new cmd heading: 68.714424 deg. 2021-01-27T21:58:05.278Z,1611784685.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:06.058Z,1611784686.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:06.456Z,1611784686.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:07.442Z,1611784687.442 [Micromodem](INFO): Nmea in: $SNTTA,0.062032,,,,215807.83*47 2021-01-27T21:58:07.477Z,1611784687.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 149.084055 deg, deltaT: 4.410072 s, approachRate: 0.244894 m/s, LOS rate: -8.227567 deg/s, posRepo size: 4 2021-01-27T21:58:07.479Z,1611784687.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.120003 m, bearing: 149.084055 deg, approachRate: 0.244894 m/s, LOS rate: -8.227567 deg/s, cmd update: -12.000000 deg/s, cmd heading: 99.223242 deg, new cmd heading: 102.714022 deg. 2021-01-27T21:58:09.718Z,1611784689.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:10.490Z,1611784690.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:10.914Z,1611784690.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:11.738Z,1611784691.738 [Micromodem](INFO): Nmea in: $SNTTA,0.063622,,0.071711,,215812.26*55 2021-01-27T21:58:11.763Z,1611784691.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 132.335093 deg, deltaT: 4.475415 s, approachRate: 0.522856 m/s, LOS rate: -3.742438 deg/s, posRepo size: 4 2021-01-27T21:58:11.765Z,1611784691.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.459999 m, bearing: 132.335093 deg, approachRate: 0.522856 m/s, LOS rate: -3.742438 deg/s, cmd update: -12.000000 deg/s, cmd heading: 45.516928 deg, new cmd heading: 40.582672 deg. 2021-01-27T21:58:14.188Z,1611784694.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:14.934Z,1611784694.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:15.336Z,1611784695.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:16.188Z,1611784696.188 [Micromodem](INFO): Nmea in: $SNTTA,0.064964,,,,215816.70*47 2021-01-27T21:58:16.255Z,1611784696.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.559998 m, bearing: 70.375995 deg, deltaT: 4.425291 s, approachRate: 0.474545 m/s, LOS rate: -14.001136 deg/s, posRepo size: 4 2021-01-27T21:58:16.260Z,1611784696.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.001136 deg/s. Setting heading cmd to target bearing of 70.375995deg and heading rate command to 0 deg/s. 2021-01-27T21:58:18.590Z,1611784698.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:19.380Z,1611784699.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:19.792Z,1611784699.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:20.625Z,1611784700.625 [Micromodem](INFO): Nmea in: $SNTTA,0.067064,,0.075433,,215821.15*52 2021-01-27T21:58:20.663Z,1611784700.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.340004 m, bearing: 32.378840 deg, deltaT: 4.463020 s, approachRate: 0.846962 m/s, LOS rate: -8.513776 deg/s, posRepo size: 4 2021-01-27T21:58:20.669Z,1611784700.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.340004 m, bearing: 32.378840 deg, approachRate: 0.846962 m/s, LOS rate: -8.513776 deg/s, cmd update: -12.000000 deg/s, cmd heading: 70.375995 deg, new cmd heading: 70.375995 deg. 2021-01-27T21:58:23.131Z,1611784703.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:23.826Z,1611784703.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:24.232Z,1611784704.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:25.077Z,1611784705.077 [Micromodem](INFO): Nmea in: $SNTTA,0.069109,,,,215825.59*42 2021-01-27T21:58:25.167Z,1611784705.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 11.447978 deg, deltaT: 4.456925 s, approachRate: 0.538486 m/s, LOS rate: -4.696256 deg/s, posRepo size: 4 2021-01-27T21:58:25.169Z,1611784705.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.739998 m, bearing: 11.447978 deg, approachRate: 0.538486 m/s, LOS rate: -4.696256 deg/s, cmd update: -12.000000 deg/s, cmd heading: 16.994917 deg, new cmd heading: 11.257009 deg. 2021-01-27T21:58:27.489Z,1611784707.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:28.272Z,1611784708.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:28.668Z,1611784708.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:29.501Z,1611784709.501 [Micromodem](INFO): Nmea in: $SNTTA,0.071328,,,,215830.04*46 2021-01-27T21:58:29.544Z,1611784709.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 36.892601 deg, deltaT: 4.478577 s, approachRate: 0.803828 m/s, LOS rate: 5.681408 deg/s, posRepo size: 4 2021-01-27T21:58:29.546Z,1611784709.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 107.340004 m, bearing: 36.892601 deg, approachRate: 0.803828 m/s, LOS rate: 5.681408 deg/s, cmd update: 12.000000 deg/s, cmd heading: 323.198255 deg, new cmd heading: 318.732407 deg. 2021-01-27T21:58:31.929Z,1611784711.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:32.714Z,1611784712.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:33.134Z,1611784713.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:34.141Z,1611784714.141 [Micromodem](INFO): Nmea in: $SNTTA,0.073306,,,,215834.48*44 2021-01-27T21:58:34.226Z,1611784714.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 23.914512 deg, deltaT: 4.381990 s, approachRate: 0.629850 m/s, LOS rate: -2.961688 deg/s, posRepo size: 4 2021-01-27T21:58:34.232Z,1611784714.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 110.099998 m, bearing: 23.914512 deg, approachRate: 0.629850 m/s, LOS rate: -2.961688 deg/s, cmd update: -12.000000 deg/s, cmd heading: 15.721045 deg, new cmd heading: 23.832817 deg. 2021-01-27T21:58:36.426Z,1611784716.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:37.211Z,1611784717.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:37.615Z,1611784717.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:38.450Z,1611784718.450 [Micromodem](INFO): Nmea in: $SNTTA,0.075099,,,,215838.98*46 2021-01-27T21:58:38.511Z,1611784718.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 324.978297 deg, deltaT: 4.525952 s, approachRate: 0.623075 m/s, LOS rate: -13.021838 deg/s, posRepo size: 4 2021-01-27T21:58:38.516Z,1611784718.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.021838 deg/s. Setting heading cmd to target bearing of 324.978297deg and heading rate command to 0 deg/s. 2021-01-27T21:58:40.849Z,1611784720.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:41.655Z,1611784721.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:42.063Z,1611784722.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:42.913Z,1611784722.913 [Micromodem](INFO): Nmea in: $SNTTA,0.076582,,,,215843.42*41 2021-01-27T21:58:42.957Z,1611784722.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.259995 m, bearing: 342.087866 deg, deltaT: 4.413884 s, approachRate: 0.530143 m/s, LOS rate: 3.876307 deg/s, posRepo size: 4 2021-01-27T21:58:42.959Z,1611784722.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 115.259995 m, bearing: 342.087866 deg, approachRate: 0.530143 m/s, LOS rate: 3.876307 deg/s, cmd update: 12.000000 deg/s, cmd heading: 324.978297 deg, new cmd heading: 324.978297 deg. 2021-01-27T21:58:45.328Z,1611784725.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:46.093Z,1611784726.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:46.492Z,1611784726.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:47.429Z,1611784727.429 [Micromodem](INFO): Nmea in: $SNTTA,0.078006,,,,215847.86*4A 2021-01-27T21:58:47.475Z,1611784727.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.000000 m, bearing: 314.015434 deg, deltaT: 4.469124 s, approachRate: 0.389339 m/s, LOS rate: -6.281417 deg/s, posRepo size: 4 2021-01-27T21:58:47.477Z,1611784727.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 117.000000 m, bearing: 314.015434 deg, approachRate: 0.389339 m/s, LOS rate: -6.281417 deg/s, cmd update: -12.000000 deg/s, cmd heading: 18.421750 deg, new cmd heading: 24.718462 deg. 2021-01-27T21:58:49.742Z,1611784729.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:50.539Z,1611784730.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:50.936Z,1611784730.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:51.786Z,1611784731.786 [Micromodem](INFO): Nmea in: $SNTTA,0.079124,,,,215852.31*42 2021-01-27T21:58:51.808Z,1611784731.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.740005 m, bearing: 305.823113 deg, deltaT: 4.441432 s, approachRate: 0.391767 m/s, LOS rate: -1.844522 deg/s, posRepo size: 4 2021-01-27T21:58:51.810Z,1611784731.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 118.740005 m, bearing: 305.823113 deg, approachRate: 0.391767 m/s, LOS rate: -1.844522 deg/s, cmd update: -9.222611 deg/s, cmd heading: 324.933478 deg, new cmd heading: 320.132926 deg. 2021-01-27T21:58:54.209Z,1611784734.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:55.018Z,1611784735.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:55.398Z,1611784735.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:58:56.214Z,1611784736.214 [Micromodem](INFO): Nmea in: $SNTTA,0.080754,,,,215856.79*4D 2021-01-27T21:58:56.267Z,1611784736.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.260002 m, bearing: 318.165593 deg, deltaT: 4.405396 s, approachRate: 0.572025 m/s, LOS rate: 2.801673 deg/s, posRepo size: 4 2021-01-27T21:58:56.274Z,1611784736.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.260002 m, bearing: 318.165593 deg, approachRate: 0.572025 m/s, LOS rate: 2.801673 deg/s, cmd update: 12.000000 deg/s, cmd heading: 284.310115 deg, new cmd heading: 280.115570 deg. 2021-01-27T21:58:58.638Z,1611784738.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:58:59.426Z,1611784739.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:58:59.832Z,1611784739.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:00.747Z,1611784740.747 [Micromodem](INFO): Nmea in: $SNTTA,0.082357,,,,215901.19*4D 2021-01-27T21:59:00.791Z,1611784740.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 326.529160 deg, deltaT: 4.465631 s, approachRate: 0.631491 m/s, LOS rate: 1.872875 deg/s, posRepo size: 4 2021-01-27T21:59:00.797Z,1611784740.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.080009 m, bearing: 326.529160 deg, approachRate: 0.631491 m/s, LOS rate: 1.872875 deg/s, cmd update: 9.364373 deg/s, cmd heading: 337.905440 deg, new cmd heading: 344.053197 deg. 2021-01-27T21:59:03.165Z,1611784743.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:03.865Z,1611784743.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:04.279Z,1611784744.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:05.125Z,1611784745.125 [Micromodem](INFO): Nmea in: $SNTTA,0.083621,,,,215905.63*41 2021-01-27T21:59:05.179Z,1611784745.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.459999 m, bearing: 281.798360 deg, deltaT: 4.431172 s, approachRate: 0.311428 m/s, LOS rate: -10.094576 deg/s, posRepo size: 4 2021-01-27T21:59:05.185Z,1611784745.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 125.459999 m, bearing: 281.798360 deg, approachRate: 0.311428 m/s, LOS rate: -10.094576 deg/s, cmd update: -12.000000 deg/s, cmd heading: 19.398115 deg, new cmd heading: 23.793012 deg. 2021-01-27T21:59:07.525Z,1611784747.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:08.306Z,1611784748.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:08.720Z,1611784748.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:09.557Z,1611784749.557 [Micromodem](INFO): Nmea in: $SNTTA,0.084628,0.086640,,,215910.07*5B 2021-01-27T21:59:09.597Z,1611784749.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 282.198773 deg, deltaT: 4.518864 s, approachRate: 0.331944 m/s, LOS rate: 0.088609 deg/s, posRepo size: 4 2021-01-27T21:59:09.599Z,1611784749.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 126.960007 m, bearing: 282.198773 deg, approachRate: 0.331944 m/s, LOS rate: 0.088609 deg/s, cmd update: 0.443046 deg/s, cmd heading: 325.267170 deg, new cmd heading: 320.752458 deg. 2021-01-27T21:59:12.002Z,1611784752.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:12.758Z,1611784752.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:13.168Z,1611784753.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:14.122Z,1611784754.122 [Micromodem](INFO): Nmea in: $SNTTA,0.086083,,,,215914.52*48 2021-01-27T21:59:14.175Z,1611784754.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 310.989441 deg, deltaT: 4.363644 s, approachRate: 0.522499 m/s, LOS rate: 6.597850 deg/s, posRepo size: 4 2021-01-27T21:59:14.177Z,1611784754.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.240005 m, bearing: 310.989441 deg, approachRate: 0.522499 m/s, LOS rate: 6.597850 deg/s, cmd update: 12.000000 deg/s, cmd heading: 327.204106 deg, new cmd heading: 327.462035 deg. 2021-01-27T21:59:16.422Z,1611784756.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:17.194Z,1611784757.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:17.604Z,1611784757.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:18.449Z,1611784758.449 [Micromodem](INFO): Nmea in: $SNTTA,0.087794,,,,215918.96*4C 2021-01-27T21:59:18.473Z,1611784758.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 304.411641 deg, deltaT: 4.461917 s, approachRate: 0.578227 m/s, LOS rate: -1.474209 deg/s, posRepo size: 4 2021-01-27T21:59:18.475Z,1611784758.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 131.820007 m, bearing: 304.411641 deg, approachRate: 0.578227 m/s, LOS rate: -1.474209 deg/s, cmd update: -7.371047 deg/s, cmd heading: 20.750543 deg, new cmd heading: 25.763039 deg. 2021-01-27T21:59:20.879Z,1611784760.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:21.638Z,1611784761.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:22.077Z,1611784762.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:22.886Z,1611784762.886 [Micromodem](INFO): Nmea in: $SNTTA,0.089636,,,,215923.40*48 2021-01-27T21:59:22.912Z,1611784762.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 324.191350 deg, deltaT: 4.438379 s, approachRate: 0.648883 m/s, LOS rate: 4.456517 deg/s, posRepo size: 4 2021-01-27T21:59:22.914Z,1611784762.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.699997 m, bearing: 324.191350 deg, approachRate: 0.648883 m/s, LOS rate: 4.456517 deg/s, cmd update: 12.000000 deg/s, cmd heading: 348.097622 deg, new cmd heading: 344.947767 deg. 2021-01-27T21:59:25.322Z,1611784765.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:26.099Z,1611784766.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:26.501Z,1611784766.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:27.425Z,1611784767.425 [Micromodem](INFO): Nmea in: $SNTTA,0.091862,,,,215927.87*41 2021-01-27T21:59:27.483Z,1611784767.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 338.067207 deg, deltaT: 4.421138 s, approachRate: 0.759985 m/s, LOS rate: 3.138526 deg/s, posRepo size: 4 2021-01-27T21:59:27.493Z,1611784767.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 138.059998 m, bearing: 338.067207 deg, approachRate: 0.759985 m/s, LOS rate: 3.138526 deg/s, cmd update: 12.000000 deg/s, cmd heading: 41.252596 deg, new cmd heading: 48.075628 deg. 2021-01-27T21:59:29.766Z,1611784769.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:30.550Z,1611784770.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:30.962Z,1611784770.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:31.793Z,1611784771.793 [Micromodem](INFO): Nmea in: $SNTTA,0.093991,,,,215932.32*44 2021-01-27T21:59:31.815Z,1611784771.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 33.140085 deg, deltaT: 4.487426 s, approachRate: 0.695278 m/s, LOS rate: 12.272708 deg/s, posRepo size: 4 2021-01-27T21:59:31.816Z,1611784771.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.272708 deg/s. Setting heading cmd to target bearing of 33.140085deg and heading rate command to 0 deg/s. 2021-01-27T21:59:34.221Z,1611784774.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:35.019Z,1611784775.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:35.400Z,1611784775.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:36.233Z,1611784776.233 [Micromodem](INFO): Nmea in: $SNTTA,0.096450,,,,215936.79*4A 2021-01-27T21:59:36.281Z,1611784776.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 24.166442 deg, deltaT: 4.422389 s, approachRate: 0.854738 m/s, LOS rate: -2.029139 deg/s, posRepo size: 4 2021-01-27T21:59:36.283Z,1611784776.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.959991 m, bearing: 24.166442 deg, approachRate: 0.854738 m/s, LOS rate: -2.029139 deg/s, cmd update: -10.145695 deg/s, cmd heading: 33.140085 deg, new cmd heading: 33.140085 deg. 2021-01-27T21:59:38.653Z,1611784778.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:39.431Z,1611784779.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:39.844Z,1611784779.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:40.805Z,1611784780.805 [Micromodem](INFO): Nmea in: $SNTTA,0.098782,,,,215941.20*44 2021-01-27T21:59:40.847Z,1611784780.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.320007 m, bearing: 35.451069 deg, deltaT: 4.464650 s, approachRate: 0.752582 m/s, LOS rate: 2.527550 deg/s, posRepo size: 4 2021-01-27T21:59:40.853Z,1611784780.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 148.320007 m, bearing: 35.451069 deg, approachRate: 0.752582 m/s, LOS rate: 2.527550 deg/s, cmd update: 12.000000 deg/s, cmd heading: 347.826974 deg, new cmd heading: 342.160867 deg. 2021-01-27T21:59:43.201Z,1611784783.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:43.898Z,1611784783.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:44.308Z,1611784784.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:45.145Z,1611784785.145 [Micromodem](INFO): Nmea in: $SNTTA,0.101106,,,,215945.66*49 2021-01-27T21:59:45.246Z,1611784785.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.980011 m, bearing: 26.750895 deg, deltaT: 4.444552 s, approachRate: 0.823481 m/s, LOS rate: -1.957492 deg/s, posRepo size: 4 2021-01-27T21:59:45.253Z,1611784785.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 151.980011 m, bearing: 26.750895 deg, approachRate: 0.823481 m/s, LOS rate: -1.957492 deg/s, cmd update: -9.787458 deg/s, cmd heading: 41.155828 deg, new cmd heading: 47.251504 deg. 2021-01-27T21:59:47.549Z,1611784787.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:48.343Z,1611784788.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:48.748Z,1611784788.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:49.593Z,1611784789.593 [Micromodem](INFO): Nmea in: $SNTTA,0.103544,,,,215950.11*4D 2021-01-27T21:59:49.615Z,1611784789.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.459991 m, bearing: 19.258456 deg, deltaT: 4.508431 s, approachRate: 0.771883 m/s, LOS rate: -1.661873 deg/s, posRepo size: 4 2021-01-27T21:59:49.617Z,1611784789.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 155.459991 m, bearing: 19.258456 deg, approachRate: 0.771883 m/s, LOS rate: -1.661873 deg/s, cmd update: -8.309364 deg/s, cmd heading: 357.262378 deg, new cmd heading: 353.368379 deg. 2021-01-27T21:59:52.031Z,1611784792.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:52.786Z,1611784792.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:53.196Z,1611784793.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:54.213Z,1611784794.213 [Micromodem](INFO): Nmea in: $SNTTA,0.106073,,,,215954.55*4D 2021-01-27T21:59:54.265Z,1611784794.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.300003 m, bearing: 28.011615 deg, deltaT: 4.377023 s, approachRate: 0.877311 m/s, LOS rate: 1.999797 deg/s, posRepo size: 4 2021-01-27T21:59:54.267Z,1611784794.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.300003 m, bearing: 28.011615 deg, approachRate: 0.877311 m/s, LOS rate: 1.999797 deg/s, cmd update: 9.998987 deg/s, cmd heading: 320.690350 deg, new cmd heading: 315.323232 deg. 2021-01-27T21:59:56.154Z,1611784796.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T21:59:56.835Z,1611784796.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T21:59:57.247Z,1611784797.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T21:59:58.099Z,1611784798.099 [Micromodem](INFO): Nmea in: $SNTTA,0.108323,,,,215958.60*4F 2021-01-27T21:59:58.165Z,1611784798.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.660004 m, bearing: 0.677803 deg, deltaT: 4.061300 s, approachRate: 0.827321 m/s, LOS rate: -6.730311 deg/s, posRepo size: 4 2021-01-27T21:59:58.167Z,1611784798.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.660004 m, bearing: 0.677803 deg, approachRate: 0.827321 m/s, LOS rate: -6.730311 deg/s, cmd update: -12.000000 deg/s, cmd heading: 1.133883 deg, new cmd heading: 6.147655 deg. 2021-01-27T22:00:00.478Z,1611784800.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:01.279Z,1611784801.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:01.680Z,1611784801.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:02.521Z,1611784802.521 [Micromodem](INFO): Nmea in: $SNTTA,0.110568,,,,220003.04*4C 2021-01-27T22:00:02.543Z,1611784802.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 352.550678 deg, deltaT: 4.487774 s, approachRate: 0.748701 m/s, LOS rate: -1.810947 deg/s, posRepo size: 4 2021-01-27T22:00:02.545Z,1611784802.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 352.550678 deg, approachRate: 0.748701 m/s, LOS rate: -1.810947 deg/s, cmd update: -9.054737 deg/s, cmd heading: 307.130101 deg, new cmd heading: 302.576257 deg. 2021-01-27T22:00:04.933Z,1611784804.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:05.714Z,1611784805.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:06.134Z,1611784806.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:06.970Z,1611784806.970 [Micromodem](INFO): Nmea in: $SNTTA,0.112813,,,,220007.48*43 2021-01-27T22:00:07.031Z,1611784807.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 337.677668 deg, deltaT: 4.396363 s, approachRate: 0.000000 m/s, LOS rate: -3.383026 deg/s, posRepo size: 4 2021-01-27T22:00:07.033Z,1611784807.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 337.677668 deg, approachRate: 0.000000 m/s, LOS rate: -3.383026 deg/s, cmd update: -12.000000 deg/s, cmd heading: 267.322578 deg, new cmd heading: 263.058856 deg. 2021-01-27T22:00:09.394Z,1611784809.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:10.178Z,1611784810.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:10.580Z,1611784810.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:11.413Z,1611784811.413 [Micromodem](INFO): Nmea in: $SNTTA,0.114348,,,,220011.94*46 2021-01-27T22:00:11.458Z,1611784811.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 292.114213 deg, deltaT: 4.471137 s, approachRate: 0.000000 m/s, LOS rate: -10.190575 deg/s, posRepo size: 4 2021-01-27T22:00:11.460Z,1611784811.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 292.114213 deg, approachRate: 0.000000 m/s, LOS rate: -10.190575 deg/s, cmd update: -12.000000 deg/s, cmd heading: 213.670468 deg, new cmd heading: 208.548472 deg. 2021-01-27T22:00:13.849Z,1611784813.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:14.622Z,1611784814.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:15.048Z,1611784815.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:15.857Z,1611784815.857 [Micromodem](INFO): Nmea in: $SNTTA,0.115337,,,,220016.39*4F 2021-01-27T22:00:15.894Z,1611784815.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 240.858616 deg, deltaT: 4.437237 s, approachRate: 0.000000 m/s, LOS rate: -11.551242 deg/s, posRepo size: 4 2021-01-27T22:00:15.895Z,1611784815.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.551242 deg/s. Setting heading cmd to target bearing of 240.858616deg and heading rate command to 0 deg/s. 2021-01-27T22:00:18.310Z,1611784818.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:19.058Z,1611784819.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:19.464Z,1611784819.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:20.314Z,1611784820.314 [Micromodem](INFO): Nmea in: $SNTTA,0.115549,,,,220020.82*45 2021-01-27T22:00:20.349Z,1611784820.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 251.613978 deg, deltaT: 4.429796 s, approachRate: 0.000000 m/s, LOS rate: 2.427959 deg/s, posRepo size: 4 2021-01-27T22:00:20.351Z,1611784820.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 251.613978 deg, approachRate: 0.000000 m/s, LOS rate: 2.427959 deg/s, cmd update: 12.000000 deg/s, cmd heading: 240.858616 deg, new cmd heading: 240.858616 deg. 2021-01-27T22:00:22.431Z,1611784822.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:23.104Z,1611784823.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:23.508Z,1611784823.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:24.346Z,1611784824.346 [Micromodem](INFO): Nmea in: $SNTTA,0.115122,,,,220024.87*4D 2021-01-27T22:00:24.381Z,1611784824.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 178.330037 deg, deltaT: 4.062550 s, approachRate: 0.000000 m/s, LOS rate: -18.038902 deg/s, posRepo size: 4 2021-01-27T22:00:24.382Z,1611784824.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.038902 deg/s. Setting heading cmd to target bearing of 178.330037deg and heading rate command to 0 deg/s. 2021-01-27T22:00:26.348Z,1611784826.348 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T22:00:26.758Z,1611784826.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:27.543Z,1611784827.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:27.971Z,1611784827.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:28.801Z,1611784828.801 [Micromodem](INFO): Nmea in: $SNTTA,0.114218,,,,220029.31*46 2021-01-27T22:00:28.823Z,1611784828.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 181.616369 deg, deltaT: 4.470260 s, approachRate: 0.000000 m/s, LOS rate: 0.735154 deg/s, posRepo size: 4 2021-01-27T22:00:28.825Z,1611784828.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 166.020004 m, bearing: 181.616369 deg, approachRate: 0.000000 m/s, LOS rate: 0.735154 deg/s, cmd update: 3.675773 deg/s, cmd heading: 178.330037 deg, new cmd heading: 178.330037 deg. 2021-01-27T22:00:31.226Z,1611784831.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:32.009Z,1611784832.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:32.428Z,1611784832.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:33.210Z,1611784833.210 [Micromodem](INFO): Nmea in: $SNTTA,0.113030,,,,220033.78*4F 2021-01-27T22:00:33.628Z,1611784833.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 178.481381 deg, deltaT: 4.833146 s, approachRate: 0.695203 m/s, LOS rate: -0.648643 deg/s, posRepo size: 4 2021-01-27T22:00:33.630Z,1611784833.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 178.481381 deg, approachRate: 0.695203 m/s, LOS rate: -0.648643 deg/s, cmd update: -3.243217 deg/s, cmd heading: 196.110242 deg, new cmd heading: 197.432936 deg. 2021-01-27T22:00:36.110Z,1611784836.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:36.838Z,1611784836.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:37.253Z,1611784837.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:38.095Z,1611784838.095 [Micromodem](INFO): Nmea in: $SNTTA,0.111564,,,,220038.61*4A 2021-01-27T22:00:38.159Z,1611784838.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 179.178019 deg, deltaT: 4.410159 s, approachRate: 0.000000 m/s, LOS rate: 0.157962 deg/s, posRepo size: 4 2021-01-27T22:00:38.161Z,1611784838.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 179.178019 deg, approachRate: 0.000000 m/s, LOS rate: 0.157962 deg/s, cmd update: 0.789811 deg/s, cmd heading: 181.861637 deg, new cmd heading: 180.248094 deg. 2021-01-27T22:00:40.490Z,1611784840.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:41.287Z,1611784841.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:41.680Z,1611784841.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:42.545Z,1611784842.545 [Micromodem](INFO): Nmea in: $SNTTA,0.110095,,,0.112594,220043.05*5A 2021-01-27T22:00:42.567Z,1611784842.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 180.203832 deg, deltaT: 4.502672 s, approachRate: 0.000000 m/s, LOS rate: 0.227823 deg/s, posRepo size: 4 2021-01-27T22:00:42.569Z,1611784842.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 180.203832 deg, approachRate: 0.000000 m/s, LOS rate: 0.227823 deg/s, cmd update: 1.139115 deg/s, cmd heading: 185.421584 deg, new cmd heading: 185.736065 deg. 2021-01-27T22:00:44.934Z,1611784844.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:45.734Z,1611784845.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:46.151Z,1611784846.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:46.981Z,1611784846.981 [Micromodem](INFO): Nmea in: $SNTTA,0.108438,,,,220047.50*40 2021-01-27T22:00:47.044Z,1611784847.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.380020 m, bearing: 180.670757 deg, deltaT: 4.382470 s, approachRate: 0.000000 m/s, LOS rate: 0.106544 deg/s, posRepo size: 4 2021-01-27T22:00:47.046Z,1611784847.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 169.380020 m, bearing: 180.670757 deg, approachRate: 0.000000 m/s, LOS rate: 0.106544 deg/s, cmd update: 0.532719 deg/s, cmd heading: 190.416676 deg, new cmd heading: 190.970371 deg. 2021-01-27T22:00:49.407Z,1611784849.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:50.182Z,1611784850.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:50.572Z,1611784850.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:51.401Z,1611784851.401 [Micromodem](INFO): Nmea in: $SNTTA,0.106514,,,,220051.95*4F 2021-01-27T22:00:51.441Z,1611784851.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.600006 m, bearing: 178.851372 deg, deltaT: 4.472636 s, approachRate: -2.186633 m/s, LOS rate: -0.406781 deg/s, posRepo size: 4 2021-01-27T22:00:51.443Z,1611784851.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 159.600006 m, bearing: 178.851372 deg, approachRate: -2.186633 m/s, LOS rate: -0.406781 deg/s, cmd update: -2.033907 deg/s, cmd heading: 192.804419 deg, new cmd heading: 193.020084 deg. 2021-01-27T22:00:53.822Z,1611784853.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:54.619Z,1611784854.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:55.044Z,1611784855.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:00:55.857Z,1611784855.857 [Micromodem](INFO): Nmea in: $SNTTA,0.105117,,,,220056.38*4B 2021-01-27T22:00:55.887Z,1611784855.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 177.723366 deg, deltaT: 4.446328 s, approachRate: -0.458804 m/s, LOS rate: -0.253694 deg/s, posRepo size: 4 2021-01-27T22:00:55.889Z,1611784855.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 157.560013 m, bearing: 177.723366 deg, approachRate: -0.458804 m/s, LOS rate: -0.253694 deg/s, cmd update: -1.268469 deg/s, cmd heading: 183.769183 deg, new cmd heading: 182.937813 deg. 2021-01-27T22:00:58.294Z,1611784858.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:00:59.054Z,1611784859.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:00:59.486Z,1611784859.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:00.297Z,1611784860.297 [Micromodem](INFO): Nmea in: $SNTTA,0.103413,,,,220100.82*4F 2021-01-27T22:01:00.347Z,1611784860.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 178.628776 deg, deltaT: 4.401310 s, approachRate: -0.599825 m/s, LOS rate: 0.205714 deg/s, posRepo size: 4 2021-01-27T22:01:00.349Z,1611784860.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 154.919998 m, bearing: 178.628776 deg, approachRate: -0.599825 m/s, LOS rate: 0.205714 deg/s, cmd update: 1.028569 deg/s, cmd heading: 178.181221 deg, new cmd heading: 177.594033 deg. 2021-01-27T22:01:02.717Z,1611784862.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:03.507Z,1611784863.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:03.912Z,1611784863.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:04.725Z,1611784864.725 [Micromodem](INFO): Nmea in: $SNTTA,0.101672,,,,220105.31*45 2021-01-27T22:01:05.176Z,1611784865.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.399994 m, bearing: 179.874589 deg, deltaT: 4.900681 s, approachRate: -0.514215 m/s, LOS rate: 0.254212 deg/s, posRepo size: 4 2021-01-27T22:01:05.178Z,1611784865.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 152.399994 m, bearing: 179.874589 deg, approachRate: -0.514215 m/s, LOS rate: 0.254212 deg/s, cmd update: 1.271061 deg/s, cmd heading: 183.216765 deg, new cmd heading: 183.624578 deg. 2021-01-27T22:01:07.587Z,1611784867.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:08.354Z,1611784868.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:08.828Z,1611784868.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:09.605Z,1611784869.605 [Micromodem](INFO): Nmea in: $SNTTA,0.099948,,,,220110.12*46 2021-01-27T22:01:09.620Z,1611784869.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 178.276366 deg, deltaT: 4.435338 s, approachRate: -0.608747 m/s, LOS rate: -0.360339 deg/s, posRepo size: 4 2021-01-27T22:01:09.622Z,1611784869.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 149.699997 m, bearing: 178.276366 deg, approachRate: -0.608747 m/s, LOS rate: -0.360339 deg/s, cmd update: -1.801693 deg/s, cmd heading: 188.860647 deg, new cmd heading: 189.369518 deg. 2021-01-27T22:01:12.029Z,1611784872.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:12.790Z,1611784872.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:13.201Z,1611784873.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:14.057Z,1611784874.057 [Micromodem](INFO): Nmea in: $SNTTA,0.098228,,,,220114.56*4E 2021-01-27T22:01:14.149Z,1611784874.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.180008 m, bearing: 176.163706 deg, deltaT: 4.408742 s, approachRate: -0.571589 m/s, LOS rate: -0.479198 deg/s, posRepo size: 4 2021-01-27T22:01:14.151Z,1611784874.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 147.180008 m, bearing: 176.163706 deg, approachRate: -0.571589 m/s, LOS rate: -0.479198 deg/s, cmd update: -2.395989 deg/s, cmd heading: 180.917264 deg, new cmd heading: 179.986864 deg. 2021-01-27T22:01:16.170Z,1611784876.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:16.830Z,1611784876.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:17.244Z,1611784877.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:18.092Z,1611784878.092 [Micromodem](INFO): Nmea in: $SNTTA,0.096749,,,,220118.60*4B 2021-01-27T22:01:18.153Z,1611784878.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.900009 m, bearing: 176.901066 deg, deltaT: 4.052747 s, approachRate: -0.562581 m/s, LOS rate: 0.181941 deg/s, posRepo size: 4 2021-01-27T22:01:18.155Z,1611784878.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 144.900009 m, bearing: 176.901066 deg, approachRate: -0.562581 m/s, LOS rate: 0.181941 deg/s, cmd update: 0.909704 deg/s, cmd heading: 171.226871 deg, new cmd heading: 170.075917 deg. 2021-01-27T22:01:20.497Z,1611784880.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:21.282Z,1611784881.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:21.680Z,1611784881.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:22.537Z,1611784882.537 [Micromodem](INFO): Nmea in: $SNTTA,0.095044,,,0.119061,220123.05*59 2021-01-27T22:01:22.552Z,1611784882.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.380005 m, bearing: 178.145294 deg, deltaT: 4.479495 s, approachRate: -0.562564 m/s, LOS rate: 0.277761 deg/s, posRepo size: 4 2021-01-27T22:01:22.554Z,1611784882.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 142.380005 m, bearing: 178.145294 deg, approachRate: -0.562564 m/s, LOS rate: 0.277761 deg/s, cmd update: 1.388804 deg/s, cmd heading: 175.309462 deg, new cmd heading: 175.665316 deg. 2021-01-27T22:01:24.960Z,1611784884.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:25.726Z,1611784885.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:26.147Z,1611784886.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:26.981Z,1611784886.981 [Micromodem](INFO): Nmea in: $SNTTA,0.093368,,,,220127.49*4E 2021-01-27T22:01:27.046Z,1611784887.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.800003 m, bearing: 178.457912 deg, deltaT: 4.384246 s, approachRate: -0.588471 m/s, LOS rate: 0.071305 deg/s, posRepo size: 4 2021-01-27T22:01:27.053Z,1611784887.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 139.800003 m, bearing: 178.457912 deg, approachRate: -0.588471 m/s, LOS rate: 0.071305 deg/s, cmd update: 0.356524 deg/s, cmd heading: 181.398014 deg, new cmd heading: 182.087047 deg. 2021-01-27T22:01:29.409Z,1611784889.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:30.186Z,1611784890.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:30.572Z,1611784890.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:31.405Z,1611784891.405 [Micromodem](INFO): Nmea in: $SNTTA,0.091814,,,,220131.95*4A 2021-01-27T22:01:31.440Z,1611784891.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.520004 m, bearing: 176.288576 deg, deltaT: 4.497581 s, approachRate: -0.506939 m/s, LOS rate: -0.482334 deg/s, posRepo size: 4 2021-01-27T22:01:31.442Z,1611784891.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 137.520004 m, bearing: 176.288576 deg, approachRate: -0.506939 m/s, LOS rate: -0.482334 deg/s, cmd update: -2.411670 deg/s, cmd heading: 183.001595 deg, new cmd heading: 183.143195 deg. 2021-01-27T22:01:33.817Z,1611784893.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:34.607Z,1611784894.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:35.052Z,1611784895.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:35.849Z,1611784895.849 [Micromodem](INFO): Nmea in: $SNTTA,0.090054,,,,220136.37*48 2021-01-27T22:01:35.893Z,1611784895.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.880005 m, bearing: 175.232642 deg, deltaT: 4.400108 s, approachRate: -0.599985 m/s, LOS rate: -0.239979 deg/s, posRepo size: 4 2021-01-27T22:01:35.894Z,1611784895.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 134.880005 m, bearing: 175.232642 deg, approachRate: -0.599985 m/s, LOS rate: -0.239979 deg/s, cmd update: -1.199895 deg/s, cmd heading: 172.390738 deg, new cmd heading: 171.306656 deg. 2021-01-27T22:01:38.295Z,1611784898.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:39.070Z,1611784899.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:39.464Z,1611784899.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:40.289Z,1611784900.289 [Micromodem](INFO): Nmea in: $SNTTA,0.088385,,,,220140.84*47 2021-01-27T22:01:40.335Z,1611784900.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.419998 m, bearing: 175.541271 deg, deltaT: 4.441906 s, approachRate: -0.553818 m/s, LOS rate: 0.069481 deg/s, posRepo size: 4 2021-01-27T22:01:40.337Z,1611784900.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 132.419998 m, bearing: 175.541271 deg, approachRate: -0.553818 m/s, LOS rate: 0.069481 deg/s, cmd update: 0.347406 deg/s, cmd heading: 167.060606 deg, new cmd heading: 166.519798 deg. 2021-01-27T22:01:42.733Z,1611784902.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:43.498Z,1611784903.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:43.911Z,1611784903.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:44.769Z,1611784904.769 [Micromodem](INFO): Nmea in: $SNTTA,0.086553,,,,220145.27*48 2021-01-27T22:01:44.807Z,1611784904.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.660004 m, bearing: 176.384185 deg, deltaT: 4.473663 s, approachRate: -0.616943 m/s, LOS rate: 0.188417 deg/s, posRepo size: 4 2021-01-27T22:01:44.813Z,1611784904.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 129.660004 m, bearing: 176.384185 deg, approachRate: -0.616943 m/s, LOS rate: 0.188417 deg/s, cmd update: 0.942084 deg/s, cmd heading: 168.614793 deg, new cmd heading: 168.770664 deg. 2021-01-27T22:01:47.231Z,1611784907.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:47.951Z,1611784907.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:48.348Z,1611784908.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:49.201Z,1611784909.201 [Micromodem](INFO): Nmea in: $SNTTA,0.084792,,,,220149.72*49 2021-01-27T22:01:49.235Z,1611784909.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 176.684891 deg, deltaT: 4.432956 s, approachRate: -0.582005 m/s, LOS rate: 0.067834 deg/s, posRepo size: 4 2021-01-27T22:01:49.238Z,1611784909.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 127.080002 m, bearing: 176.684891 deg, approachRate: -0.582005 m/s, LOS rate: 0.067834 deg/s, cmd update: 0.339171 deg/s, cmd heading: 172.775907 deg, new cmd heading: 173.209422 deg. 2021-01-27T22:01:51.594Z,1611784911.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:52.386Z,1611784912.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:52.796Z,1611784912.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:53.633Z,1611784913.633 [Micromodem](INFO): Nmea in: $SNTTA,0.083075,,,,220154.15*4D 2021-01-27T22:01:53.658Z,1611784913.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.500008 m, bearing: 176.394444 deg, deltaT: 4.450536 s, approachRate: -0.579704 m/s, LOS rate: -0.065261 deg/s, posRepo size: 4 2021-01-27T22:01:53.660Z,1611784913.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 124.500008 m, bearing: 176.394444 deg, approachRate: -0.579704 m/s, LOS rate: -0.065261 deg/s, cmd update: -0.326306 deg/s, cmd heading: 174.290842 deg, new cmd heading: 174.432095 deg. 2021-01-27T22:01:56.164Z,1611784916.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:01:56.830Z,1611784916.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:01:57.236Z,1611784917.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:01:58.088Z,1611784918.088 [Micromodem](INFO): Nmea in: $SNTTA,0.081297,,,,220158.60*4F 2021-01-27T22:01:58.157Z,1611784918.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.740005 m, bearing: 175.707941 deg, deltaT: 4.410856 s, approachRate: -0.625729 m/s, LOS rate: -0.155639 deg/s, posRepo size: 4 2021-01-27T22:01:58.159Z,1611784918.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 121.740005 m, bearing: 175.707941 deg, approachRate: -0.625729 m/s, LOS rate: -0.155639 deg/s, cmd update: -0.778196 deg/s, cmd heading: 172.851561 deg, new cmd heading: 172.686827 deg. 2021-01-27T22:02:00.164Z,1611784920.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:00.878Z,1611784920.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:01.276Z,1611784921.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:02.121Z,1611784922.121 [Micromodem](INFO): Nmea in: $SNTTA,0.079768,,,,220202.64*45 2021-01-27T22:02:02.171Z,1611784922.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 175.254991 deg, deltaT: 4.040113 s, approachRate: -0.564342 m/s, LOS rate: -0.112113 deg/s, posRepo size: 4 2021-01-27T22:02:02.173Z,1611784922.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 119.459999 m, bearing: 175.254991 deg, approachRate: -0.564342 m/s, LOS rate: -0.112113 deg/s, cmd update: -0.560567 deg/s, cmd heading: 169.707549 deg, new cmd heading: 169.335558 deg. 2021-01-27T22:02:04.529Z,1611784924.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:05.319Z,1611784925.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:05.720Z,1611784925.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:06.569Z,1611784926.569 [Micromodem](INFO): Nmea in: $SNTTA,0.078015,,,,220207.08*46 2021-01-27T22:02:06.584Z,1611784926.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 176.271145 deg, deltaT: 4.498281 s, approachRate: -0.560213 m/s, LOS rate: 0.225898 deg/s, posRepo size: 4 2021-01-27T22:02:06.586Z,1611784926.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 116.940002 m, bearing: 176.271145 deg, approachRate: -0.560213 m/s, LOS rate: 0.225898 deg/s, cmd update: 1.129492 deg/s, cmd heading: 167.186115 deg, new cmd heading: 166.965861 deg. 2021-01-27T22:02:09.031Z,1611784929.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:09.783Z,1611784929.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:10.180Z,1611784930.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:11.025Z,1611784931.025 [Micromodem](INFO): Nmea in: $SNTTA,0.076300,,,0.078807,220211.55*5E 2021-01-27T22:02:11.062Z,1611784931.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.239998 m, bearing: 175.469691 deg, deltaT: 4.415595 s, approachRate: -0.611470 m/s, LOS rate: -0.181505 deg/s, posRepo size: 4 2021-01-27T22:02:11.064Z,1611784931.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 114.239998 m, bearing: 175.469691 deg, approachRate: -0.611470 m/s, LOS rate: -0.181505 deg/s, cmd update: -0.907527 deg/s, cmd heading: 172.173829 deg, new cmd heading: 172.688435 deg. 2021-01-27T22:02:13.435Z,1611784933.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:14.210Z,1611784934.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:14.620Z,1611784934.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:15.461Z,1611784935.461 [Micromodem](INFO): Nmea in: $SNTTA,0.074527,,,,220215.98*44 2021-01-27T22:02:15.485Z,1611784935.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 174.247346 deg, deltaT: 4.537105 s, approachRate: -0.581869 m/s, LOS rate: -0.269411 deg/s, posRepo size: 4 2021-01-27T22:02:15.487Z,1611784935.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 111.599998 m, bearing: 174.247346 deg, approachRate: -0.581869 m/s, LOS rate: -0.269411 deg/s, cmd update: -1.347053 deg/s, cmd heading: 168.056329 deg, new cmd heading: 167.746179 deg. 2021-01-27T22:02:17.870Z,1611784937.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:18.658Z,1611784938.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:19.076Z,1611784939.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:19.921Z,1611784939.921 [Micromodem](INFO): Nmea in: $SNTTA,0.072816,,,,220220.43*4D 2021-01-27T22:02:19.980Z,1611784939.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 174.347026 deg, deltaT: 4.345657 s, approachRate: -0.593695 m/s, LOS rate: 0.022938 deg/s, posRepo size: 4 2021-01-27T22:02:20.007Z,1611784940.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 109.020004 m, bearing: 174.347026 deg, approachRate: -0.593695 m/s, LOS rate: 0.022938 deg/s, cmd update: 0.114689 deg/s, cmd heading: 162.203044 deg, new cmd heading: 161.557708 deg. 2021-01-27T22:02:22.074Z,1611784942.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:22.722Z,1611784942.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:23.133Z,1611784943.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:23.933Z,1611784943.933 [Micromodem](INFO): Nmea in: $SNTTA,0.071117,,,,220224.49*48 2021-01-27T22:02:24.002Z,1611784944.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.560005 m, bearing: 173.647902 deg, deltaT: 4.035242 s, approachRate: -0.609629 m/s, LOS rate: -0.173255 deg/s, posRepo size: 4 2021-01-27T22:02:24.016Z,1611784944.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 106.560005 m, bearing: 173.647902 deg, approachRate: -0.609629 m/s, LOS rate: -0.173255 deg/s, cmd update: -0.866273 deg/s, cmd heading: 162.665893 deg, new cmd heading: 162.720147 deg. 2021-01-27T22:02:26.415Z,1611784946.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:27.173Z,1611784947.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:27.551Z,1611784947.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:28.379Z,1611784948.379 [Micromodem](INFO): Nmea in: $SNTTA,0.069401,,,,220228.94*4F 2021-01-27T22:02:28.435Z,1611784948.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.919998 m, bearing: 173.534411 deg, deltaT: 4.506668 s, approachRate: -0.585800 m/s, LOS rate: -0.025183 deg/s, posRepo size: 4 2021-01-27T22:02:28.441Z,1611784948.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 103.919998 m, bearing: 173.534411 deg, approachRate: -0.585800 m/s, LOS rate: -0.025183 deg/s, cmd update: -0.125914 deg/s, cmd heading: 158.765560 deg, new cmd heading: 158.412222 deg. 2021-01-27T22:02:30.809Z,1611784950.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:31.590Z,1611784951.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:32.014Z,1611784952.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:32.833Z,1611784952.833 [Micromodem](INFO): Nmea in: $SNTTA,0.067480,,,,220233.36*4A 2021-01-27T22:02:32.849Z,1611784952.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 172.692440 deg, deltaT: 4.419504 s, approachRate: -0.651656 m/s, LOS rate: -0.190513 deg/s, posRepo size: 4 2021-01-27T22:02:32.850Z,1611784952.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 101.040001 m, bearing: 172.692440 deg, approachRate: -0.651656 m/s, LOS rate: -0.190513 deg/s, cmd update: -0.952563 deg/s, cmd heading: 158.209084 deg, new cmd heading: 158.158491 deg. 2021-01-27T22:02:35.415Z,1611784955.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:36.078Z,1611784956.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:36.460Z,1611784956.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:37.267Z,1611784957.267 [Micromodem](INFO): Nmea in: $SNTTA,0.065784,,,,220237.84*42 2021-01-27T22:02:37.323Z,1611784957.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.820000 m, bearing: 173.424227 deg, deltaT: 4.405809 s, approachRate: -0.503881 m/s, LOS rate: 0.166096 deg/s, posRepo size: 4 2021-01-27T22:02:37.326Z,1611784957.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 98.820000 m, bearing: 173.424227 deg, approachRate: -0.503881 m/s, LOS rate: 0.166096 deg/s, cmd update: 0.830479 deg/s, cmd heading: 154.008438 deg, new cmd heading: 153.563636 deg. 2021-01-27T22:02:39.681Z,1611784959.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:40.479Z,1611784960.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:40.876Z,1611784960.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:41.717Z,1611784961.717 [Micromodem](INFO): Nmea in: $SNTTA,0.064028,,,,220242.25*4B 2021-01-27T22:02:41.757Z,1611784961.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 171.556566 deg, deltaT: 4.497231 s, approachRate: -0.653736 m/s, LOS rate: -0.415291 deg/s, posRepo size: 4 2021-01-27T22:02:41.759Z,1611784961.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 95.879997 m, bearing: 171.556566 deg, approachRate: -0.653736 m/s, LOS rate: -0.415291 deg/s, cmd update: -2.076456 deg/s, cmd heading: 157.735900 deg, new cmd heading: 158.078627 deg. 2021-01-27T22:02:44.172Z,1611784964.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:44.918Z,1611784964.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:45.324Z,1611784965.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:46.181Z,1611784966.181 [Micromodem](INFO): Nmea in: $SNTTA,0.062485,,,,220246.69*42 2021-01-27T22:02:46.215Z,1611784966.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.540009 m, bearing: 173.934182 deg, deltaT: 4.396154 s, approachRate: -0.532281 m/s, LOS rate: 0.540840 deg/s, posRepo size: 4 2021-01-27T22:02:46.218Z,1611784966.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 93.540009 m, bearing: 173.934182 deg, approachRate: -0.532281 m/s, LOS rate: 0.540840 deg/s, cmd update: 2.704200 deg/s, cmd heading: 148.588673 deg, new cmd heading: 147.622425 deg. 2021-01-27T22:02:48.726Z,1611784968.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:49.382Z,1611784969.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:49.800Z,1611784969.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:50.605Z,1611784970.605 [Micromodem](INFO): Nmea in: $SNTTA,0.060884,,,,220251.15*40 2021-01-27T22:02:50.639Z,1611784970.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.139999 m, bearing: 173.717228 deg, deltaT: 4.482143 s, approachRate: -0.535460 m/s, LOS rate: -0.048404 deg/s, posRepo size: 4 2021-01-27T22:02:50.641Z,1611784970.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 91.139999 m, bearing: 173.717228 deg, approachRate: -0.535460 m/s, LOS rate: -0.048404 deg/s, cmd update: -0.242021 deg/s, cmd heading: 160.709412 deg, new cmd heading: 161.809648 deg. 2021-01-27T22:02:53.067Z,1611784973.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:53.858Z,1611784973.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:54.208Z,1611784974.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:55.105Z,1611784975.105 [Micromodem](INFO): Nmea in: $SNTTA,0.059329,,,,220255.62*42 2021-01-27T22:02:55.170Z,1611784975.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.800003 m, bearing: 174.017579 deg, deltaT: 4.404982 s, approachRate: -0.531216 m/s, LOS rate: 0.068184 deg/s, posRepo size: 4 2021-01-27T22:02:55.173Z,1611784975.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 88.800003 m, bearing: 174.017579 deg, approachRate: -0.531216 m/s, LOS rate: 0.068184 deg/s, cmd update: 0.340922 deg/s, cmd heading: 159.643369 deg, new cmd heading: 159.514276 deg. 2021-01-27T22:02:57.150Z,1611784977.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:02:57.862Z,1611784977.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:02:58.275Z,1611784978.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:02:59.116Z,1611784979.116 [Micromodem](INFO): Nmea in: $SNTTA,0.057897,,,,220259.63*4F 2021-01-27T22:02:59.180Z,1611784979.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 173.866481 deg, deltaT: 4.039644 s, approachRate: -0.534701 m/s, LOS rate: -0.037404 deg/s, posRepo size: 4 2021-01-27T22:02:59.182Z,1611784979.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 86.639999 m, bearing: 173.866481 deg, approachRate: -0.534701 m/s, LOS rate: -0.037404 deg/s, cmd update: -0.187018 deg/s, cmd heading: 161.020642 deg, new cmd heading: 161.190825 deg. 2021-01-27T22:03:01.514Z,1611784981.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:02.427Z,1611784982.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:02.788Z,1611784982.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:03.627Z,1611784983.627 [Micromodem](INFO): Nmea in: $SNTTA,0.056242,,,,220304.19*48 2021-01-27T22:03:03.672Z,1611784983.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 174.319815 deg, deltaT: 4.577399 s, approachRate: -0.537423 m/s, LOS rate: 0.099037 deg/s, posRepo size: 4 2021-01-27T22:03:03.674Z,1611784983.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 84.180000 m, bearing: 174.319815 deg, approachRate: -0.537423 m/s, LOS rate: 0.099037 deg/s, cmd update: 0.495187 deg/s, cmd heading: 160.168778 deg, new cmd heading: 160.090774 deg. 2021-01-27T22:03:06.055Z,1611784986.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:06.802Z,1611784986.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:07.217Z,1611784987.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:08.061Z,1611784988.061 [Micromodem](INFO): Nmea in: $SNTTA,0.054632,,,,220308.57*4F 2021-01-27T22:03:08.138Z,1611784988.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.780006 m, bearing: 173.918978 deg, deltaT: 4.391196 s, approachRate: -0.546547 m/s, LOS rate: -0.091282 deg/s, posRepo size: 4 2021-01-27T22:03:08.144Z,1611784988.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 81.780006 m, bearing: 173.918978 deg, approachRate: -0.546547 m/s, LOS rate: -0.091282 deg/s, cmd update: -0.456409 deg/s, cmd heading: 162.354148 deg, new cmd heading: 162.598196 deg. 2021-01-27T22:03:10.160Z,1611784990.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:10.465Z,1611784990.465 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T22:03:10.842Z,1611784990.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:11.248Z,1611784991.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:12.105Z,1611784992.105 [Micromodem](INFO): Nmea in: $SNTTA,0.053056,,,,220312.61*42 2021-01-27T22:03:12.170Z,1611784992.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 173.955274 deg, deltaT: 4.027656 s, approachRate: -0.580984 m/s, LOS rate: 0.009012 deg/s, posRepo size: 4 2021-01-27T22:03:12.172Z,1611784992.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 79.440002 m, bearing: 173.955274 deg, approachRate: -0.580984 m/s, LOS rate: 0.009012 deg/s, cmd update: 0.045058 deg/s, cmd heading: 160.515848 deg, new cmd heading: 160.288886 deg. 2021-01-27T22:03:14.512Z,1611784994.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:15.290Z,1611784995.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:15.820Z,1611784995.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:16.553Z,1611784996.553 [Micromodem](INFO): Nmea in: $SNTTA,0.051328,,,0.059160,220317.06*5B 2021-01-27T22:03:16.599Z,1611784996.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.800003 m, bearing: 174.032797 deg, deltaT: 4.582786 s, approachRate: -0.576069 m/s, LOS rate: 0.016916 deg/s, posRepo size: 4 2021-01-27T22:03:16.605Z,1611784996.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 76.800003 m, bearing: 174.032797 deg, approachRate: -0.576069 m/s, LOS rate: 0.016916 deg/s, cmd update: 0.084580 deg/s, cmd heading: 160.722167 deg, new cmd heading: 160.737827 deg. 2021-01-27T22:03:18.992Z,1611784998.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:19.730Z,1611784999.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:20.172Z,1611785000.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:20.991Z,1611785000.991 [Micromodem](INFO): Nmea in: $SNTTA,0.049553,,,,220321.50*4B 2021-01-27T22:03:21.041Z,1611785001.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.160004 m, bearing: 173.772416 deg, deltaT: 4.316899 s, approachRate: -0.611550 m/s, LOS rate: -0.060317 deg/s, posRepo size: 4 2021-01-27T22:03:21.043Z,1611785001.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 74.160004 m, bearing: 173.772416 deg, approachRate: -0.611550 m/s, LOS rate: -0.060317 deg/s, cmd update: -0.301583 deg/s, cmd heading: 161.085942 deg, new cmd heading: 161.125895 deg. 2021-01-27T22:03:23.411Z,1611785003.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:24.178Z,1611785004.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:24.589Z,1611785004.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:25.424Z,1611785005.424 [Micromodem](INFO): Nmea in: $SNTTA,0.047851,,,,220325.94*46 2021-01-27T22:03:25.449Z,1611785005.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 174.052850 deg, deltaT: 4.467379 s, approachRate: -0.564088 m/s, LOS rate: 0.062774 deg/s, posRepo size: 4 2021-01-27T22:03:25.451Z,1611785005.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 71.640007 m, bearing: 174.052850 deg, approachRate: -0.564088 m/s, LOS rate: 0.062774 deg/s, cmd update: 0.313869 deg/s, cmd heading: 159.732614 deg, new cmd heading: 159.609320 deg. 2021-01-27T22:03:27.826Z,1611785007.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:28.622Z,1611785008.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:29.145Z,1611785009.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:29.889Z,1611785009.889 [Micromodem](INFO): Nmea in: $SNTTA,0.046173,,,,220330.39*4D 2021-01-27T22:03:29.903Z,1611785009.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 173.608218 deg, deltaT: 4.496553 s, approachRate: -0.573775 m/s, LOS rate: -0.098883 deg/s, posRepo size: 4 2021-01-27T22:03:29.919Z,1611785009.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 69.059998 m, bearing: 173.608218 deg, approachRate: -0.573775 m/s, LOS rate: -0.098883 deg/s, cmd update: -0.494414 deg/s, cmd heading: 161.143916 deg, new cmd heading: 161.259024 deg. 2021-01-27T22:03:32.308Z,1611785012.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:33.062Z,1611785013.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:33.476Z,1611785013.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:34.317Z,1611785014.317 [Micromodem](INFO): Nmea in: $SNTTA,0.044472,,,,220334.83*4E 2021-01-27T22:03:34.375Z,1611785014.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 173.806116 deg, deltaT: 4.376795 s, approachRate: -0.589471 m/s, LOS rate: 0.045215 deg/s, posRepo size: 4 2021-01-27T22:03:34.385Z,1611785014.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 66.480003 m, bearing: 173.806116 deg, approachRate: -0.589471 m/s, LOS rate: 0.045215 deg/s, cmd update: 0.226076 deg/s, cmd heading: 158.981875 deg, new cmd heading: 158.751902 deg. 2021-01-27T22:03:36.717Z,1611785016.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:37.506Z,1611785017.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:37.908Z,1611785017.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:38.753Z,1611785018.753 [Micromodem](INFO): Nmea in: $SNTTA,0.042812,,,,220339.28*4E 2021-01-27T22:03:38.775Z,1611785018.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 173.479073 deg, deltaT: 4.448734 s, approachRate: -0.566454 m/s, LOS rate: -0.073514 deg/s, posRepo size: 4 2021-01-27T22:03:38.777Z,1611785018.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 63.959999 m, bearing: 173.479073 deg, approachRate: -0.566454 m/s, LOS rate: -0.073514 deg/s, cmd update: -0.367569 deg/s, cmd heading: 159.988526 deg, new cmd heading: 160.081931 deg. 2021-01-27T22:03:41.227Z,1611785021.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:41.950Z,1611785021.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:42.423Z,1611785022.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:43.238Z,1611785023.238 [Micromodem](INFO): Nmea in: $SNTTA,0.041113,,,,220343.72*47 2021-01-27T22:03:43.307Z,1611785023.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.500000 m, bearing: 174.791371 deg, deltaT: 4.535020 s, approachRate: -0.542445 m/s, LOS rate: 0.289370 deg/s, posRepo size: 4 2021-01-27T22:03:43.313Z,1611785023.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 61.500000 m, bearing: 174.791371 deg, approachRate: -0.542445 m/s, LOS rate: 0.289370 deg/s, cmd update: 1.446849 deg/s, cmd heading: 158.327546 deg, new cmd heading: 158.171110 deg. 2021-01-27T22:03:45.621Z,1611785025.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:46.394Z,1611785026.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:46.811Z,1611785026.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:47.653Z,1611785027.653 [Micromodem](INFO): Nmea in: $SNTTA,0.039453,,,,220348.16*40 2021-01-27T22:03:47.675Z,1611785027.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 174.336248 deg, deltaT: 4.376573 s, approachRate: -0.575793 m/s, LOS rate: -0.103991 deg/s, posRepo size: 4 2021-01-27T22:03:47.677Z,1611785027.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 58.980000 m, bearing: 174.336248 deg, approachRate: -0.575793 m/s, LOS rate: -0.103991 deg/s, cmd update: -0.519953 deg/s, cmd heading: 164.677474 deg, new cmd heading: 165.264151 deg. 2021-01-27T22:03:50.147Z,1611785030.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:50.838Z,1611785030.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:51.262Z,1611785031.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:52.121Z,1611785032.121 [Micromodem](INFO): Nmea in: $SNTTA,0.037825,,,,220352.61*48 2021-01-27T22:03:52.167Z,1611785032.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 174.922156 deg, deltaT: 4.410592 s, approachRate: -0.544144 m/s, LOS rate: 0.132841 deg/s, posRepo size: 4 2021-01-27T22:03:52.169Z,1611785032.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 56.580002 m, bearing: 174.922156 deg, approachRate: -0.544144 m/s, LOS rate: 0.132841 deg/s, cmd update: 0.664205 deg/s, cmd heading: 162.392544 deg, new cmd heading: 162.131313 deg. 2021-01-27T22:03:54.503Z,1611785034.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:55.346Z,1611785035.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:03:55.661Z,1611785035.661 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-01-27T22:03:55.663Z,1611785035.663 [BPC1](INFO): Received data from all battery sticks. 2021-01-27T22:03:55.712Z,1611785035.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:03:56.559Z,1611785036.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.939995 m, bearing: 175.058227 deg, deltaT: 4.495085 s, approachRate: -0.587310 m/s, LOS rate: 0.030271 deg/s, posRepo size: 4 2021-01-27T22:03:56.561Z,1611785036.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 53.939995 m, bearing: 175.058227 deg, approachRate: -0.587310 m/s, LOS rate: 0.030271 deg/s, cmd update: 0.151355 deg/s, cmd heading: 165.388855 deg, new cmd heading: 165.643687 deg. 2021-01-27T22:03:56.915Z,1611785036.915 [Micromodem](INFO): Nmea in: $SNTTA,0.036068,,,,220357.11*4A 2021-01-27T22:03:58.937Z,1611785038.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:03:59.738Z,1611785039.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:00.160Z,1611785040.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:00.993Z,1611785040.993 [Micromodem](INFO): Nmea in: $SNTTA,0.034450,,,,220401.50*46 2021-01-27T22:04:01.022Z,1611785041.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.479996 m, bearing: 174.611259 deg, deltaT: 4.373809 s, approachRate: -0.562439 m/s, LOS rate: -0.102192 deg/s, posRepo size: 4 2021-01-27T22:04:01.024Z,1611785041.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 51.479996 m, bearing: 174.611259 deg, approachRate: -0.562439 m/s, LOS rate: -0.102192 deg/s, cmd update: -0.510959 deg/s, cmd heading: 166.051456 deg, new cmd heading: 166.122419 deg. 2021-01-27T22:04:03.409Z,1611785043.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:04.182Z,1611785044.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:04.584Z,1611785044.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:05.425Z,1611785045.425 [Micromodem](INFO): Nmea in: $SNTTA,0.032675,,,,220405.95*48 2021-01-27T22:04:05.449Z,1611785045.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.779995 m, bearing: 175.151103 deg, deltaT: 4.506259 s, approachRate: -0.599167 m/s, LOS rate: 0.119799 deg/s, posRepo size: 4 2021-01-27T22:04:05.451Z,1611785045.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 48.779995 m, bearing: 175.151103 deg, approachRate: -0.599167 m/s, LOS rate: 0.119799 deg/s, cmd update: 0.598994 deg/s, cmd heading: 163.750968 deg, new cmd heading: 163.549998 deg. 2021-01-27T22:04:07.825Z,1611785047.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:08.618Z,1611785048.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:09.048Z,1611785049.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:09.865Z,1611785049.865 [Micromodem](INFO): Nmea in: $SNTTA,0.030903,,,,220410.38*47 2021-01-27T22:04:09.887Z,1611785049.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.139999 m, bearing: 175.390584 deg, deltaT: 4.414679 s, approachRate: -0.598004 m/s, LOS rate: 0.054246 deg/s, posRepo size: 4 2021-01-27T22:04:09.889Z,1611785049.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 46.139999 m, bearing: 175.390584 deg, approachRate: -0.598004 m/s, LOS rate: 0.054246 deg/s, cmd update: 0.271232 deg/s, cmd heading: 166.395354 deg, new cmd heading: 166.645136 deg. 2021-01-27T22:04:12.313Z,1611785052.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:13.054Z,1611785053.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:13.466Z,1611785053.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:14.305Z,1611785054.305 [Micromodem](INFO): Nmea in: $SNTTA,0.029175,,,,220414.82*43 2021-01-27T22:04:14.355Z,1611785054.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 174.246745 deg, deltaT: 4.411234 s, approachRate: -0.584871 m/s, LOS rate: -0.259301 deg/s, posRepo size: 4 2021-01-27T22:04:14.357Z,1611785054.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 43.559998 m, bearing: 174.246745 deg, approachRate: -0.584871 m/s, LOS rate: -0.259301 deg/s, cmd update: -1.296506 deg/s, cmd heading: 167.592880 deg, new cmd heading: 167.720328 deg. 2021-01-27T22:04:16.722Z,1611785056.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:17.506Z,1611785057.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:17.920Z,1611785057.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:18.754Z,1611785058.754 [Micromodem](INFO): Nmea in: $SNTTA,0.027508,,,,220419.27*41 2021-01-27T22:04:18.804Z,1611785058.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 174.373336 deg, deltaT: 4.509236 s, approachRate: -0.558853 m/s, LOS rate: 0.028074 deg/s, posRepo size: 4 2021-01-27T22:04:18.806Z,1611785058.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 41.039997 m, bearing: 174.373336 deg, approachRate: -0.558853 m/s, LOS rate: 0.028074 deg/s, cmd update: 0.140368 deg/s, cmd heading: 161.751706 deg, new cmd heading: 161.215717 deg. 2021-01-27T22:04:21.225Z,1611785061.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:21.955Z,1611785061.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:22.373Z,1611785062.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:23.198Z,1611785063.198 [Micromodem](INFO): Nmea in: $SNTTA,0.025745,,0.038307,,220423.72*50 2021-01-27T22:04:23.231Z,1611785063.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 173.055601 deg, deltaT: 4.399199 s, approachRate: -0.600109 m/s, LOS rate: -0.299540 deg/s, posRepo size: 4 2021-01-27T22:04:23.232Z,1611785063.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m. 2021-01-27T22:04:23.234Z,1611785063.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 38.399998 m, bearing: 173.055601 deg, approachRate: -0.600109 m/s, LOS rate: -0.299540 deg/s, cmd update: -1.497698 deg/s, cmd heading: 162.369216 deg, new cmd heading: 162.431190 deg. 2021-01-27T22:04:23.610Z,1611785063.610 [PowerOnly](INFO): Powering up loadControl 2021-01-27T22:04:25.626Z,1611785065.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:26.513Z,1611785066.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:26.836Z,1611785066.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:27.717Z,1611785067.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.999996 m, bearing: 175.033160 deg, deltaT: 4.527739 s, approachRate: -0.530066 m/s, LOS rate: 0.436765 deg/s, posRepo size: 4 2021-01-27T22:04:27.717Z,1611785067.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m. 2021-01-27T22:04:27.719Z,1611785067.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 35.999996 m, bearing: 175.033160 deg, approachRate: -0.530066 m/s, LOS rate: 0.436765 deg/s, cmd update: 2.183825 deg/s, cmd heading: 155.588175 deg, new cmd heading: 154.998842 deg. 2021-01-27T22:04:28.088Z,1611785068.088 [Micromodem](INFO): Nmea in: $SNTTA,0.024099,,,,220428.28*42 2021-01-27T22:04:30.126Z,1611785070.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:30.843Z,1611785070.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:31.244Z,1611785071.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:32.100Z,1611785072.100 [Micromodem](INFO): Nmea in: $SNTTA,0.022631,,,,220432.61*46 2021-01-27T22:04:32.165Z,1611785072.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 178.449634 deg, deltaT: 4.335833 s, approachRate: -0.525850 m/s, LOS rate: 0.787963 deg/s, posRepo size: 4 2021-01-27T22:04:32.165Z,1611785072.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m. 2021-01-27T22:04:32.167Z,1611785072.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 33.719997 m, bearing: 178.449634 deg, approachRate: -0.525850 m/s, LOS rate: 0.787963 deg/s, cmd update: 3.939813 deg/s, cmd heading: 165.065474 deg, new cmd heading: 166.172580 deg. 2021-01-27T22:04:34.164Z,1611785074.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:34.879Z,1611785074.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:35.292Z,1611785075.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:36.131Z,1611785076.131 [Micromodem](INFO): Nmea in: $SNTTA,0.021218,,,,220436.65*4A 2021-01-27T22:04:36.166Z,1611785076.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.620001 m, bearing: 180.206413 deg, deltaT: 4.074870 s, approachRate: -0.515353 m/s, LOS rate: 0.431125 deg/s, posRepo size: 4 2021-01-27T22:04:36.166Z,1611785076.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.62 m. 2021-01-27T22:04:36.181Z,1611785076.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 31.620001 m, bearing: 180.206413 deg, approachRate: -0.515353 m/s, LOS rate: 0.431125 deg/s, cmd update: 2.155626 deg/s, cmd heading: 181.092806 deg, new cmd heading: 182.828821 deg. 2021-01-27T22:04:38.536Z,1611785078.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:39.326Z,1611785079.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:39.752Z,1611785079.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:40.585Z,1611785080.585 [Micromodem](INFO): Nmea in: $SNTTA,0.019621,,,,220441.09*45 2021-01-27T22:04:40.607Z,1611785080.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 181.810579 deg, deltaT: 4.509384 s, approachRate: -0.532224 m/s, LOS rate: 0.355739 deg/s, posRepo size: 4 2021-01-27T22:04:40.608Z,1611785080.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m. 2021-01-27T22:04:40.610Z,1611785080.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 29.219999 m, bearing: 181.810579 deg, approachRate: -0.532224 m/s, LOS rate: 0.355739 deg/s, cmd update: 1.778697 deg/s, cmd heading: 190.828188 deg, new cmd heading: 191.615948 deg. 2021-01-27T22:04:43.046Z,1611785083.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:43.786Z,1611785083.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:44.211Z,1611785084.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:45.053Z,1611785085.053 [Micromodem](INFO): Nmea in: $SNTTA,0.018009,,,,220445.55*45 2021-01-27T22:04:45.134Z,1611785085.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.819998 m, bearing: 178.770393 deg, deltaT: 4.393703 s, approachRate: -0.546237 m/s, LOS rate: -0.691941 deg/s, posRepo size: 4 2021-01-27T22:04:45.134Z,1611785085.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.82 m. 2021-01-27T22:04:45.141Z,1611785085.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 26.819998 m, bearing: 178.770393 deg, approachRate: -0.546237 m/s, LOS rate: -0.691941 deg/s, cmd update: -3.459707 deg/s, cmd heading: 198.636002 deg, new cmd heading: 199.529511 deg. 2021-01-27T22:04:47.488Z,1611785087.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:48.238Z,1611785088.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:48.636Z,1611785088.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:49.477Z,1611785089.477 [Micromodem](INFO): Nmea in: $SNTTA,0.016566,,,,220450.00*43 2021-01-27T22:04:49.542Z,1611785089.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.600000 m, bearing: 174.782027 deg, deltaT: 4.504361 s, approachRate: -0.492855 m/s, LOS rate: -0.885445 deg/s, posRepo size: 4 2021-01-27T22:04:49.543Z,1611785089.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.60 m. 2021-01-27T22:04:49.566Z,1611785089.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 24.600000 m, bearing: 174.782027 deg, approachRate: -0.492855 m/s, LOS rate: -0.885445 deg/s, cmd update: -4.427227 deg/s, cmd heading: 183.052044 deg, new cmd heading: 181.650967 deg. 2021-01-27T22:04:51.886Z,1611785091.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:52.684Z,1611785092.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:53.118Z,1611785093.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:53.862Z,1611785093.862 [DDM](FAULT): Failed to extend whisker before timeout. 2021-01-27T22:04:53.862Z,1611785093.862 [DDM] Hardware Fault, FailCount= 1 2021-01-27T22:04:53.862Z,1611785093.862 [DDM](ERROR): Hardware Fault 2021-01-27T22:04:53.887Z,1611785093.887 [Micromodem](INFO): Nmea in: $SNTTA,0.015064,,,,220454.45*42 2021-01-27T22:04:53.926Z,1611785093.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.379997 m, bearing: 176.429633 deg, deltaT: 4.389962 s, approachRate: -0.505700 m/s, LOS rate: 0.375312 deg/s, posRepo size: 4 2021-01-27T22:04:53.926Z,1611785093.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.38 m. 2021-01-27T22:04:53.937Z,1611785093.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 22.379997 m, bearing: 176.429633 deg, approachRate: -0.505700 m/s, LOS rate: 0.375312 deg/s, cmd update: 1.876560 deg/s, cmd heading: 163.616677 deg, new cmd heading: 161.843666 deg. 2021-01-27T22:04:54.077Z,1611785094.077 [CBIT](ERROR): Hardware Fault in component: DDM 2021-01-27T22:04:54.264Z,1611785094.264 [DDM](INFO): Powering down 2021-01-27T22:04:55.311Z,1611785095.311 [CBIT](INFO): Clearing failed state for component DDM 2021-01-27T22:04:55.312Z,1611785095.312 [DDM] No Fault, FailCount= 1 2021-01-27T22:04:56.347Z,1611785096.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:04:57.109Z,1611785097.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:04:57.516Z,1611785097.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:04:58.329Z,1611785098.329 [Micromodem](INFO): Nmea in: $SNTTA,0.013660,,,,220458.88*4B 2021-01-27T22:04:58.383Z,1611785098.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 170.504116 deg, deltaT: 4.383109 s, approachRate: -0.492801 m/s, LOS rate: -1.351898 deg/s, posRepo size: 4 2021-01-27T22:04:58.388Z,1611785098.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.22 m. 2021-01-27T22:04:58.390Z,1611785098.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 20.219997 m, bearing: 170.504116 deg, approachRate: -0.492801 m/s, LOS rate: -1.351898 deg/s, cmd update: -6.759491 deg/s, cmd heading: 171.849173 deg, new cmd heading: 172.732620 deg. 2021-01-27T22:04:59.510Z,1611785099.510 [DDM](INFO): Powering up 2021-01-27T22:04:59.510Z,1611785099.510 [DDM](DEBUG): Initializing DDM. 2021-01-27T22:05:00.746Z,1611785100.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:01.530Z,1611785101.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:01.942Z,1611785101.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:02.761Z,1611785102.761 [Micromodem](INFO): Nmea in: $SNTTA,0.012203,,,,220503.29*4F 2021-01-27T22:05:02.799Z,1611785102.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 169.538218 deg, deltaT: 4.479056 s, approachRate: -0.468848 m/s, LOS rate: -0.215648 deg/s, posRepo size: 4 2021-01-27T22:05:02.800Z,1611785102.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.12 m. 2021-01-27T22:05:02.802Z,1611785102.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 18.120001 m, bearing: 169.538218 deg, approachRate: -0.468848 m/s, LOS rate: -0.215648 deg/s, cmd update: -1.078238 deg/s, cmd heading: 141.572177 deg, new cmd heading: 138.818259 deg. 2021-01-27T22:05:05.201Z,1611785105.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:06.015Z,1611785106.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:06.378Z,1611785106.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:07.225Z,1611785107.225 [Micromodem](INFO): Nmea in: $SNTTA,0.010625,,,,220507.78*4D 2021-01-27T22:05:07.279Z,1611785107.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.719999 m, bearing: 166.256517 deg, deltaT: 4.409375 s, approachRate: -0.544295 m/s, LOS rate: -0.744255 deg/s, posRepo size: 4 2021-01-27T22:05:07.280Z,1611785107.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 15.72 m. 2021-01-27T22:05:07.282Z,1611785107.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 15.719999 m, bearing: 166.256517 deg, approachRate: -0.544295 m/s, LOS rate: -0.744255 deg/s, cmd update: -3.721277 deg/s, cmd heading: 136.818093 deg, new cmd heading: 136.302499 deg. 2021-01-27T22:05:09.654Z,1611785109.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:10.417Z,1611785110.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:10.824Z,1611785110.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:11.645Z,1611785111.645 [Micromodem](INFO): Nmea in: $SNTTA,0.009204,,,,220512.18*40 2021-01-27T22:05:11.682Z,1611785111.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 172.574797 deg, deltaT: 4.477669 s, approachRate: -0.482394 m/s, LOS rate: 1.411065 deg/s, posRepo size: 4 2021-01-27T22:05:11.683Z,1611785111.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.56 m. 2021-01-27T22:05:11.685Z,1611785111.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 13.559999 m, bearing: 172.574797 deg, approachRate: -0.482394 m/s, LOS rate: 1.411065 deg/s, cmd update: 7.055323 deg/s, cmd heading: 120.154913 deg, new cmd heading: 118.653240 deg. 2021-01-27T22:05:14.110Z,1611785114.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:14.904Z,1611785114.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:15.273Z,1611785115.273 [DDM](INFO): Dynamic Docking Module: Capture Rev 1.1 2021-01-27T22:05:15.396Z,1611785115.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:16.139Z,1611785116.139 [Micromodem](INFO): Nmea in: $SNTTA,0.008129,,,,220516.73*44 2021-01-27T22:05:16.198Z,1611785116.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 190.644950 deg, deltaT: 4.490390 s, approachRate: -0.334047 m/s, LOS rate: 4.024184 deg/s, posRepo size: 4 2021-01-27T22:05:16.199Z,1611785116.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.06 m. 2021-01-27T22:05:16.199Z,1611785116.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 12.06 m. 2021-01-27T22:05:16.199Z,1611785116.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2021-01-27T22:05:16.201Z,1611785116.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 12.059997 m, bearing: 190.644950 deg, approachRate: -0.334047 m/s, LOS rate: 4.024184 deg/s, cmd update: 12.000000 deg/s, cmd heading: 151.814362 deg, new cmd heading: 154.864279 deg. 2021-01-27T22:05:18.546Z,1611785118.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:19.346Z,1611785119.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:19.744Z,1611785119.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:20.589Z,1611785120.589 [Micromodem](INFO): Nmea in: $SNTTA,0.007400,,,,220521.11*45 2021-01-27T22:05:20.630Z,1611785120.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 199.024800 deg, deltaT: 4.498346 s, approachRate: -0.253425 m/s, LOS rate: 1.862873 deg/s, posRepo size: 4 2021-01-27T22:05:20.632Z,1611785120.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 10.920002 m, bearing: 199.024800 deg, approachRate: -0.253425 m/s, LOS rate: 1.862873 deg/s, cmd update: 9.314367 deg/s, cmd heading: 205.670328 deg, new cmd heading: 210.186612 deg. 2021-01-27T22:05:23.030Z,1611785123.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:23.782Z,1611785123.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:24.188Z,1611785124.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:25.037Z,1611785125.037 [Micromodem](INFO): Nmea in: $SNTTA,0.006553,,,,220525.55*47 2021-01-27T22:05:25.067Z,1611785125.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.660001 m, bearing: 203.370699 deg, deltaT: 4.359557 s, approachRate: -0.289020 m/s, LOS rate: 0.996867 deg/s, posRepo size: 4 2021-01-27T22:05:25.072Z,1611785125.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 9.660001 m, bearing: 203.370699 deg, approachRate: -0.289020 m/s, LOS rate: 0.996867 deg/s, cmd update: 4.984336 deg/s, cmd heading: 246.254535 deg, new cmd heading: 250.503899 deg. 2021-01-27T22:05:27.138Z,1611785127.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:27.818Z,1611785127.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:28.232Z,1611785128.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:29.073Z,1611785129.073 [Micromodem](INFO): Nmea in: $SNTTA,0.005645,,,,220529.59*40 2021-01-27T22:05:29.146Z,1611785129.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 210.753082 deg, deltaT: 4.043007 s, approachRate: -0.341331 m/s, LOS rate: 1.825963 deg/s, posRepo size: 4 2021-01-27T22:05:29.154Z,1611785129.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.279999 m, bearing: 210.753082 deg, approachRate: -0.341331 m/s, LOS rate: 1.825963 deg/s, cmd update: 9.129817 deg/s, cmd heading: 266.466131 deg, new cmd heading: 268.857057 deg. 2021-01-27T22:05:31.489Z,1611785131.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:32.266Z,1611785132.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:32.719Z,1611785132.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:33.517Z,1611785133.517 [Micromodem](INFO): Nmea in: $SNTTA,0.004293,,,,220534.03*4D 2021-01-27T22:05:33.539Z,1611785133.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 217.705545 deg, deltaT: 4.492686 s, approachRate: -0.440716 m/s, LOS rate: 1.547507 deg/s, posRepo size: 4 2021-01-27T22:05:33.541Z,1611785133.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 6.300001 m, bearing: 217.705545 deg, approachRate: -0.440716 m/s, LOS rate: 1.547507 deg/s, cmd update: 7.737535 deg/s, cmd heading: 307.520013 deg, new cmd heading: 310.955655 deg. 2021-01-27T22:05:35.913Z,1611785135.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:36.710Z,1611785136.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:37.135Z,1611785137.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:37.964Z,1611785137.964 [Micromodem](INFO): Nmea in: $SNTTA,0.002916,,,,220538.48*4E 2021-01-27T22:05:38.025Z,1611785138.025 [lineCaptureDepth:SetNavAcoustic] Running Loop=1 2021-01-27T22:05:38.025Z,1611785138.025 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic 2021-01-27T22:05:38.025Z,1611785138.025 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1 2021-01-27T22:05:38.025Z,1611785138.025 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-01-27T22:05:38.025Z,1611785138.025 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1 2021-01-27T22:05:38.026Z,1611785138.026 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 2021-01-27T22:05:38.026Z,1611785138.026 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped 2021-01-27T22:05:38.026Z,1611785138.026 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1 2021-01-27T22:05:38.026Z,1611785138.026 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent. 2021-01-27T22:05:38.032Z,1611785138.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 235.716085 deg, deltaT: 4.393915 s, approachRate: -0.477934 m/s, LOS rate: 4.098973 deg/s, posRepo size: 4 2021-01-27T22:05:38.034Z,1611785138.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 4.199998 m, bearing: 235.716085 deg, approachRate: -0.477934 m/s, LOS rate: 4.098973 deg/s, cmd update: 12.000000 deg/s, cmd heading: 341.457292 deg, new cmd heading: 345.166048 deg. 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210127T220538: (41.551998, -70.709610) 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent. 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic 2021-01-27T22:05:38.389Z,1611785138.389 [lineCaptureDepth:SetNavAcoustic] Stopped 2021-01-27T22:05:38.390Z,1611785138.390 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic 2021-01-27T22:05:38.775Z,1611785138.775 [UniversalFixResidualReporter](INFO): Fix residual: 6.3 %DT, over the last 957.8 m. Residual distance 59.9 m at bearing 85.5 degrees. Fix at (41.5532, -70.7123) with 0.0 m made good. 2021-01-27T22:05:40.394Z,1611785140.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:41.170Z,1611785141.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:41.560Z,1611785141.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:42.393Z,1611785142.393 [Micromodem](INFO): Nmea in: $SNTTA,0.001609,,,,220542.94*40 2021-01-27T22:05:42.443Z,1611785142.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.280001 m, bearing: 249.971728 deg, deltaT: 4.464655 s, approachRate: -0.430044 m/s, LOS rate: 3.193000 deg/s, posRepo size: 4 2021-01-27T22:05:42.445Z,1611785142.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 2.280001 m, bearing: 249.971728 deg, approachRate: -0.430044 m/s, LOS rate: 3.193000 deg/s, cmd update: 12.000000 deg/s, cmd heading: 35.077746 deg, new cmd heading: 40.183662 deg. 2021-01-27T22:05:44.817Z,1611785144.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:45.594Z,1611785145.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:46.024Z,1611785146.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:46.841Z,1611785146.841 [Micromodem](INFO): Nmea in: $SNTTA,0.002205,,,,220547.36*46 2021-01-27T22:05:46.857Z,1611785146.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 253.623994 deg, deltaT: 4.424104 s, approachRate: 0.230555 m/s, LOS rate: 0.825538 deg/s, posRepo size: 4 2021-01-27T22:05:46.858Z,1611785146.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 3.300000 m, bearing: 253.623994 deg, approachRate: 0.230555 m/s, LOS rate: 0.825538 deg/s, cmd update: 4.127690 deg/s, cmd heading: 88.216832 deg, new cmd heading: 93.147092 deg. 2021-01-27T22:05:49.287Z,1611785149.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:50.058Z,1611785150.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:50.444Z,1611785150.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:51.281Z,1611785151.281 [Micromodem](INFO): Nmea in: $SNTTA,0.003653,,,,220551.83*49 2021-01-27T22:05:51.341Z,1611785151.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 242.243724 deg, deltaT: 4.420498 s, approachRate: 0.447913 m/s, LOS rate: -2.574432 deg/s, posRepo size: 4 2021-01-27T22:05:51.343Z,1611785151.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 5.279998 m, bearing: 242.243724 deg, approachRate: 0.447913 m/s, LOS rate: -2.574432 deg/s, cmd update: -12.000000 deg/s, cmd heading: 106.463425 deg, new cmd heading: 108.421506 deg. 2021-01-27T22:05:53.694Z,1611785153.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:54.490Z,1611785154.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:54.888Z,1611785154.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:05:55.729Z,1611785155.729 [Micromodem](INFO): Nmea in: $SNTTA,0.005288,,,0.041855,220556.26*56 2021-01-27T22:05:55.766Z,1611785155.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 256.703863 deg, deltaT: 4.485798 s, approachRate: 0.615276 m/s, LOS rate: 3.223538 deg/s, posRepo size: 4 2021-01-27T22:05:55.767Z,1611785155.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 8.040000 m, bearing: 256.703863 deg, approachRate: 0.615276 m/s, LOS rate: 3.223538 deg/s, cmd update: 12.000000 deg/s, cmd heading: 52.635108 deg, new cmd heading: 47.670144 deg. 2021-01-27T22:05:58.143Z,1611785158.143 [PowerOnly](INFO): Powering down loadControl 2021-01-27T22:05:58.178Z,1611785158.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:05:58.938Z,1611785158.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:05:59.336Z,1611785159.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:00.194Z,1611785160.194 [Micromodem](INFO): Nmea in: $SNTTA,0.007062,,,,220600.71*43 2021-01-27T22:06:00.228Z,1611785160.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.680000 m, bearing: 220.639480 deg, deltaT: 4.419379 s, approachRate: 0.597369 m/s, LOS rate: -8.160509 deg/s, posRepo size: 4 2021-01-27T22:06:00.229Z,1611785160.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.68 m. Rolling out. 2021-01-27T22:06:00.229Z,1611785160.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2021-01-27T22:06:02.583Z,1611785162.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:03.387Z,1611785163.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:03.796Z,1611785163.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:04.642Z,1611785164.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 167.726346 deg, deltaT: 4.477208 s, approachRate: 0.482443 m/s, LOS rate: -11.818333 deg/s, posRepo size: 4 2021-01-27T22:06:05.008Z,1611785165.008 [Micromodem](INFO): Nmea in: $SNTTA,0.008509,,,,220605.20*45 2021-01-27T22:06:07.077Z,1611785167.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:07.830Z,1611785167.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:08.236Z,1611785168.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:09.089Z,1611785169.089 [Micromodem](INFO): Nmea in: $SNTTA,0.009422,,,,220609.60*44 2021-01-27T22:06:09.184Z,1611785169.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 130.029726 deg, deltaT: 4.410402 s, approachRate: 0.312897 m/s, LOS rate: -8.547207 deg/s, posRepo size: 4 2021-01-27T22:06:11.490Z,1611785171.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:12.267Z,1611785172.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:12.694Z,1611785172.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:13.509Z,1611785173.509 [Micromodem](INFO): Nmea in: $SNTTA,0.009821,,,,220614.03*42 2021-01-27T22:06:13.534Z,1611785173.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 66.126524 deg, deltaT: 4.497165 s, approachRate: 0.120075 m/s, LOS rate: -14.209664 deg/s, posRepo size: 4 2021-01-27T22:06:15.925Z,1611785175.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:16.702Z,1611785176.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:17.134Z,1611785177.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:17.956Z,1611785177.956 [Micromodem](INFO): Nmea in: $SNTTA,0.009649,,,,220618.47*4E 2021-01-27T22:06:18.019Z,1611785178.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 73.285170 deg, deltaT: 4.400701 s, approachRate: -0.054536 m/s, LOS rate: 1.626706 deg/s, posRepo size: 4 2021-01-27T22:06:20.376Z,1611785180.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:21.178Z,1611785181.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:21.556Z,1611785181.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:22.387Z,1611785182.387 [Micromodem](INFO): Nmea in: $SNTTA,0.008948,,,,220622.94*46 2021-01-27T22:06:22.421Z,1611785182.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.599998 m, bearing: 114.582475 deg, deltaT: 4.477066 s, approachRate: 0.241229 m/s, LOS rate: 9.224189 deg/s, posRepo size: 4 2021-01-27T22:06:24.798Z,1611785184.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:25.605Z,1611785185.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:26.028Z,1611785186.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:26.837Z,1611785186.837 [Micromodem](INFO): Nmea in: $SNTTA,0.008410,,,,220627.37*4A 2021-01-27T22:06:26.859Z,1611785186.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.660002 m, bearing: 37.309782 deg, deltaT: 4.392278 s, approachRate: -0.669356 m/s, LOS rate: -17.592850 deg/s, posRepo size: 4 2021-01-27T22:06:29.296Z,1611785189.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:30.058Z,1611785190.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:30.456Z,1611785190.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:31.302Z,1611785191.302 [Micromodem](INFO): Nmea in: $SNTTA,0.008143,,0.017857,,220631.82*52 2021-01-27T22:06:31.357Z,1611785191.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 42.141864 deg, deltaT: 4.450428 s, approachRate: -0.094373 m/s, LOS rate: 1.085757 deg/s, posRepo size: 4 2021-01-27T22:06:33.701Z,1611785193.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:34.506Z,1611785194.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:34.919Z,1611785194.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:35.745Z,1611785195.745 [Micromodem](INFO): Nmea in: $SNTTA,0.008451,,,,220636.27*4E 2021-01-27T22:06:35.767Z,1611785195.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 77.686715 deg, deltaT: 4.502562 s, approachRate: 0.106606 m/s, LOS rate: 7.894361 deg/s, posRepo size: 4 2021-01-27T22:06:38.220Z,1611785198.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:38.941Z,1611785198.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:39.348Z,1611785199.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:40.198Z,1611785200.198 [Micromodem](INFO): Nmea in: $SNTTA,0.009103,,0.044003,,220640.71*52 2021-01-27T22:06:40.231Z,1611785200.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 60.649635 deg, deltaT: 4.417648 s, approachRate: 0.611185 m/s, LOS rate: -3.856595 deg/s, posRepo size: 4 2021-01-27T22:06:42.614Z,1611785202.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:43.386Z,1611785203.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:43.800Z,1611785203.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:44.633Z,1611785204.633 [Micromodem](INFO): Nmea in: $SNTTA,0.010064,,,,220645.15*40 2021-01-27T22:06:44.655Z,1611785204.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 50.155824 deg, deltaT: 4.442664 s, approachRate: -0.040516 m/s, LOS rate: -2.362054 deg/s, posRepo size: 4 2021-01-27T22:06:46.328Z,1611785206.328 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout 2021-01-27T22:06:46.328Z,1611785206.328 [RDI_PathfinderUp] Communications Fault, FailCount= 1 2021-01-27T22:06:46.328Z,1611785206.328 [RDI_PathfinderUp](ERROR): Communications Fault 2021-01-27T22:06:46.479Z,1611785206.479 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp 2021-01-27T22:06:46.696Z,1611785206.696 [RDI_PathfinderUp](INFO): Powering down 2021-01-27T22:06:47.087Z,1611785207.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:47.571Z,1611785207.571 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp 2021-01-27T22:06:47.573Z,1611785207.573 [RDI_PathfinderUp] No Fault, FailCount= 1 2021-01-27T22:06:47.826Z,1611785207.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:48.235Z,1611785208.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:49.085Z,1611785209.085 [Micromodem](INFO): Nmea in: $SNTTA,0.011217,,,,220649.59*43 2021-01-27T22:06:49.134Z,1611785209.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.000000 m, bearing: 73.344812 deg, deltaT: 4.412909 s, approachRate: 0.625437 m/s, LOS rate: 5.254807 deg/s, posRepo size: 4 2021-01-27T22:06:51.489Z,1611785211.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:52.270Z,1611785212.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:52.680Z,1611785212.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:53.513Z,1611785213.513 [Micromodem](INFO): Nmea in: $SNTTA,0.012642,,,,220654.04*40 2021-01-27T22:06:53.560Z,1611785213.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 68.289556 deg, deltaT: 4.474214 s, approachRate: 0.254794 m/s, LOS rate: -1.129864 deg/s, posRepo size: 4 2021-01-27T22:06:55.921Z,1611785215.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:06:56.716Z,1611785216.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:06:57.134Z,1611785217.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:06:57.970Z,1611785217.970 [Micromodem](INFO): Nmea in: $SNTTA,0.014101,,,,220658.48*42 2021-01-27T22:06:58.036Z,1611785218.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.299999 m, bearing: 60.324395 deg, deltaT: 4.430173 s, approachRate: 0.487565 m/s, LOS rate: -1.797935 deg/s, posRepo size: 4 2021-01-27T22:07:00.387Z,1611785220.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:01.170Z,1611785221.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:01.572Z,1611785221.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:02.417Z,1611785222.417 [Micromodem](INFO): Nmea in: $SNTTA,0.015778,,,,220702.93*43 2021-01-27T22:07:02.442Z,1611785222.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 122.300985 deg, deltaT: 4.534517 s, approachRate: 0.555737 m/s, LOS rate: 13.667738 deg/s, posRepo size: 4 2021-01-27T22:07:04.841Z,1611785224.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:05.606Z,1611785225.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:06.044Z,1611785226.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:06.849Z,1611785226.849 [Micromodem](INFO): Nmea in: $SNTTA,0.017442,,,,220707.37*40 2021-01-27T22:07:06.878Z,1611785226.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 127.578863 deg, deltaT: 4.361863 s, approachRate: 0.563980 m/s, LOS rate: 1.210006 deg/s, posRepo size: 4 2021-01-27T22:07:09.283Z,1611785229.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:10.074Z,1611785230.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:10.456Z,1611785230.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:11.281Z,1611785231.281 [Micromodem](INFO): Nmea in: $SNTTA,0.019176,,,,220711.84*43 2021-01-27T22:07:11.314Z,1611785231.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 67.729016 deg, deltaT: 4.453473 s, approachRate: 0.606267 m/s, LOS rate: -13.438915 deg/s, posRepo size: 4 2021-01-27T22:07:13.758Z,1611785233.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:14.502Z,1611785234.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:14.908Z,1611785234.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:15.753Z,1611785235.753 [Micromodem](INFO): Nmea in: $SNTTA,0.020936,,,,220716.27*4B 2021-01-27T22:07:15.777Z,1611785235.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.279999 m, bearing: 90.130036 deg, deltaT: 4.438643 s, approachRate: 0.743471 m/s, LOS rate: 5.046817 deg/s, posRepo size: 4 2021-01-27T22:07:18.163Z,1611785238.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:18.938Z,1611785238.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:19.344Z,1611785239.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:20.181Z,1611785240.181 [Micromodem](INFO): Nmea in: $SNTTA,0.022610,,,,220720.70*45 2021-01-27T22:07:20.217Z,1611785240.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 93.727674 deg, deltaT: 4.456480 s, approachRate: 0.525079 m/s, LOS rate: 0.807282 deg/s, posRepo size: 4 2021-01-27T22:07:22.605Z,1611785242.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:23.386Z,1611785243.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:23.792Z,1611785243.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:24.630Z,1611785244.630 [Micromodem](INFO): Nmea in: $SNTTA,0.024383,,,0.026876,220725.15*59 2021-01-27T22:07:24.651Z,1611785244.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.320004 m, bearing: 89.741910 deg, deltaT: 4.437056 s, approachRate: 0.608512 m/s, LOS rate: -0.898290 deg/s, posRepo size: 4 2021-01-27T22:07:27.099Z,1611785247.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:27.826Z,1611785247.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:28.232Z,1611785248.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:29.077Z,1611785249.077 [Micromodem](INFO): Nmea in: $SNTTA,0.026213,,,,220729.59*44 2021-01-27T22:07:29.139Z,1611785249.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.599998 m, bearing: 82.065187 deg, deltaT: 4.427213 s, approachRate: 0.514996 m/s, LOS rate: -1.733985 deg/s, posRepo size: 4 2021-01-27T22:07:31.485Z,1611785251.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:32.270Z,1611785252.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:32.685Z,1611785252.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:33.517Z,1611785253.517 [Micromodem](INFO): Nmea in: $SNTTA,0.028081,,,,220734.04*47 2021-01-27T22:07:33.539Z,1611785253.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 102.732896 deg, deltaT: 4.448216 s, approachRate: 0.755359 m/s, LOS rate: 4.646292 deg/s, posRepo size: 4 2021-01-27T22:07:35.937Z,1611785255.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:36.738Z,1611785256.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:37.120Z,1611785257.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:37.945Z,1611785257.945 [Micromodem](INFO): Nmea in: $SNTTA,0.029897,,,,220738.50*44 2021-01-27T22:07:38.790Z,1611785258.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:40.345Z,1611785260.345 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:07:41.587Z,1611785261.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:42.382Z,1611785262.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:42.816Z,1611785262.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:43.637Z,1611785263.637 [Micromodem](INFO): Nmea in: $SNTTA,0.032208,,,,220744.15*48 2021-01-27T22:07:43.659Z,1611785263.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 100.328232 deg, deltaT: 10.148436 s, approachRate: 0.591224 m/s, LOS rate: -0.236949 deg/s, posRepo size: 4 2021-01-27T22:07:46.095Z,1611785266.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:46.827Z,1611785266.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:47.236Z,1611785267.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:48.081Z,1611785268.081 [Micromodem](INFO): Nmea in: $SNTTA,0.034054,,,,220748.59*41 2021-01-27T22:07:48.133Z,1611785268.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 100.341257 deg, deltaT: 4.403947 s, approachRate: 0.640334 m/s, LOS rate: 0.002958 deg/s, posRepo size: 4 2021-01-27T22:07:50.473Z,1611785270.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:51.274Z,1611785271.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:51.677Z,1611785271.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:52.517Z,1611785272.517 [Micromodem](INFO): Nmea in: $SNTTA,0.035891,,,,220753.04*43 2021-01-27T22:07:52.550Z,1611785272.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 104.983703 deg, deltaT: 4.461450 s, approachRate: 0.497595 m/s, LOS rate: 1.040569 deg/s, posRepo size: 4 2021-01-27T22:07:54.929Z,1611785274.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:07:55.730Z,1611785275.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:07:56.140Z,1611785276.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:07:56.954Z,1611785276.954 [Micromodem](INFO): Nmea in: $SNTTA,0.037610,,,,220757.50*43 2021-01-27T22:07:57.021Z,1611785277.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.580002 m, bearing: 98.575742 deg, deltaT: 4.404433 s, approachRate: 0.585775 m/s, LOS rate: -1.454889 deg/s, posRepo size: 4 2021-01-27T22:07:59.396Z,1611785279.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:00.163Z,1611785280.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:00.564Z,1611785280.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:01.403Z,1611785281.403 [Micromodem](INFO): Nmea in: $SNTTA,0.039413,,,,220801.93*4F 2021-01-27T22:08:01.446Z,1611785281.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.759998 m, bearing: 100.792617 deg, deltaT: 4.522179 s, approachRate: 0.703200 m/s, LOS rate: 0.490223 deg/s, posRepo size: 4 2021-01-27T22:08:03.833Z,1611785283.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:04.607Z,1611785284.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:05.040Z,1611785285.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:05.849Z,1611785285.849 [Micromodem](INFO): Nmea in: $SNTTA,0.041223,,,,220806.37*4C 2021-01-27T22:08:05.873Z,1611785285.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.459999 m, bearing: 102.313310 deg, deltaT: 4.390580 s, approachRate: 0.614953 m/s, LOS rate: 0.346354 deg/s, posRepo size: 4 2021-01-27T22:08:08.278Z,1611785288.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:09.054Z,1611785289.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:09.448Z,1611785289.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:10.305Z,1611785290.305 [Micromodem](INFO): Nmea in: $SNTTA,0.043133,,,,220810.82*45 2021-01-27T22:08:10.339Z,1611785290.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.280006 m, bearing: 99.326025 deg, deltaT: 4.470555 s, approachRate: 0.630796 m/s, LOS rate: -0.668214 deg/s, posRepo size: 4 2021-01-27T22:08:12.741Z,1611785292.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:13.486Z,1611785293.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:13.901Z,1611785293.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:14.748Z,1611785294.748 [Micromodem](INFO): Nmea in: $SNTTA,0.045149,,,,220815.25*46 2021-01-27T22:08:14.793Z,1611785294.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 109.204350 deg, deltaT: 4.434486 s, approachRate: 0.581802 m/s, LOS rate: 2.227614 deg/s, posRepo size: 4 2021-01-27T22:08:17.156Z,1611785297.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:17.930Z,1611785297.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:18.359Z,1611785298.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:19.181Z,1611785299.181 [Micromodem](INFO): Nmea in: $SNTTA,0.047026,,,,220819.70*40 2021-01-27T22:08:19.205Z,1611785299.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.739998 m, bearing: 105.976129 deg, deltaT: 4.431317 s, approachRate: 0.649919 m/s, LOS rate: -0.728501 deg/s, posRepo size: 4 2021-01-27T22:08:21.601Z,1611785301.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:22.387Z,1611785302.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:22.814Z,1611785302.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:23.622Z,1611785303.622 [Micromodem](INFO): Nmea in: $SNTTA,0.048888,,0.063687,,220824.15*5C 2021-01-27T22:08:23.644Z,1611785303.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.040001 m, bearing: 98.472367 deg, deltaT: 4.443505 s, approachRate: 0.742658 m/s, LOS rate: -1.688703 deg/s, posRepo size: 4 2021-01-27T22:08:26.087Z,1611785306.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:26.824Z,1611785306.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:27.224Z,1611785307.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:28.078Z,1611785308.078 [Micromodem](INFO): Nmea in: $SNTTA,0.050693,,,,220828.59*47 2021-01-27T22:08:28.112Z,1611785308.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 104.990157 deg, deltaT: 4.411461 s, approachRate: 0.639246 m/s, LOS rate: 1.477467 deg/s, posRepo size: 4 2021-01-27T22:08:30.493Z,1611785310.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:31.266Z,1611785311.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:31.691Z,1611785311.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:32.513Z,1611785312.513 [Micromodem](INFO): Nmea in: $SNTTA,0.052482,,0.074934,,220833.03*51 2021-01-27T22:08:32.535Z,1611785312.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 107.056003 deg, deltaT: 4.514196 s, approachRate: 0.544947 m/s, LOS rate: 0.457633 deg/s, posRepo size: 4 2021-01-27T22:08:33.312Z,1611785313.312 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T22:08:34.933Z,1611785314.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:35.730Z,1611785315.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:36.112Z,1611785316.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:36.951Z,1611785316.951 [Micromodem](INFO): Nmea in: $SNTTA,0.054304,,,,220837.50*4F 2021-01-27T22:08:37.015Z,1611785317.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 102.051202 deg, deltaT: 4.381980 s, approachRate: 0.616159 m/s, LOS rate: -1.142132 deg/s, posRepo size: 4 2021-01-27T22:08:39.395Z,1611785319.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:40.158Z,1611785320.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:40.560Z,1611785320.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:41.407Z,1611785321.407 [Micromodem](INFO): Nmea in: $SNTTA,0.056072,,,,220841.92*40 2021-01-27T22:08:41.431Z,1611785321.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 100.667733 deg, deltaT: 4.503170 s, approachRate: 0.666197 m/s, LOS rate: -0.307221 deg/s, posRepo size: 4 2021-01-27T22:08:43.843Z,1611785323.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:44.594Z,1611785324.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:45.036Z,1611785325.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:45.841Z,1611785325.841 [Micromodem](INFO): Nmea in: $SNTTA,0.057867,,,,220846.36*44 2021-01-27T22:08:45.875Z,1611785325.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.940002 m, bearing: 97.777771 deg, deltaT: 4.395000 s, approachRate: 0.436860 m/s, LOS rate: -0.657557 deg/s, posRepo size: 4 2021-01-27T22:08:48.255Z,1611785328.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:49.046Z,1611785329.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:49.457Z,1611785329.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:50.297Z,1611785330.297 [Micromodem](INFO): Nmea in: $SNTTA,0.059620,,,,220850.81*4C 2021-01-27T22:08:50.346Z,1611785330.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 104.808720 deg, deltaT: 4.459248 s, approachRate: 0.645850 m/s, LOS rate: 1.576712 deg/s, posRepo size: 4 2021-01-27T22:08:52.740Z,1611785332.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:53.495Z,1611785333.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:53.896Z,1611785333.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:54.741Z,1611785334.741 [Micromodem](INFO): Nmea in: $SNTTA,0.061373,,0.062510,0.097210,220855.26*41 2021-01-27T22:08:54.781Z,1611785334.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.759995 m, bearing: 110.417125 deg, deltaT: 4.428478 s, approachRate: 0.663882 m/s, LOS rate: 1.266441 deg/s, posRepo size: 4 2021-01-27T22:08:57.169Z,1611785337.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:08:57.934Z,1611785337.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:08:58.340Z,1611785338.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:08:59.162Z,1611785339.162 [Micromodem](INFO): Nmea in: $SNTTA,0.063112,,,,220859.70*44 2021-01-27T22:09:00.036Z,1611785340.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:01.565Z,1611785341.565 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:09:02.803Z,1611785342.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:03.590Z,1611785343.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:04.013Z,1611785344.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:04.837Z,1611785344.837 [Micromodem](INFO): Nmea in: $SNTTA,0.065391,,,,220905.36*41 2021-01-27T22:09:04.861Z,1611785344.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 102.831196 deg, deltaT: 10.110068 s, approachRate: 0.563796 m/s, LOS rate: -0.750334 deg/s, posRepo size: 4 2021-01-27T22:09:07.253Z,1611785347.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:08.050Z,1611785348.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:08.436Z,1611785348.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:09.270Z,1611785349.270 [Micromodem](INFO): Nmea in: $SNTTA,0.067196,,,,220909.81*46 2021-01-27T22:09:09.297Z,1611785349.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.099998 m, bearing: 105.245975 deg, deltaT: 4.441172 s, approachRate: 0.594436 m/s, LOS rate: 0.543726 deg/s, posRepo size: 4 2021-01-27T22:09:11.732Z,1611785351.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:12.486Z,1611785352.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:12.897Z,1611785352.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:13.729Z,1611785353.729 [Micromodem](INFO): Nmea in: $SNTTA,0.068987,,,,220914.25*43 2021-01-27T22:09:13.753Z,1611785353.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 112.284103 deg, deltaT: 4.477391 s, approachRate: 0.603031 m/s, LOS rate: 1.571926 deg/s, posRepo size: 4 2021-01-27T22:09:16.145Z,1611785356.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:16.914Z,1611785356.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:17.316Z,1611785357.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:18.165Z,1611785358.165 [Micromodem](INFO): Nmea in: $SNTTA,0.070850,,,,220918.68*44 2021-01-27T22:09:18.202Z,1611785358.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 105.966396 deg, deltaT: 4.446234 s, approachRate: 0.647739 m/s, LOS rate: -1.420912 deg/s, posRepo size: 4 2021-01-27T22:09:20.590Z,1611785360.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:21.363Z,1611785361.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:21.774Z,1611785361.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:22.610Z,1611785362.610 [Micromodem](INFO): Nmea in: $SNTTA,0.072707,,,,220923.13*4F 2021-01-27T22:09:22.630Z,1611785362.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.200005 m, bearing: 109.439547 deg, deltaT: 4.414408 s, approachRate: 0.570859 m/s, LOS rate: 0.786776 deg/s, posRepo size: 4 2021-01-27T22:09:25.065Z,1611785365.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:25.806Z,1611785365.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:26.237Z,1611785366.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:27.065Z,1611785367.065 [Micromodem](INFO): Nmea in: $SNTTA,0.074609,,,,220927.57*42 2021-01-27T22:09:27.119Z,1611785367.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.260002 m, bearing: 103.974856 deg, deltaT: 4.452069 s, approachRate: 0.687320 m/s, LOS rate: -1.227450 deg/s, posRepo size: 4 2021-01-27T22:09:29.469Z,1611785369.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:30.254Z,1611785370.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:30.675Z,1611785370.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:31.504Z,1611785371.504 [Micromodem](INFO): Nmea in: $SNTTA,0.076421,,,,220932.02*4C 2021-01-27T22:09:31.533Z,1611785371.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.780006 m, bearing: 108.970976 deg, deltaT: 4.458133 s, approachRate: 0.565260 m/s, LOS rate: 1.120675 deg/s, posRepo size: 4 2021-01-27T22:09:33.918Z,1611785373.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:34.717Z,1611785374.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:35.100Z,1611785375.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:35.925Z,1611785375.925 [Micromodem](INFO): Nmea in: $SNTTA,0.078296,,,,220936.48*42 2021-01-27T22:09:35.981Z,1611785375.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 116.261363 deg, deltaT: 4.392092 s, approachRate: 0.655723 m/s, LOS rate: 1.659889 deg/s, posRepo size: 4 2021-01-27T22:09:38.023Z,1611785378.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:38.754Z,1611785378.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:39.140Z,1611785379.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:39.971Z,1611785379.971 [Micromodem](INFO): Nmea in: $SNTTA,0.080001,,,,220940.52*43 2021-01-27T22:09:40.056Z,1611785380.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 114.999390 deg, deltaT: 4.053000 s, approachRate: 0.621763 m/s, LOS rate: -0.311368 deg/s, posRepo size: 4 2021-01-27T22:09:42.405Z,1611785382.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:43.189Z,1611785383.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:43.584Z,1611785383.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:44.406Z,1611785384.406 [Micromodem](INFO): Nmea in: $SNTTA,0.081776,,,,220944.96*49 2021-01-27T22:09:45.231Z,1611785385.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:46.813Z,1611785386.813 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:09:48.105Z,1611785388.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:48.830Z,1611785388.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:49.248Z,1611785389.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:50.070Z,1611785390.070 [Micromodem](INFO): Nmea in: $SNTTA,0.084107,,,,220950.60*40 2021-01-27T22:09:50.889Z,1611785390.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:52.465Z,1611785392.465 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:09:53.792Z,1611785393.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:54.490Z,1611785394.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:54.900Z,1611785394.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:09:55.753Z,1611785395.753 [Micromodem](INFO): Nmea in: $SNTTA,0.086516,,,,220956.25*41 2021-01-27T22:09:55.805Z,1611785395.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.899994 m, bearing: 110.280316 deg, deltaT: 15.778106 s, approachRate: 0.616043 m/s, LOS rate: -0.299090 deg/s, posRepo size: 4 2021-01-27T22:09:58.162Z,1611785398.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:09:58.935Z,1611785398.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:09:59.340Z,1611785399.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:00.174Z,1611785400.174 [Micromodem](INFO): Nmea in: $SNTTA,0.088421,,,,221000.70*41 2021-01-27T22:10:01.023Z,1611785401.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:02.569Z,1611785402.569 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:10:03.925Z,1611785403.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:04.594Z,1611785404.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:05.023Z,1611785405.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:05.845Z,1611785405.845 [Micromodem](INFO): Nmea in: $SNTTA,0.090700,,,,221006.36*4C 2021-01-27T22:10:05.869Z,1611785405.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.199997 m, bearing: 115.023391 deg, deltaT: 10.122753 s, approachRate: 0.622361 m/s, LOS rate: 0.468556 deg/s, posRepo size: 4 2021-01-27T22:10:08.255Z,1611785408.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:09.054Z,1611785409.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:09.440Z,1611785409.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:10.262Z,1611785410.262 [Micromodem](INFO): Nmea in: $SNTTA,0.092483,,,,221010.82*4E 2021-01-27T22:10:10.303Z,1611785410.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 108.616564 deg, deltaT: 4.430639 s, approachRate: 0.636479 m/s, LOS rate: -1.446028 deg/s, posRepo size: 4 2021-01-27T22:10:12.739Z,1611785412.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:13.474Z,1611785413.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:13.898Z,1611785413.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:14.733Z,1611785414.733 [Micromodem](INFO): Nmea in: $SNTTA,0.094516,,,,221015.24*4C 2021-01-27T22:10:14.781Z,1611785414.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 118.871438 deg, deltaT: 4.430816 s, approachRate: 0.649991 m/s, LOS rate: 2.314444 deg/s, posRepo size: 4 2021-01-27T22:10:17.168Z,1611785417.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:17.945Z,1611785417.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:18.324Z,1611785418.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:19.157Z,1611785419.157 [Micromodem](INFO): Nmea in: $SNTTA,0.096382,,,,221019.71*49 2021-01-27T22:10:19.205Z,1611785419.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.720001 m, bearing: 116.007280 deg, deltaT: 4.470293 s, approachRate: 0.630833 m/s, LOS rate: -0.640709 deg/s, posRepo size: 4 2021-01-27T22:10:21.589Z,1611785421.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:22.372Z,1611785422.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:22.779Z,1611785422.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:23.616Z,1611785423.616 [Micromodem](INFO): Nmea in: $SNTTA,0.098210,,,,221024.14*40 2021-01-27T22:10:23.639Z,1611785423.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 122.735658 deg, deltaT: 4.421491 s, approachRate: 0.692074 m/s, LOS rate: 1.521744 deg/s, posRepo size: 4 2021-01-27T22:10:26.070Z,1611785426.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:26.810Z,1611785426.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:27.216Z,1611785427.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:28.062Z,1611785428.062 [Micromodem](INFO): Nmea in: $SNTTA,0.100076,,,,221028.58*46 2021-01-27T22:10:28.862Z,1611785428.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:30.445Z,1611785430.445 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:10:31.690Z,1611785431.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:32.466Z,1611785432.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:32.913Z,1611785432.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:33.733Z,1611785433.733 [Micromodem](INFO): Nmea in: $SNTTA,0.102346,,,,221034.23*45 2021-01-27T22:10:33.769Z,1611785433.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.720001 m, bearing: 113.522566 deg, deltaT: 10.109983 s, approachRate: 0.587538 m/s, LOS rate: -0.911287 deg/s, posRepo size: 4 2021-01-27T22:10:33.771Z,1611785433.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.72 m. Resuming terminal guidance. 2021-01-27T22:10:33.771Z,1611785433.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2021-01-27T22:10:36.135Z,1611785436.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:36.914Z,1611785436.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:37.316Z,1611785437.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:38.157Z,1611785438.157 [Micromodem](INFO): Nmea in: $SNTTA,0.104315,,,,221038.68*46 2021-01-27T22:10:38.181Z,1611785438.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 123.560595 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1 2021-01-27T22:10:38.182Z,1611785438.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 123.560595deg and heading rate command to 0 deg/s. 2021-01-27T22:10:40.561Z,1611785440.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:41.354Z,1611785441.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:41.776Z,1611785441.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:42.578Z,1611785442.578 [Micromodem](INFO): Nmea in: $SNTTA,0.106247,,,,221043.12*43 2021-01-27T22:10:43.395Z,1611785443.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:45.005Z,1611785445.005 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:10:46.239Z,1611785446.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:47.042Z,1611785447.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:47.416Z,1611785447.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:48.237Z,1611785448.237 [Micromodem](INFO): Nmea in: $SNTTA,0.108543,,,,221048.81*4F 2021-01-27T22:10:48.652Z,1611785448.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 116.659713 deg, deltaT: 10.485623 s, approachRate: 0.583656 m/s, LOS rate: -0.658128 deg/s, posRepo size: 2 2021-01-27T22:10:48.654Z,1611785448.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 116.659713 deg, approachRate: 0.583656 m/s, LOS rate: -0.658128 deg/s, cmd update: -3.290640 deg/s, cmd heading: 123.560595 deg, new cmd heading: 123.560595 deg. 2021-01-27T22:10:51.104Z,1611785451.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:51.866Z,1611785451.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:52.264Z,1611785452.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:53.101Z,1611785453.101 [Micromodem](INFO): Nmea in: $SNTTA,0.110334,,,,221053.63*46 2021-01-27T22:10:53.186Z,1611785453.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 109.920297 deg, deltaT: 4.441878 s, approachRate: 0.000000 m/s, LOS rate: -1.517245 deg/s, posRepo size: 3 2021-01-27T22:10:53.192Z,1611785453.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 109.920297 deg, approachRate: 0.000000 m/s, LOS rate: -1.517245 deg/s, cmd update: -7.586224 deg/s, cmd heading: 108.957074 deg, new cmd heading: 107.443459 deg. 2021-01-27T22:10:55.509Z,1611785455.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:10:56.308Z,1611785456.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:10:56.728Z,1611785456.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:10:57.549Z,1611785457.549 [Micromodem](INFO): Nmea in: $SNTTA,0.112104,,,,221058.07*4C 2021-01-27T22:10:57.571Z,1611785457.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 106.247472 deg, deltaT: 4.435260 s, approachRate: 0.000000 m/s, LOS rate: -0.828097 deg/s, posRepo size: 4 2021-01-27T22:10:57.573Z,1611785457.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 162.899994 m, bearing: 106.247472 deg, approachRate: 0.000000 m/s, LOS rate: -0.828097 deg/s, cmd update: -4.140485 deg/s, cmd heading: 75.342245 deg, new cmd heading: 72.202185 deg. 2021-01-27T22:11:00.026Z,1611785460.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:11:00.762Z,1611785460.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:11:01.236Z,1611785461.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:11:01.974Z,1611785461.974 [Micromodem](INFO): Nmea in: $SNTTA,0.113801,,,,221102.53*4E 2021-01-27T22:11:02.397Z,1611785462.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 89.215357 deg, deltaT: 4.902175 s, approachRate: 1.640090 m/s, LOS rate: -3.474400 deg/s, posRepo size: 4 2021-01-27T22:11:02.399Z,1611785462.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.940002 m, bearing: 89.215357 deg, approachRate: 1.640090 m/s, LOS rate: -3.474400 deg/s, cmd update: -12.000000 deg/s, cmd heading: 55.027466 deg, new cmd heading: 53.648710 deg. 2021-01-27T22:11:04.837Z,1611785464.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:11:05.602Z,1611785465.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:11:06.030Z,1611785466.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:11:06.833Z,1611785466.833 [Micromodem](INFO): Nmea in: $SNTTA,0.115193,,,,221107.37*4D 2021-01-27T22:11:06.873Z,1611785466.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 53.139548 deg, deltaT: 4.354828 s, approachRate: 0.000000 m/s, LOS rate: -8.284095 deg/s, posRepo size: 4 2021-01-27T22:11:06.875Z,1611785466.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 170.940002 m, bearing: 53.139548 deg, approachRate: 0.000000 m/s, LOS rate: -8.284095 deg/s, cmd update: -12.000000 deg/s, cmd heading: 2.742841 deg, new cmd heading: 357.312289 deg. 2021-01-27T22:11:09.268Z,1611785469.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:11:10.058Z,1611785470.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:11:10.450Z,1611785470.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:11:11.253Z,1611785471.253 [Micromodem](INFO): Nmea in: $SNTTA,0.116062,,0.118936,,221111.82*52 2021-01-27T22:11:11.723Z,1611785471.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.180008 m, bearing: 358.704979 deg, deltaT: 4.879558 s, approachRate: 0.663996 m/s, LOS rate: -11.155637 deg/s, posRepo size: 4 2021-01-27T22:11:11.729Z,1611785471.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.180008 m, bearing: 358.704979 deg, approachRate: 0.663996 m/s, LOS rate: -11.155637 deg/s, cmd update: -12.000000 deg/s, cmd heading: 304.262627 deg, new cmd heading: 299.119667 deg. 2021-01-27T22:11:14.132Z,1611785474.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact *** 2021-01-27T22:11:14.894Z,1611785474.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:11:15.300Z,1611785475.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:11:16.141Z,1611785476.141 [Micromodem](INFO): Nmea in: $SNTTA,0.115977,,,,221116.66*4B 2021-01-27T22:11:16.166Z,1611785476.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.180008 m, bearing: 311.981758 deg, deltaT: 4.462530 s, approachRate: 0.000000 m/s, LOS rate: -10.470119 deg/s, posRepo size: 4 2021-01-27T22:11:16.168Z,1611785476.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): ProNav: pos range: 174.180008 m, bearing: 311.981758 deg, approachRate: 0.000000 m/s, LOS rate: -10.470119 deg/s, cmd update: -12.000000 deg/s, cmd heading: 250.715170 deg, new cmd heading: 245.800054 deg. 2021-01-27T22:11:16.948Z,1611785476.948 [lineCaptureDepth](INFO): Timed out from 2021-01-27T21:26:16.6Z 2021-01-27T22:11:16.948Z,1611785476.948 [MissionManager](INFO): lineCaptureDepth is completed. 2021-01-27T22:11:16.949Z,1611785476.949 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science:B] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science:C] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science:Read_Oil] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science:OceanCurrent] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:StandardEnvelopes] Stopped 2021-01-27T22:11:16.949Z,1611785476.949 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:J.] Stopped 2021-01-27T22:11:16.950Z,1611785476.950 [lineCaptureDepth:LineCapture] Stopped 2021-01-27T22:11:16.951Z,1611785476.951 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture 2021-01-27T22:11:16.951Z,1611785476.951 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped 2021-01-27T22:11:16.951Z,1611785476.951 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes 2021-01-27T22:11:16.953Z,1611785476.953 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2021-01-27T22:11:16.953Z,1611785476.953 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2021-01-27T22:11:16.953Z,1611785476.953 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2021-01-27T22:11:16.954Z,1611785476.954 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2021-01-27T22:11:16.954Z,1611785476.954 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2021-01-27T22:11:16.954Z,1611785476.954 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2021-01-27T22:11:16.955Z,1611785476.955 [lineCaptureDepth:LineCapture:G] Stopped 2021-01-27T22:11:16.955Z,1611785476.955 [lineCaptureDepth:LineCapture:H] Stopped 2021-01-27T22:11:16.955Z,1611785476.955 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped 2021-01-27T22:11:16.956Z,1611785476.956 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy 2021-01-27T22:11:16.956Z,1611785476.956 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped 2021-01-27T22:11:16.956Z,1611785476.956 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped 2021-01-27T22:11:16.956Z,1611785476.956 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize. 2021-01-27T22:11:16.956Z,1611785476.956 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped 2021-01-27T22:11:16.956Z,1611785476.956 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence] Stopped 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2021-01-27T22:11:16.957Z,1611785476.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:Lap] Stopped 2021-01-27T22:11:16.958Z,1611785476.958 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap 2021-01-27T22:11:16.959Z,1611785476.959 [lineCaptureDepth:Lap:B] Stopped 2021-01-27T22:11:16.959Z,1611785476.959 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B 2021-01-27T22:11:17.200Z,1611785477.200 [WetLabsSeaOWL_UV_A](INFO): Powering down 2021-01-27T22:11:17.310Z,1611785477.310 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2021-01-27T22:11:17.310Z,1611785477.310 [DefaultWithUndock] Running Loop=1 2021-01-27T22:11:17.310Z,1611785477.310 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2021-01-27T22:11:17.311Z,1611785477.311 [DefaultWithUndock:A.Wait] Running Loop=1 2021-01-27T22:11:17.311Z,1611785477.311 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2021-01-27T22:11:47.593Z,1611785507.593 [DefaultWithUndock:A.Wait](INFO): Done Waiting. 2021-01-27T22:11:47.593Z,1611785507.593 [DefaultWithUndock:A.Wait] Stopped 2021-01-27T22:11:47.593Z,1611785507.593 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2021-01-27T22:11:47.593Z,1611785507.593 [DefaultWithUndock:LeaveDock] Running Loop=1 2021-01-27T22:11:47.594Z,1611785507.594 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock 2021-01-27T22:11:47.594Z,1611785507.594 [DefaultWithUndock:LeaveDock:A.] Running Loop=1 2021-01-27T22:11:47.594Z,1611785507.594 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact. 2021-01-27T22:11:47.594Z,1611785507.594 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1 2021-01-27T22:11:47.594Z,1611785507.594 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize. 2021-01-27T22:11:47.594Z,1611785507.594 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values. 2021-01-27T22:11:48.398Z,1611785508.398 [PowerOnly](INFO): Powering up loadControl 2021-01-27T22:11:49.677Z,1611785509.677 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock. 2021-01-27T22:11:50.087Z,1611785510.087 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage. 2021-01-27T22:11:50.453Z,1611785510.453 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off. 2021-01-27T22:11:50.453Z,1611785510.453 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:11:50.871Z,1611785510.871 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer. 2021-01-27T22:11:51.243Z,1611785511.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:11:51.652Z,1611785511.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:11:52.485Z,1611785512.485 [Micromodem](INFO): Nmea in: $SNTTA,0.110867,,,,221153.01*4E 2021-01-27T22:11:54.907Z,1611785514.907 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:11:55.700Z,1611785515.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:11:56.100Z,1611785516.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:11:56.929Z,1611785516.929 [Micromodem](INFO): Nmea in: $SNTTA,0.110108,,,,221157.47*48 2021-01-27T22:11:59.347Z,1611785519.347 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:00.138Z,1611785520.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:00.556Z,1611785520.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:12:01.370Z,1611785521.370 [Micromodem](INFO): Nmea in: $SNTTA,0.109650,,,,221201.90*40 2021-01-27T22:12:02.187Z,1611785522.187 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:03.769Z,1611785523.769 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:12:05.047Z,1611785525.047 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:05.794Z,1611785525.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:06.200Z,1611785526.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:12:07.049Z,1611785527.049 [Micromodem](INFO): Nmea in: $SNTTA,0.108985,,,,221207.56*4A 2021-01-27T22:12:09.445Z,1611785529.445 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:10.238Z,1611785530.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:10.654Z,1611785530.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:12:11.101Z,1611785531.101 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 163.44 m. Transitioning DDM to standby. 2021-01-27T22:12:11.484Z,1611785531.484 [Micromodem](INFO): Nmea in: $SNTTA,0.108571,,,,221212.00*4A 2021-01-27T22:12:13.900Z,1611785533.900 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:14.678Z,1611785534.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:15.093Z,1611785535.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:12:15.898Z,1611785535.898 [Micromodem](INFO): Nmea in: $SNTTA,0.108135,,,,221216.44*4A 2021-01-27T22:12:16.751Z,1611785536.751 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:18.314Z,1611785538.314 [DUSBL_Hydroid](ERROR): No response from remote modem. 2021-01-27T22:12:18.340Z,1611785538.340 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T22:12:19.541Z,1611785539.541 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:20.347Z,1611785540.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:20.770Z,1611785540.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C800*46 2021-01-27T22:12:20.770Z,1611785540.770 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C800*46 expected 34 2021-01-27T22:12:20.771Z,1611785540.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:20.774Z,1611785540.774 [Micromodem](INFO): Nmea in: $CATXF,400*50 2021-01-27T22:12:20.775Z,1611785540.775 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50 2021-01-27T22:12:21.151Z,1611785541.151 [Micromodem](INFO): Nmea in: $CAXST,6,20210127,221222.116092,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7D 2021-01-27T22:12:21.151Z,1611785541.151 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210127,221222.116092,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7D 2021-01-27T22:12:21.153Z,1611785541.153 [Micromodem](INFO): Nmea in: $CAERR,221222,NI ,29,Busy completing a previous request*78 2021-01-27T22:12:21.153Z,1611785541.153 [Micromodem](ERROR): Got error from modem: $CAERR,221222,NI ,29,Busy completing a previous request*78 2021-01-27T22:12:21.566Z,1611785541.566 [Micromodem](INFO): Nmea in: $SNTTA,0.107635,,,,221222.11*45 2021-01-27T22:12:21.566Z,1611785541.566 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.107635,,,,221222.11*45 2021-01-27T22:12:22.043Z,1611785542.043 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby. 2021-01-27T22:12:22.043Z,1611785542.043 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact *** 2021-01-27T22:12:22.372Z,1611785542.372 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2021-01-27T22:12:22.372Z,1611785542.372 [DefaultWithUndock:LeaveDock:B.Undock] Stopped 2021-01-27T22:12:22.373Z,1611785542.373 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock 2021-01-27T22:12:22.373Z,1611785542.373 [DefaultWithUndock:LeaveDock] Stopped 2021-01-27T22:12:22.373Z,1611785542.373 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock 2021-01-27T22:12:22.373Z,1611785542.373 [DefaultWithUndock:LeaveDock:A.] Stopped 2021-01-27T22:12:22.373Z,1611785542.373 [DefaultWithUndock:SurfaceDefault] Running Loop=1 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-01-27T22:12:22.374Z,1611785542.374 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-01-27T22:12:22.375Z,1611785542.375 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-01-27T22:12:22.375Z,1611785542.375 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-01-27T22:12:22.375Z,1611785542.375 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-01-27T22:12:22.376Z,1611785542.376 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-01-27T22:12:22.770Z,1611785542.770 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1 2021-01-27T22:12:22.770Z,1611785542.770 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1 2021-01-27T22:12:22.771Z,1611785542.771 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1 2021-01-27T22:12:22.772Z,1611785542.772 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode 2021-01-27T22:12:23.175Z,1611785543.175 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T22:12:23.182Z,1611785543.182 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators). 2021-01-27T22:12:23.344Z,1611785543.344 [Radio_Surface](INFO): Powering up 2021-01-27T22:12:28.079Z,1611785548.079 [RDI_Pathfinder](ERROR): only read 3 of 4 data items 2021-01-27T22:12:29.432Z,1611785549.432 [DataOverHttps](INFO): Radio surface powered ON. 2021-01-27T22:12:32.053Z,1611785552.053 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 2021-01-27T22:12:32.462Z,1611785552.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B 2021-01-27T22:12:33.294Z,1611785553.294 [Micromodem](INFO): Nmea in: $SNTTA,0.106162,,,,221233.82*4B 2021-01-27T22:12:33.303Z,1611785553.303 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T22:12:38.137Z,1611785558.137 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2021-01-27T22:12:38.137Z,1611785558.137 [RDI_Pathfinder] Communications Fault, FailCount= 1 2021-01-27T22:12:38.137Z,1611785558.137 [RDI_Pathfinder](ERROR): Communications Fault 2021-01-27T22:12:38.273Z,1611785558.273 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2021-01-27T22:12:38.592Z,1611785558.592 [RDI_Pathfinder](INFO): Powering down 2021-01-27T22:12:39.479Z,1611785559.479 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2021-01-27T22:12:39.479Z,1611785559.479 [RDI_Pathfinder] No Fault, FailCount= 1 2021-01-27T22:12:59.556Z,1611785579.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-01-27T22:13:19.754Z,1611785599.754 [PowerOnly](INFO): Powering down loadControl 2021-01-27T22:13:34.700Z,1611785614.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-01-27T22:14:08.678Z,1611785648.678 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -1.05 2021-01-27T22:14:09.844Z,1611785649.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-01-27T22:14:45.000Z,1611785685.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-01-27T22:15:03.181Z,1611785703.181 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1 2021-01-27T22:15:03.181Z,1611785703.181 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:15:03.181Z,1611785703.181 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-01-27T22:15:03.181Z,1611785703.181 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped 2021-01-27T22:15:03.181Z,1611785703.181 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen 2021-01-27T22:15:03.181Z,1611785703.181 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped 2021-01-27T22:15:03.182Z,1611785703.182 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped 2021-01-27T22:15:20.140Z,1611785720.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2021-01-27T22:15:41.902Z,1611785741.902 [NAL9602](INFO): SBD MO Status=1, MOMSN=13164, MT Status=0, MTMSN=0 2021-01-27T22:15:41.902Z,1611785741.902 [NAL9602](INFO): No messages in MT queue 2021-01-27T22:15:43.114Z,1611785743.114 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221543.00,A,4133.17723,N,07042.53123,W,0.311,183.44,270121,,,A*73 2021-01-27T22:15:43.116Z,1611785743.116 [NAL9602](INFO): GPS fix at 20210127T221543: (41.552954, -70.708854) 2021-01-27T22:15:43.177Z,1611785743.177 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-01-27T22:15:43.177Z,1611785743.177 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-01-27T22:15:49.266Z,1611785749.266 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004535 2021-01-27T22:15:53.284Z,1611785753.284 [DataOverHttps](INFO): Sending 274 bytes from file Logs/20210127T212138/Courier0012.lzma 2021-01-27T22:15:54.282Z,1611785754.282 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0012.lzma.bak 2021-01-27T22:15:54.282Z,1611785754.282 [DataOverHttps](INFO): SBD MOMSN=69654 2021-01-27T22:15:55.375Z,1611785755.375 [NAL9602](INFO): SBD MO Status=1, MOMSN=13165, MT Status=0, MTMSN=0 2021-01-27T22:15:55.424Z,1611785755.424 [NAL9602](INFO): Sent 184 bytes from file Logs/20210127T212138/Courier0012.lzma 2021-01-27T22:15:55.424Z,1611785755.424 [NAL9602](INFO): Packets left to send: 1 2021-01-27T22:16:03.319Z,1611785763.319 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210127T212138/Courier0015.lzma 2021-01-27T22:16:04.323Z,1611785764.323 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0015.lzma.bak 2021-01-27T22:16:04.323Z,1611785764.323 [DataOverHttps](INFO): SBD MOMSN=69657 2021-01-27T22:16:13.374Z,1611785773.374 [DataOverHttps](INFO): Sending 773 bytes from file Logs/20210127T212138/Express0006.lzma 2021-01-27T22:16:14.374Z,1611785774.374 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0006.lzma.bak 2021-01-27T22:16:14.374Z,1611785774.374 [DataOverHttps](INFO): SBD MOMSN=69661 2021-01-27T22:16:23.412Z,1611785783.412 [DataOverHttps](INFO): Sending 316 bytes from file Logs/20210127T212138/Express0010.lzma 2021-01-27T22:16:24.414Z,1611785784.414 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0010.lzma.bak 2021-01-27T22:16:24.414Z,1611785784.414 [DataOverHttps](INFO): SBD MOMSN=69684 2021-01-27T22:16:26.078Z,1611785786.078 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T22:16:33.458Z,1611785793.458 [DataOverHttps](INFO): Sending 318 bytes from file Logs/20210127T212138/Express0013.lzma 2021-01-27T22:16:34.454Z,1611785794.454 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0013.lzma.bak 2021-01-27T22:16:34.454Z,1611785794.454 [DataOverHttps](INFO): SBD MOMSN=69689 2021-01-27T22:16:43.491Z,1611785803.491 [DataOverHttps](INFO): Sending 60 bytes from file Logs/20210127T212138/Express0016.lzma 2021-01-27T22:16:44.493Z,1611785804.493 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0016.lzma.bak 2021-01-27T22:16:44.494Z,1611785804.494 [DataOverHttps](INFO): SBD MOMSN=69694 2021-01-27T22:16:45.882Z,1611785805.882 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-01-27T22:16:45.882Z,1611785805.882 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-01-27T22:16:45.882Z,1611785805.882 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-01-27T22:21:08.080Z,1611786068.080 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude 2021-01-27T22:21:46.451Z,1611786106.451 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-01-27T22:21:46.451Z,1611786106.451 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-01-27T22:21:46.451Z,1611786106.451 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-01-27T22:21:46.452Z,1611786106.452 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-01-27T22:21:46.929Z,1611786106.929 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-01-27T22:21:46.929Z,1611786106.929 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-01-27T22:21:47.271Z,1611786107.271 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.493644 min 2021-01-27T22:21:47.280Z,1611786107.280 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-01-27T22:21:47.280Z,1611786107.280 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:21:47.280Z,1611786107.280 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-01-27T22:21:47.280Z,1611786107.280 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:21:47.280Z,1611786107.280 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2 2021-01-27T22:21:47.280Z,1611786107.280 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2 2021-01-27T22:21:47.281Z,1611786107.281 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:21:47.281Z,1611786107.281 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-01-27T22:21:49.301Z,1611786109.301 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222149.00,A,4133.16736,N,07042.55264,W,0.175,171.46,270121,,,A*72 2021-01-27T22:21:49.303Z,1611786109.303 [NAL9602](INFO): GPS fix at 20210127T222149: (41.552789, -70.709211) 2021-01-27T22:21:49.326Z,1611786109.326 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-01-27T22:21:49.326Z,1611786109.326 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-01-27T22:21:52.791Z,1611786112.791 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210127T212138/Courier0018.lzma 2021-01-27T22:21:53.793Z,1611786113.793 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0018.lzma.bak 2021-01-27T22:21:53.794Z,1611786113.794 [DataOverHttps](INFO): SBD MOMSN=69696 2021-01-27T22:22:03.835Z,1611786123.835 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210127T212138/Express0019.lzma 2021-01-27T22:22:04.838Z,1611786124.838 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0019.lzma.bak 2021-01-27T22:22:04.838Z,1611786124.838 [DataOverHttps](INFO): SBD MOMSN=69699 2021-01-27T22:22:06.356Z,1611786126.356 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-01-27T22:22:06.356Z,1611786126.356 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-01-27T22:22:06.356Z,1611786126.356 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-01-27T22:22:20.868Z,1611786140.868 [NAL9602](INFO): SBD MO Status=0, MOMSN=13166, MT Status=0, MTMSN=0 2021-01-27T22:22:20.868Z,1611786140.868 [NAL9602](INFO): No messages in MT queue 2021-01-27T22:22:51.566Z,1611786171.566 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T22:24:53.998Z,1611786293.998 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-01-27T22:25:48.954Z,1611786348.954 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-01-27T22:26:39.043Z,1611786399.043 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items 2021-01-27T22:27:06.927Z,1611786426.927 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-01-27T22:27:06.927Z,1611786426.927 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-01-27T22:27:06.927Z,1611786426.927 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-01-27T22:27:06.927Z,1611786426.927 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-01-27T22:27:07.338Z,1611786427.338 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-01-27T22:27:07.338Z,1611786427.338 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-01-27T22:27:07.765Z,1611786427.765 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 15.833787 min 2021-01-27T22:27:07.765Z,1611786427.765 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-01-27T22:27:07.765Z,1611786427.765 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:27:07.765Z,1611786427.765 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-01-27T22:27:07.765Z,1611786427.765 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:27:07.766Z,1611786427.766 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3 2021-01-27T22:27:07.766Z,1611786427.766 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3 2021-01-27T22:27:07.766Z,1611786427.766 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:27:07.766Z,1611786427.766 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-01-27T22:27:09.736Z,1611786429.736 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222710.00,A,4133.15857,N,07042.57129,W,1.011,234.96,270121,,,A*76 2021-01-27T22:27:09.738Z,1611786429.738 [NAL9602](INFO): GPS fix at 20210127T222710: (41.552643, -70.709521) 2021-01-27T22:27:09.769Z,1611786429.769 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-01-27T22:27:09.769Z,1611786429.769 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-01-27T22:27:14.119Z,1611786434.119 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210127T212138/Courier0021.lzma 2021-01-27T22:27:15.122Z,1611786435.122 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0021.lzma.bak 2021-01-27T22:27:15.122Z,1611786435.122 [DataOverHttps](INFO): SBD MOMSN=69703 2021-01-27T22:27:24.159Z,1611786444.159 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210127T212138/Express0022.lzma 2021-01-27T22:27:25.162Z,1611786445.162 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0022.lzma.bak 2021-01-27T22:27:25.162Z,1611786445.162 [DataOverHttps](INFO): SBD MOMSN=69706 2021-01-27T22:27:26.337Z,1611786446.337 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-01-27T22:27:26.337Z,1611786446.337 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-01-27T22:27:26.338Z,1611786446.338 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-01-27T22:27:33.989Z,1611786453.989 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error 2021-01-27T22:27:39.219Z,1611786459.219 [NAL9602](INFO): SBD MO Status=0, MOMSN=13167, MT Status=0, MTMSN=0 2021-01-27T22:27:39.219Z,1611786459.219 [NAL9602](INFO): No messages in MT queue 2021-01-27T22:28:09.921Z,1611786489.921 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T22:31:21.840Z,1611786681.840 [RDI_Pathfinder](ERROR): only read 2 of 4 data items 2021-01-27T22:32:26.899Z,1611786746.899 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting. 2021-01-27T22:32:26.900Z,1611786746.900 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped 2021-01-27T22:32:26.900Z,1611786746.900 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component. 2021-01-27T22:32:26.900Z,1611786746.900 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1 2021-01-27T22:32:27.290Z,1611786747.290 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped 2021-01-27T22:32:27.290Z,1611786747.290 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1 2021-01-27T22:32:27.735Z,1611786747.735 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 21.166323 min 2021-01-27T22:32:27.735Z,1611786747.735 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped 2021-01-27T22:32:27.740Z,1611786747.740 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:32:27.741Z,1611786747.741 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped 2021-01-27T22:32:27.741Z,1611786747.741 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:32:27.741Z,1611786747.741 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4 2021-01-27T22:32:27.741Z,1611786747.741 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4 2021-01-27T22:32:27.741Z,1611786747.741 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn 2021-01-27T22:32:27.742Z,1611786747.742 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1 2021-01-27T22:32:29.716Z,1611786749.716 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223229.00,A,4133.14692,N,07042.58934,W,0.428,221.85,270121,,,A*7C 2021-01-27T22:32:29.718Z,1611786749.718 [NAL9602](INFO): GPS fix at 20210127T223229: (41.552449, -70.709822) 2021-01-27T22:32:29.773Z,1611786749.773 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped 2021-01-27T22:32:29.773Z,1611786749.773 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1 2021-01-27T22:32:33.460Z,1611786753.460 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210127T212138/Courier0024.lzma 2021-01-27T22:32:34.462Z,1611786754.462 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Courier0024.lzma.bak 2021-01-27T22:32:34.462Z,1611786754.462 [DataOverHttps](INFO): SBD MOMSN=69710 2021-01-27T22:32:43.501Z,1611786763.501 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210127T212138/Express0025.lzma 2021-01-27T22:32:43.837Z,1611786763.837 [NAL9602](INFO): SBD MO Status=0, MOMSN=13168, MT Status=0, MTMSN=0 2021-01-27T22:32:43.837Z,1611786763.837 [NAL9602](INFO): No messages in MT queue 2021-01-27T22:32:44.502Z,1611786764.502 [DataOverHttps](INFO): Moved sent file to Logs/20210127T212138/Express0025.lzma.bak 2021-01-27T22:32:44.502Z,1611786764.502 [DataOverHttps](INFO): SBD MOMSN=69713 2021-01-27T22:32:45.882Z,1611786765.882 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped 2021-01-27T22:32:45.882Z,1611786765.882 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1 2021-01-27T22:32:45.882Z,1611786765.882 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component. 2021-01-27T22:33:14.542Z,1611786794.542 [NAL9602](INFO): Not Powering down - fast GPS 2021-01-27T22:33:45.719Z,1611786825.719 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude 2021-01-27T22:34:00.829Z,1611786840.829 [DataOverHttps](IMPORTANT): SBD MTMSN=20210127T223400 2021-01-27T22:34:04.855Z,1611786844.855 [DataOverHttps](INFO): Received command:restart logs